Six-degree-of-freedom motion platform based on linear sliding rail driving

Abstract

The utility model provides a six-degree-of-freedom motion platform based on linear slide rail driving, which comprises an upper platform, a lower platform, three groups of telescopic mechanisms and three groups of moving mechanisms, each group of telescopic mechanisms comprises two mutually parallel telescopic pieces, and each group of moving mechanisms comprises two mutually parallel linear moving modules; the angles between every two adjacent telescopic mechanisms are the same, and the angles between every two adjacent moving mechanisms are the same. The upper ends of the six telescopic pieces of the three telescopic mechanisms are hinged to the six hinge points of the upper platform correspondingly. The six linear moving modules of the three moving mechanisms are installed on the upper surface of the lower platform, the lower ends of the six telescopic pieces are hinged to the six linear moving modules correspondingly, and the lower ends of the telescopic pieces can do linear reciprocating motion through the linear moving modules. According to the utility model, the motion platform and the three linear motion modules are integrated, so that the structure is more simplified, the load distribution is more uniform, the control precision is higher, the stability is strong, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to six freedom degree motion platform design technical field, concretely relates to a six freedom degree motion platform based on linear slide rail drive. BACKGROUND

[0002] Six freedom degree motion platform is a kind of mechanical device for simulating or realizing complex motion in space, and is widely used in flight simulator, robot, medical equipment, automobile test, virtual reality and precision machining etc. field. Six freedom degree is the six kinds of motion modes of platform in three-dimensional space: translation along X, Y, Z three directions, and rotation around X, Y, Z axis. Since six freedom degree platform can realize multi-degree-of-freedom control, therefore plays a key role in the field needing multi-azimuth motion control. The most common Stewart platform in traditional six freedom degree platform, it adopts 6 support rods to connect base and motion platform, realizes the six freedom degree motion of platform by changing the length of telescopic rod. Stewart platform has good load capacity and rigidity, compact structure, and is suitable for high load, high rigidity application occasion.

[0003] Although the above-mentioned traditional six freedom degree platform meets the demand of multi-degree-of-freedom control in application, but there are still certain limitations in actual application: 1) complex structure, high cost: the accurate control of the length of each telescopic rod is required, and each joint and rod need precision machining and assembly, and the manufacturing, assembly and maintenance cost is higher; 2) poor load uniformity, insufficient stability: parallel six freedom degree platform structure is complex, and the stress between each rod and connecting point is not uniform, which can easily lead to system paralysis, for example, under heavy load or high speed motion, platform can vibrate or deform due to uneven stress, affect motion precision and equipment wear; 3) high control complexity, motion precision is not easy to guarantee: the motion control of six freedom degree platform is relatively complex, especially traditional parallel mechanism needs to accurately control the synchronous motion of multiple rods, and this control complexity increases the response time of system, and it is difficult to meet the demand of bearing and high response speed, in actual application, small spindle tray can lead to the decline of motion precision of platform, affect working effect; 4) limited motion range: platform is set in motion range, especially in rotation, usually only small angle of pitch, roll and yaw can be realized, which limits the applicability of platform in simulating large range motion.

[0004] Therefore, the utility model provides a six freedom degree motion platform based on linear slide rail drive. The design is optimized in aspects of structure simplification, load distribution uniformity and control precision etc. UTILITY MODEL CONTENTS

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a six-degree-of-freedom motion platform based on linear guide rail drive. This motion platform has a simpler structure, more uniform load distribution, and higher control precision, overcoming the problems of existing six-degree-of-freedom motion platforms such as complex structure, high manufacturing cost, poor load uniformity, insufficient stability, poor motion precision, and limited motion range.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a six-degree-of-freedom motion platform based on linear guide rail drive, including an upper platform, a lower platform, three sets of telescopic mechanisms, and three sets of moving mechanisms; each set of telescopic mechanisms includes two telescopic members, and each set of moving mechanisms includes two linear motion modules; the lower surface of the upper platform is provided with six hinge points, and the upper ends of the six telescopic members of the three sets of telescopic mechanisms are respectively hinged to the six hinge points of the upper platform; the six linear motion modules of the three sets of moving mechanisms are installed on the upper surface of the lower platform, and the lower ends of the six telescopic members of the three sets of telescopic mechanisms are respectively hinged to the six linear motion modules, and the lower ends of the telescopic members can perform linear reciprocating motion through the linear motion modules.

[0008] As a further optimization of this utility model, it also has the following features: in the three sets of telescopic mechanisms, the two telescopic components of each set of telescopic mechanisms are parallel to each other; in the three sets of moving mechanisms, the two linear moving modules of each set of moving mechanisms are parallel to each other.

