Search

CN-122008152-A - Self-balancing overconstrained six-degree-of-freedom parallel platform

CN122008152ACN 122008152 ACN122008152 ACN 122008152ACN-122008152-A

Abstract

The invention discloses a self-balancing over-constraint six-degree-of-freedom parallel platform which comprises a fixed platform, a movable platform, a plurality of driving rods, fine tuning followers, gesture detection units and fine tuning controllers, wherein the plurality of first connecting auxiliary plates are circumferentially distributed on the upper end face of the fixed platform, the plurality of second connecting auxiliary plates are arranged on the lower end face of the movable platform and are positioned above the fixed platform, the plurality of driving rods are arranged on the first connecting auxiliary plates and the second connecting auxiliary plates, the two universal hinge shafts are respectively arranged on the second connecting auxiliary plates, the fine tuning followers are arranged on the output ends of the driving rods, the upper ends of the driving rods are connected with the universal hinge shafts on the first connecting auxiliary plates through the fine tuning followers, the gesture detection units are arranged on the lower end face of the movable platform, the fine tuning controllers are respectively arranged on the driving rods, the fine tuning controllers can conduct small-scale and high-precision fine tuning, high-precision self-balancing positioning of the movable platform is achieved, elastic floating support is achieved below the movable platform, and damage of hinges or driving rods due to instant mechanical stress is effectively eliminated.

Inventors

  • LI YUANNAN

Assignees

  • 上海冀望自动化控制设备有限公司

Dates

Publication Date
20260512
Application Date
20260407

Claims (10)

  1. 1. A self-balancing, over-constrained six degree of freedom parallel platform comprising: a plurality of first connecting auxiliary plates (11) are circumferentially distributed on the upper end surface of the fixed platform (1); The movable platform (12) is positioned above the fixed platform (1), and a plurality of second connecting auxiliary plates are arranged on the lower end face of the movable platform (12); The plurality of driving rods (3) are arranged, two universal hinge shafts (13) are arranged on the first connecting auxiliary plate (11) and the second connecting auxiliary plate, and the lower end of each driving rod (3) is connected with the universal hinge shaft (13) on the first connecting auxiliary plate (11) respectively; the fine tuning followers (4) are arranged at the output ends of the driving rods (3), and the upper ends of the driving rods (3) are connected with the universal hinge shafts (13) on the first connecting auxiliary plate (11) through the fine tuning followers (4); and the gesture detection unit (2) is arranged on the lower end surface of the movable platform (12).
  2. 2. The over-constrained six-degree-of-freedom parallel platform with self-balancing function according to claim 1, wherein two driving rods (3) on the first connecting auxiliary plate (11) are distributed in a V shape.
  3. 3. A parallel platform with self-balancing over-constrained six degrees of freedom according to claim 1, characterized in that the gesture detection unit (2) comprises: The sliding rail frames (21) are arranged in three and are circumferentially distributed on the lower end face of the movable platform (12); The distance measuring sensors (22) are arranged in one-to-one correspondence with the sliding rail frames (21), the sliding rail frames (21) are slidably provided with transfer blocks, and the distance measuring sensors (22) are arranged below the transfer blocks; The rotating disc (23) is rotatably arranged on the movable platform (12), a plurality of inclined grooves (24) are formed in the rotating disc (23), guide pins are vertically fixed on the transfer blocks, and one ends of the guide pins are slidably connected in the inclined grooves (24).
  4. 4. A parallel platform with self-balancing, over-constrained six degrees of freedom according to claim 3, characterized in that each ranging sensor (22) is always oriented vertically towards the fixed platform (1); The lower end face of the movable platform (12) is provided with a control motor for driving the rotating disc (23) to rotate.
  5. 5. A six degree of freedom parallel platform with self-balancing over-constraint according to claim 1, characterized in that the fine tuning follower (4) comprises: the upper end surface of the sliding shaft plate (41) is fixed with the universal hinge shaft (13), and two sliding blocks are symmetrically arranged in the sliding shaft plate (41) in a sliding manner; The fine tuning controllers (5) are arranged in two, the upper end and the lower end of each fine tuning controller (5) are connected with a rotary hinge shaft (42), the rotary hinge shaft (42) at the lower end of each fine tuning controller (5) is connected with a shaft rod (31) in the driving rod (3), and the rotary hinge shaft (42) at the upper end of each fine tuning controller (5) is connected with a sliding block in the sliding shaft plate (41).
  6. 6. The self-balancing over-constrained six-degree-of-freedom parallel platform according to claim 5, wherein a guide shaft (43) is fixed in the middle of the sliding shaft plate (41), a linkage rod (44) is rotatably connected to the guide shaft (43), guide grooves (45) are symmetrically formed at two ends of the linkage rod (44), guide pins are fixed on the sliding blocks, and the guide pins are slidably connected with the guide grooves (45); two inner springs are symmetrically connected in the sliding shaft plate (41), and the other ends of the inner springs are connected with the sliding blocks.
  7. 7. The self-balancing over-constraint six-degree-of-freedom parallel platform according to claim 6, wherein a fixed pipe (32) is coaxially sleeved outside the shaft rod (31), a limiting ring is fixed at the upper end inside the fixed pipe (32), an inner hole corresponding to the fine tuning controller (5) is formed in the limiting ring, and the limiting ring is sleeved outside the fine tuning controller (5) through the inner hole in a sliding manner; The coaxial seal cover of lower extreme of axostylus axostyle (31) is equipped with pneumatic ring (33), the lower extreme sealing sliding connection of fixed pipe (32) is in pneumatic ring (33), L shape passageway (34) have been seted up in axostylus axostyle (31), the one end of L shape passageway (34) with pneumatic ring (33) are linked together, and the other end is connected with air guide hose (35), the inside below of actuating lever (31) is fixed with air guide seat (36), air guide hose (35) are connected with air guide seat (36).
  8. 8. The over-constrained six-degree-of-freedom parallel platform with self-balancing function according to claim 7, wherein when the limiting ring slides downwards along with the fixed pipe (32) and is separated from the fine tuning controller (5) in a sliding manner, the two sliding blocks slide reversely under the action of the tension of the inner springs, so that the two fine tuning controllers (5) are erected in a V shape.
  9. 9. A six degrees of freedom parallel platform with self-balancing over-constraint according to claim 5, wherein the fine tuning controller (5) comprises: a guide cylinder (51) in which a shaft tube (52) is coaxially and slidably connected; The central rod (53) is coaxially arranged in the shaft tube (52), and the upper end of the central rod (53) is fixed with the rotary hinge shaft (42); the center of the hydraulic cavity (54) is arranged in the guide cylinder (51), and the lower end of the center rod (53) is connected in the hydraulic cavity (54) in a sealing sliding manner through a piston; And a hydraulic passage (55) which is arranged in the guide cylinder (51) and one end of which is communicated with the hydraulic cavity (54) in a sealing way.
  10. 10. The self-balancing over-constrained six-degree-of-freedom parallel platform according to claim 9, wherein an outer support spring (56) is sleeved outside the shaft tube (52), a flange is arranged on the inner wall of the guide cylinder (51), the lower end of the outer support spring (56) is connected with the flange, and the upper end of the outer support spring is connected with the end part of the center rod (53); The guide cylinder is characterized in that a plurality of sliding cavities (57) are formed in the inner circumference of the guide cylinder (51), supporting rods (58) are slidably connected in the sliding cavities (57), compression springs (59) are connected to the upper ends of the supporting rods (58), and the upper ends of the compression springs (59) are connected with the shaft tube (52).

