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CN-121799673-B - Rail mobile platform with clamping and hanging mechanism and self-circulation driving mechanism

CN121799673BCN 121799673 BCN121799673 BCN 121799673BCN-121799673-B

Abstract

The invention discloses a track movable platform with a clamping and hanging mechanism and a self-circulation driving mechanism, relates to a track driving platform, and belongs to the field of suspension movable platforms. Aiming at the problems of complex structure, difficult manufacturing and installation, high cost, yi Kagui, uneven stress, uneven posture, and limited movement of a mobile platform caused by multi-synchronous track constraint of a micro-low gravity mobile platform in the prior art, the invention comprises a group of I-beam tracks, a platform base, a self-circulation driving mechanism and a plurality of clamping and hanging mechanisms; the plurality of clamping and hanging mechanisms are uniformly distributed around the platform base along the circumferential direction, clamped and hung on the I-beam tracks through the clamping and hanging mechanisms above the platform base, the self-circulation driving mechanism is arranged on the platform base, drives the plurality of clamping and hanging mechanisms to release and clamp on one group of I-beam tracks, and drives the platform base to move or stop on the one group of I-beam tracks through the self-circulation driving mechanism.

Inventors

  • GAO HAIBO
  • SUN GUANGYAO
  • LIU ZHEN
  • YUAN RUNZE
  • LU RENCHAO

Assignees

  • 哈尔滨工业大学

Dates

Publication Date
20260505
Application Date
20260312

Claims (9)