[0009] As a further optimization of this utility model, it also has the following features: in the three sets of telescopic mechanisms, the angle between adjacent sets of telescopic mechanisms is the same; in the three sets of moving mechanisms, the angle between adjacent sets of moving mechanisms is the same.

[0010] As a further optimization of this utility model, it also has the following features: the cross-section of the upper platform is circular, and the six hinge points on the lower surface of the upper platform are circumferentially equidistantly distributed.

[0011] As a further optimization of this utility model, it also has the following feature: the cross-section of the lower platform is an equilateral triangle, and the central axes of the three sets of moving mechanisms coincide with the three median lines of the equilateral triangle.

[0012] As a further optimization of this utility model, it also has the following features: the upper end of the telescopic member is movably connected to the upper platform through a first ball joint mechanism, and the lower end of the telescopic member is movably connected to the linear motion module through a second ball joint mechanism.

[0013] As further optimization of the utility model, still have such characteristics: the linear movement module includes servo motor, sliding block, screw rod and fixed block, the servo motor is fixed on the upper surface of lower platform, the fixed block is fixed on the upper surface of lower platform, the one end of screw rod is fixedly connected with the drive shaft of servo motor, the one end of screw rod is rotatably connected with fixed block, the threaded hole that is adapted with screw rod is opened in sliding block, sliding block is connected with screw rod by screwing, when screw rod rotates, sliding block can move linearly along screw rod, the lower end of telescopic part is hingedly connected with sliding block.

[0014] As further optimization of the utility model, still have such characteristics: the linear movement module still includes at least one guide rod, the guide rod is parallel with screw rod, the both ends of guide rod are fixedly connected with fixed block and servo motor respectively, sliding block is provided with through hole that is mutually adapted with the number and position of guide rod, the guide rod passes through through hole and is slidably connected with sliding block.

[0015] As further optimization of the utility model, still have such characteristics: sliding block is slidably connected with the upper surface of lower platform.

[0016] As further optimization of the utility model, still have such characteristics: the servo motor of three linear movement modules is distributed at the three top corners of lower platform respectively.

[0017] As further optimization of the utility model, still have such characteristics: telescopic part is electric telescopic cylinder.

[0018] The utility model has the advantages of:

[0019] (1) the utility model is based on the symmetrical layout design of triangular base, integrates the motion platform with three linear motion modules, so that the load can be evenly distributed on the lower platform, improves the effectiveness and stability of the platform, reduces the failure and deformation caused by uneven load in the movement process;

[0020] (2) in the utility model, the combination structure of linear slide rail and telescopic rod replaces the complex joint and rod structure of traditional six-degree-of-freedom platform, and the lower end of telescopic rod is driven to move smoothly on the slide rail through motor rotation, forming a driving mode based on linear motion, which simplifies the structure, reduces the manufacturing and assembly difficulty, and the linear motion of slide rail is easier to control and maintain than the traditional joint rotation;

[0021] (3) in the utility model, the upper and lower ends of telescopic rod are connected with upper platform and linear movement module through spherical hinge structure respectively, which improves flexibility, so that each telescopic rod can bear stress at different angles. The use of spherical hinge not only ensures the free movement of telescopic rod, but also greatly reduces the fatigue of joint part, prolongs the service life of equipment. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the linear slide rail driven six-degree-of-freedom motion platform structure diagram of the utility model;

[0023] Figure 2 is the front view structure diagram of the linear slide rail driven six-degree-of-freedom motion platform of the utility model;

[0024] Figure 3 is the plan view structure diagram of the linear slide rail driven six-degree-of-freedom motion platform of the utility model;

[0025] Figure 4 is the single telescopic piece connection diagram of the linear slide rail driven six-degree-of-freedom motion platform of the utility model;

[0026] The marks in the drawings are:

[0027] 1, upper platform;2, lower platform;3, telescopic piece;4, linear movement module;5, first spherical hinge mechanism;6, second spherical hinge mechanism;7, servo motor;8, sliding block;9, screw;10, fixed block;11, guide rod. DETAILED DESCRIPTION

[0028] 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 described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0029] Embodiment 1

[0030] As shown in Figures 1-4 , the utility model embodiment provides a kind of six-degree-of-freedom motion platform based on linear slide rail drive, including upper platform 1, lower platform 2, three telescopic mechanisms and three groups of moving mechanisms.