Description

Self-balancing overconstrained six-degree-of-freedom parallel platform Technical Field The invention belongs to the technical field of motion platforms, and particularly relates to a self-balancing over-constrained six-degree-of-freedom parallel platform. Background The six-degree-of-freedom parallel platform is an important technology in the fields of precision motion control and heavy load support, and a typical structure of the six-degree-of-freedom parallel platform is composed of a static platform, a movable platform and six driving rods which can be independently telescopic, and three translational degrees of freedom and three rotational degrees of freedom of the movable platform in space are realized through the cooperative telescopic action of the six rods. The platform is widely applied to the fields of high-end equipment such as flight simulators, heavy equipment positioning, precision machine tools and the like by virtue of the advantages of high rigidity, high bearing capacity, high precision, no accumulated error and the like. However, the conventional platform adopts single-stage driving, and in a scene requiring large-scale coarse positioning and local fine tuning, the single driving mode cannot meet the requirements of macro motion and micro motion at the same time; In addition, the conventional six-degree-of-freedom parallel platform lacks a special buffering energy-absorbing structure, and when a redundant driving or over-constraint design is adopted for improving rigidity, a small assembly error causes huge additional stress in the mechanism, and a rigid hinge and a driving rod are easily damaged due to instantaneous overload. Therefore, it is necessary to provide a self-balancing overconstrained six-degree-of-freedom parallel platform to solve the above-mentioned problems. Disclosure of Invention In order to achieve the purpose, the invention provides a self-balancing over-constraint six-degree-of-freedom parallel platform, which comprises the following components: The upper end face of the fixed platform is circumferentially provided with a plurality of first connecting auxiliary plates; The movable platform is positioned above the fixed platform, and a plurality of second connecting auxiliary plates are arranged on the lower end face of the movable platform; The plurality of driving rods are arranged, two universal hinge shafts are arranged on the first connecting auxiliary plate and the second connecting auxiliary plate, and the lower ends of the driving rods are respectively connected with the universal hinge shafts on the first connecting auxiliary plate; The fine tuning followers are arranged at the output ends of the driving rods, and the upper ends of the driving rods are connected with the universal hinge shafts on the first connecting auxiliary plate through the fine tuning followers; and the gesture detection unit is arranged on the lower end surface of the movable platform. Further preferably, the two driving rods on the first connecting sub-plate are distributed in a V shape. Further, preferably, the posture detecting unit includes: the sliding rail frames are arranged in three and are circumferentially distributed on the lower end face of the movable platform; the distance measuring sensors are arranged in one-to-one correspondence with the sliding rail frames, the sliding rail frames are provided with moving blocks in a sliding manner, and the distance measuring sensors are arranged below the moving blocks; The rotating disc is rotatably arranged on the movable platform, a plurality of inclined grooves are formed in the rotating disc, guide pins are vertically fixed on the transfer blocks, and one ends of the guide pins are slidably connected in the inclined grooves. Further, preferably, each ranging sensor is always vertically oriented to the fixed platform; And a control motor for driving the rotating disc to rotate is arranged on the lower end surface of the movable platform. Further, preferably, the fine adjustment follower includes: the upper end face of the sliding shaft plate is fixed with the universal hinge shaft, and two sliding blocks are symmetrically arranged in the sliding shaft plate in a sliding manner; The two fine tuning controllers are arranged, the upper end and the lower end of each fine tuning controller are connected with a rotary hinge shaft, the rotary hinge shaft at the lower end of each fine tuning controller is connected with a shaft lever in the driving rod, and the rotary hinge shaft at the upper end of each fine tuning controller is connected with a sliding block in the sliding shaft plate. Further, preferably, a guide shaft is fixed in the middle of the sliding shaft plate, a linkage rod is rotatably connected to the guide shaft, guide grooves are symmetrically formed in two ends of the linkage rod, guide pins are fixed on the sliding blocks, and the guide pins are in sliding connection with the guide grooves; two inner springs are symmetric