  1. 1. A track movable platform with a clamping mechanism and a self-circulation driving mechanism is characterized by comprising a group of I-beam tracks (1), a platform base (2), the self-circulation driving mechanism (3) and a plurality of clamping mechanisms (4), wherein each clamping mechanism (4) comprises an inverted-T track seat (41), a clamping sliding shaft (42) and two clamping assemblies (44), each self-circulation driving mechanism (3) comprises two transmission chains (36), and each clamping assembly (44) comprises a clamping driving connecting rod (441), two clamping crankshafts (442), two clamping crankshafts (444), two clamping roller shafts (445) and two clamping rollers (446); The clamping and hanging mechanisms (4) are uniformly distributed around the platform base (2) along the circumferential direction, the clamping and hanging mechanisms (4) are clamped and hung on a group of I-beam tracks (1) above the platform base (2), the fixed ends of the T-shaped track seats (41) are arranged on the self-circulation driving mechanism (3), the clamping and hanging sliding shafts (42) are inserted and arranged on the strip-shaped sliding grooves of the T-shaped track seats (41), the clamping and hanging sliding shafts (42) are arranged along the circumferential direction of the platform base (2) in a sliding manner, the two clamping assemblies (44) are arranged on the clamping and hanging sliding shafts (42) and the self-circulation driving mechanism (3), the clamping and hanging sliding shafts (42) drive the two clamping assemblies (44) to clamp the bottom ends of the group of I-beam tracks (1) above, the self-circulation driving mechanism (3) is arranged on the platform base (2), the self-circulation driving mechanism (3) drives the plurality of clamping and hanging mechanisms (4) to release and clamp on the group of I-beam tracks (1) and drive the platform (2) to stop moving or the I-beam tracks (1) through the self-circulation driving mechanism (3), The base of the Y-shaped track seat (41) is fixedly arranged on a chain link of a transmission chain (36), two clamping driving connecting rods (441) are symmetrically arranged on two sides of a clamping sliding shaft (42), one end of each clamping driving connecting rod (441) is rotationally connected with the clamping sliding shaft (42), the other end of each clamping driving connecting rod (441) is rotationally connected with one end of each clamping crank (444), the other end of each clamping crank (444) is rotationally connected with each clamping roller (446) through a clamping roller shaft (445), a clamping crank shaft (442) is arranged on each clamping crank (444), the clamping crank shaft (442) is arranged close to the joint of each clamping driving connecting rod (441) and the corresponding clamping crank (444), and the clamping crank shaft (442) is inserted on the transmission chain (36).
  2. 2. The track-moving platform with the clamping and hanging mechanism and the self-circulation driving mechanism as claimed in claim 1, wherein the group of I-beam tracks (1) comprises a plurality of I-beams which are arranged on the external space frame side by side in parallel, and the two I-beams are connected at equal intervals.
  3. 3. The track-movable platform with the clamping and hanging mechanism and the self-circulation driving mechanism according to claim 1, wherein the platform base (2) comprises a double-base connecting piece (21), a platform right base (22), a platform left base (23) and a motor bracket (24); the platform right base (22) and the platform left base (23) are relatively parallel, the double-base connecting piece (21) and the motor bracket (24) are arranged between the platform right base (22) and the platform left base (23) and are respectively arranged on the platform right base (22) and the platform left base (23), and the self-circulation driving mechanism (3) is arranged on the motor bracket (24).
  4. 4. A track-movable platform with a clamping mechanism and a self-circulation driving mechanism according to claim 3, wherein the right platform base (22) and the left platform base (23) are identical in structure, and the right platform base (22) comprises an outer vertical plate (222), an inner vertical plate (223), a transverse plate (224) and three bearing end covers (221); Outside riser (222) and inboard riser (223) are parallel arrangement relatively, and diaphragm (224) are installed perpendicularly on outside riser (222) and inboard riser (223), outside riser (222) medial surface processing has planking circulation wheel groove (225), inboard riser (223) lateral surface processing has inner panel circulation wheel groove (226), planking circulation wheel groove (225) and inner panel circulation wheel groove (226) set up relatively, press from both sides and hang mechanism (4) drive end slip setting on planking circulation wheel groove (225) and inner panel circulation wheel groove (226), two bearing end caps (221) are installed on outside riser (222) lateral surface, another bearing end cap (221) are installed on inboard riser (223) medial surface.
  5. 5. The track-moving platform with the clamping mechanism and the self-circulation driving mechanism according to claim 4, wherein the self-circulation driving mechanism (3) further comprises a circulation driving motor (31), a circulation motor coupler (32), a circulation motor speed reducer (33), two positioning cylinders (34), two sprocket driving transmission assemblies (35) and two sprocket driven transmission assemblies (37); The circulating driving motor (31) is connected with the input end of the circulating motor reducer (33) through a circulating motor coupler (32), the double output shafts of the circulating motor reducer (33) are respectively connected with the sprocket driving transmission assemblies (35), each sprocket driving transmission assembly (35) is respectively connected with the sprocket driven transmission assembly (37) in a transmission way through a transmission chain (36), the clamping and hanging mechanisms (4) are respectively symmetrically installed on the two transmission chains (36), and the circulating motor reducer (33) is installed on the platform base (2) through two positioning cylinders (34).
  6. 6. The track-movable platform with the clamping mechanism and the self-circulation driving mechanism according to claim 5, wherein the sprocket driving assembly (35) comprises a sprocket reducer (351), a driving sprocket shaft (352) and a driving sprocket (353), and the sprocket driven assembly (37) comprises a driven sprocket (371) and a driven sprocket shaft (372); each driving sprocket (353) is rotatably connected with one end of an outer side vertical plate (222) and one end of an inner side vertical plate (223) through a driving sprocket shaft (352), each driven sprocket (371) is rotatably connected with the other end of the outer side vertical plate (222) and the inner side vertical plate (223) through a driven sprocket shaft (372), the driving sprocket (353) and the driven sprocket (371) are in chain transmission through a transmission chain (36), each output shaft of the circulating motor reducer (33) is fixedly connected with the driving sprocket shaft (352) through the sprocket reducer (351), the circulating motor reducer (33) and the two sprocket reducers (351) are arranged on the inner side surface of the inner side vertical plate (223) through positioning cylinders (34), one bearing end cover (221) is buckled and arranged at the end part of the driving sprocket shaft (352) on the outer side vertical plate (222) on the outer side surface of the outer side vertical plate (222), one bearing end cover (221) is buckled and one bearing end cover (221) is respectively buckled and arranged on the inner side vertical plate (223) on the two ends of the driven sprocket shaft (372), and the circulating driving motor (31) is arranged on the motor support (24).
  7. 7. The track-moving platform with a clip-on mechanism and a self-circulating drive mechanism of claim 1, wherein: the clamping and hanging mechanism (4) is also provided with two sliding bearing wheels (45), two ends of the clamping and hanging sliding shaft (42) are respectively provided with one sliding bearing wheel (45), and the two sliding bearing wheels (45) slide on the platform base (2) along the circumferential direction of the platform base (2).
  8. 8. The movable track platform with the clamping and hanging mechanism and the self-circulation driving mechanism, as set forth in claim 6, wherein the outer plate circulation wheel groove (225) and the inner plate circulation wheel groove (226) have the same structure, the outer plate circulation wheel groove (225) is an elliptical groove, the clamping long groove above the elliptical groove and the releasing long groove below the elliptical groove are arranged in parallel, and the clamping long groove above the elliptical groove is arranged in a concave manner.
  9. 9. The track-moving platform with a clip-on mechanism and a self-circulating drive mechanism of claim 1, wherein: The clamping and hanging mechanism (4) also comprises a shaft sleeve (43), the shaft sleeve (43) is sleeved on the clamping and hanging sliding shaft (42) close to the inverted-T-shaped track seat (41), the shaft sleeve (43) is positioned between the inverted-T-shaped track seat (41) and the clamping and driving connecting rod (441), The clamping assembly (44) further comprises two gasket sleeves (443), wherein the gasket sleeves (443) are arranged between the clamping driving connecting rod (441) and the clamping crank (444), and the gasket sleeves (443) are coaxially arranged at the joint of the clamping driving connecting rod (441) and the clamping crank (444).