[0031] As shown in Figures 1-2 , in three telescopic mechanisms, the angle between adjacent two telescopic mechanisms is same, each telescopic mechanism includes 2 telescopic pieces 3 (electric telescopic cylinder), and 2 telescopic pieces 3 are parallel to each other. In three moving mechanisms, the angle between adjacent two moving mechanisms is same, each moving mechanism includes 2 linear movement modules 4, and 2 linear movement modules 4 are parallel to each other.

[0032] As shown in Figure 1 and Figure 3As shown in the drawings, the upper platform 1 is a circular platform, and the lower surface of the upper platform 1 is provided with six hinge points which are distributed equidistantly (or non-equidistantly) along the circumference of the lower surface of the upper platform 1.

[0033] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, the cross section of the lower platform 2 is an equilateral triangle, and the central axes of the three sets of moving mechanisms coincide with the three medians of the equilateral triangle, respectively.

[0034] As shown in the drawings, Figure 1 and Figure 4 As shown in the drawings, the upper ends of the six telescopic members 3 of the three sets of telescopic mechanisms are hingedly installed at the six hinge points of the upper platform 1 through the first spherical hinge mechanisms 5. The six linear moving modules 4 of the three sets of moving mechanisms are installed on the upper surface of the lower platform 2, and the lower ends of the six telescopic members 3 of the three sets of telescopic mechanisms are hingedly connected with the six linear moving modules 4 through the second spherical hinge mechanisms 6, and the lower ends of the telescopic members 3 can move linearly through the linear moving modules 4.

[0035] The utility model provides a six degree of freedom motion platform which is more simplified in structure, more uniform in load distribution and higher in control precision, integrates the motion platform and the linear motion module, adjusts the telescopic members through the telescopic adjustment of the electric cylinders in the three sets of telescopic members and the linear motion adjustment of the three sets of linear motion modules, realizes the six degree of freedom control of the upper platform, realizes the motion of the six degrees of freedom including the front and back motion along the X axis, the left and right motion along the Y axis, the up and down motion along the Z axis, the pitching motion around the X axis, the rolling motion around the Y axis and the yawing motion around the Z axis based on the upper platform.

[0036] Embodiment 2

[0037] The main body structure of the embodiment is the same as that of embodiment 1, and the difference lies in that the structure of the linear moving module 4 is limited in the embodiment.

[0038] Specifically, referring to Figures 1-4 Each linear moving module 4 includes a servo motor 7, a sliding block 8, a screw rod 9 and a fixed block 10.

[0039] The servo motor 7 is fixed on the upper surface of the lower platform 2, and the six servo motors 7 of the three sets of linear moving modules 4 are distributed at the three top corners of the lower platform 2 in pairs, and the fixed block 10 is fixed on the upper surface of the lower platform 2. One end of the screw rod 9 is fixedly connected with the driving shaft of the servo motor 7, and the other end of the screw rod 9 is rotatably connected with the fixed block 10. A threaded hole adapted to the screw rod 9 is formed in the sliding block 8, the screw rod 9 is inserted into the threaded hole and is threadedly connected with the sliding block 8, and when the screw rod 9 rotates, the sliding block 8 can move linearly along the screw rod 9. The lower end of the telescopic member 3 is hingedly connected with the sliding block 8, and when the sliding block 8 moves linearly, the lower end of the telescopic member 3 also moves linearly.

[0040] As Figure 1 shown in the embodiment, the linear movement module 4 further comprises two guide rods 11, which are parallel to the screw rod 9 and symmetrically distributed on both sides of the screw rod 9. The two ends of the guide rod 11 are fixedly connected with the fixed block 10 and the servo motor 7 respectively. The sliding block 8 is provided with two through holes which are adapted to the positions of the guide rods 11, and the guide rods 11 are inserted into the through holes and are in sliding connection with the sliding block 8.

[0041] In application, the servo motor 7 drives the screw rod 9 to rotate, and then drives the sliding block 8 to move linearly along the screw rod 9 and the guide rod 11, so as to drive the lower end of the telescopic part 3 to move linearly, thereby realizing the linear movement control of the telescopic part.

[0042] In other embodiments of the utility model, the sliding block 8 can also be designed to be in sliding connection with the upper surface of the lower platform 2, and the sliding block 8 can also drive the telescopic part 3 to move linearly.

[0043] The utility model fixes the above-mentioned servo motor and fixed block in pairs on the triangular lower platform, greatly simplifies the structure of the six-degree-of-freedom platform through the design of the triangular lower platform and the linear movement module, reduces the manufacturing difficulty and manufacturing cost, combines the linear movement of the servo motor and the screw rod transmission and the sliding rail, guarantees the stability and inertia control of the platform, can meet the high requirements of precision machining, experimental testing and other applications, and increases the anti-shock and anti-deformation ability of the platform.

[0044] The above is only the preferred embodiment of the utility model, and the protection scope of the utility model is not limited to the above-mentioned embodiments, and any technical scheme belonging to the idea of the utility model belongs to the protection scope of the utility model. It should be pointed out that for ordinary technical personnel in the technical field, some improvements and decorations without departing from the principle of the utility model can be regarded as the protection scope of the utility model.

Claims

1. A six-degree-of-freedom motion platform driven by linear slide rails, characterized in that, it comprises an upper platform (1), a lower platform (2), three sets of telescopic mechanisms and three sets of moving mechanisms; each set of telescopic mechanism comprises two telescopic members (3), and each set of moving mechanism comprises two linear moving modules (4); the lower surface of the upper platform (1) is provided with six hinge points, and the upper ends of the six telescopic members (3) of the three sets of telescopic mechanisms are respectively hingedly installed at the six hinge points of the upper platform (1); the six linear moving modules (4) of the three sets of moving mechanisms are installed on the upper surface of the lower platform (2), the lower ends of the six telescopic members (3) of the three sets of telescopic mechanisms are respectively hingedly connected with the six linear moving modules (4), and the lower ends of the telescopic members (3) can perform linear reciprocating motion through the linear moving modules (4).

2. The six-degree-of-freedom motion platform driven by linear slide rails according to claim 1, characterized in that, in the three sets of telescopic mechanisms, the two telescopic members (3) of each set of telescopic mechanism are parallel to each other; in the three sets of moving mechanisms, the two linear moving modules (4) of each set of moving mechanism are parallel to each other.

3. The six-degree-of-freedom motion platform driven by linear slide rails according to claim 2, characterized in that, in the three sets of telescopic mechanisms, the angles between adjacent two sets of telescopic mechanisms are the same; in the three sets of moving mechanisms, the angles between adjacent two sets of moving mechanisms are the same.

4. The linear slide rail driven six-degree-of-freedom motion platform according to claim 1, wherein, the cross section of the upper platform (1) is circular, and the six hinge points provided on the lower surface of the upper platform (1) are distributed equidistantly in the circumferential direction.

5. The linear slide driven six degree-of-freedom motion platform according to claim 1, wherein, the cross section of the lower platform (2) is an equilateral triangle, and the central axes of the three sets of moving mechanisms respectively coincide with the three medians of the equilateral triangle.

6. The linear slide rail driven six-DOF motion platform according to claim 1, wherein, the upper end of the telescopic member (3) is movably connected with the upper platform (1) through a first spherical hinge mechanism (5), and the lower end of the telescopic member (3) is movably connected with the linear moving module (4) through a second spherical hinge mechanism (6).

7. The six-degree-of-freedom motion platform driven by linear slide rails according to claim 1, characterized in that, the linear moving module (4) comprises a servo motor (7), a sliding block (8), a lead screw (9) and a fixed block (10); the servo motor (7) is fixed on the upper surface of the lower platform (2), the fixed block (10) is fixed on the upper surface of the lower platform (2), one end of the lead screw (9) is fixedly connected with the driving shaft of the servo motor (7), and the other end of the lead screw (9) is rotatably connected with the fixed block (10); a threaded hole adapted to the lead screw (9) is formed in the sliding block (8), the sliding block (8) is threadedly connected with the lead screw (9), and when the lead screw (9) rotates, the sliding block (8) can move linearly along the lead screw (9); the lower end of the telescopic member (3) is hingedly connected with the sliding block (8).

8. The six-degree-of-freedom motion platform driven by linear slide rails according to claim 7, characterized in that, the linear moving module (4) further comprises at least one guide rod (11). The guide rod (11) is parallel to the screw rod (9), and the two ends of the guide rod (11) are fixedly connected with the fixed block (10) and the servo motor (7) respectively; the sliding block (8) is provided with a through hole which is matched with the number and position of the guide rod (11), and the guide rod (11) penetrates through the through hole and is slidably connected with the sliding block (8).

9. The linear slide rail driven six-degree-of-freedom motion platform according to claim 7, wherein, The sliding block (8) is slidably connected with the upper surface of the lower platform (2).

10. The six-degree-of-freedom motion platform driven by linear slide rails according to claim 7, characterized in that, The servo motors (7) of the three groups of linear motion modules (4) are respectively distributed at the three top corners of the lower platform (2).

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