Description

Rail mobile platform with clamping and hanging mechanism and self-circulation driving mechanism Technical Field The invention relates to a track driving platform, in particular to a track moving platform with a clamping and hanging mechanism and a self-circulation driving mechanism, and belongs to the field of suspension type moving platforms. Background In a suspended micro-gravity simulation experiment, a mobile platform is one of core components for realizing micro-gravity simulation, is usually arranged right above an experimental object, and accurately compensates the gravity of the experimental object through a suspension rope so as to simulate a micro-gravity environment. The core function of the mobile platform is to track the horizontal movement of the experimental object in real time, ensure that a suspension rope between the mobile platform and the experimental object always keeps a plumb state, avoid the interference of rope inclination on the movement posture of the experimental object, and ensure the accuracy and reliability of the micro-low gravity simulation experiment. At present, a moving platform in the existing suspension type micro-low gravity simulation system mainly adopts a two-dimensional crown block scheme to realize horizontal movement tracking. However, the two-dimensional crown block scheme has obvious application limitation that when a plurality of experimental objects exist in an experimental scene and the experimental objects need to do cross motion, unavoidable physical interference can be generated among main beams of the crown blocks, so that each crown block cannot synchronously follow the corresponding experimental object to complete motion tracking, the feasibility of parallel development of micro-low gravity simulation experiments of multiple experimental objects is further limited, and the use requirement of a complex experimental scene cannot be met. Besides the two-dimensional crown block scheme, two types of pneumatic negative pressure type and electromagnetic type mobile platforms are also used in the prior art to try to solve the interference problem. However, the two types of mobile platforms have the key performance defects that the pneumatic negative pressure type mobile platform is limited by the inherent characteristic of pneumatic driving, the moving speed is low, the positioning precision is difficult to meet the high precision requirement of a micro-low gravity simulation experiment on the motion control of the platform, the electromagnetic type mobile platform has the problems of electromagnetic interference, large positioning error and the like, and the electromagnetic type mobile platform also cannot adapt to the experimental scene with high precision and high response speed, and is difficult to realize the accurate motion tracking of an experimental object. In addition, in the prior art, there is also a suspension moving device used in the material conveying field, for example, the utility model patent of a suspension type robot track traveling device with the publication number of CN 206967470U, which has the disadvantages of complex structure, poor stability and limited movement. The improved mobile suspension device disclosed by CN105621259A is disclosed, which also adopts the structure form of matching an I-beam track with a mobile seat, the existing mechanism type mobile platform adapting to the scene is clamped and hung on the I-beam track through a double-side clamping and hanging mechanism, the positioning and the movement of the platform are realized by means of the clamping acting force between the clamping and hanging mechanism and the I-beam track, and meanwhile, the mobile platform is prevented from falling off from the I-beam track through the double-side clamping and hanging structural design, so that the operation of the platform is ensured. However, the clamping and hanging scheme of the mechanism type mobile platform still has a plurality of technical defects, and the technical defects are that synchronous control cannot be realized in clamping and hanging actions, and the conditions of single-side clamping and single-side clamping in the clamping and hanging process easily occur, so that uneven stress of the platform is caused. The clamping and hanging scheme of the multi-synchronous track constraint not only greatly increases the manufacturing and processing difficulty of the mobile platform and improves the manufacturing cost of the equipment, but also has the problems that the installation accuracy of a plurality of tracks is difficult to ensure, deviation of the track parallelism, installation dislocation and the like are easy to occur, faults such as clamping and hanging mechanism rails, aggravation of abrasion and the like are easy to cause, the service life of the equipment is shortened, the operation and maintenance cost of the equipment is increased, in addition, the problem that the clamping and hanging stress is uneven ca