CN101081504A - Six degree of freedom buttjunction platform - Google Patents
Six degree of freedom buttjunction platform Download PDFInfo
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- CN101081504A CN101081504A CN 200710078631 CN200710078631A CN101081504A CN 101081504 A CN101081504 A CN 101081504A CN 200710078631 CN200710078631 CN 200710078631 CN 200710078631 A CN200710078631 A CN 200710078631A CN 101081504 A CN101081504 A CN 101081504A
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Abstract
The present invention discloses one kind of butt-jointing platform with six freedom degrees. The butt-jointing platform includes one support platform, one work platform and three planar regulating mechanisms in the same structure. It features that three planar regulating mechanisms and one servo mechanism set between the support platform and the work platform are distributed to form one matrix, and that at least three vertical regulating mechanisms in the same structure on the support platform are distributed to form one triangle. The present invention has the functions of the planar regulating mechanisms capable of shifting the work platform in X and Y directions and rotating the work platform in Z direction and the functions of the vertical regulating mechanisms capable of rotating the work platform in X and Y directions and shifting the work platform in Z direction combined to realize motion of six freedom degrees.
Description
Technical field
The invention belongs to the space articulation technical field, specifically, relate to a kind of six degree of freedom docking platform that space articulation position and space articulation angle are carried out adjustment.
Background technology
Existing industry is more and more higher to the requirement of space articulation technology, pipeline butt joint in workpiece alignment during industry is made as high accuracy, space station contraposition, the medical chemical industry, circuit connection in the network electronic technology etc., all relate to the butt joint between the two articles, and a key factor that influences merging precision is exactly the opposing parallel problem between the two articles approaching face.Assembling, processing or object self wedgewise all can cause not parallel.The problem that at first will consider in assembling process is exactly the contraposition between the two articles that assembles.As shown in Figure 1, usually need workpiece is installed on the chute in engineering, chute a and b are vertically and are parallel to each other that there are two slide rails parallel to each other the workpiece left and right sides.So the problem that in assembling, at first will solve be exactly make workpiece and above the accurate contraposition of vertical chute.So the problem that in assembling, at first will solve be exactly make workpiece and above the accurate contraposition of vertical chute.Promptly be to regulate workpiece at the space six-freedom degree, thereby reach accurate contraposition by docking platform.
In the existing space docking technique, as publication number is the CN1326843 multifunctional regulating platform, comprise support platform, workbench, three plane regulating mechanisms that structure is identical, workbench is seated on the support platform, one side of workbench installs plane regulating mechanism, plane regulating mechanism comprises a straight line guide rail, slide block in the guide rail links to each other with push rod by hinge, push rod is packed on the nut, nut and the screw engages that is installed on the support platform, nut is connected with slide block in the line slideway that both sides play the guiding role, is fixed with two line slideways and same structure at the opposite side of workbench.This invention can realize three degrees of freedom of movement simultaneously in a plane, workbench can be along the moving of X-axis and Y-axis, and the rotation of Z-direction.
Its shortcoming is: there be not the rotation of workbench along X-axis and Y-axis, and the moving of Z-direction, can't realize the motion of six-freedom degree.
Summary of the invention
The purpose of this invention is to provide a kind of six degree of freedom docking platform, workbench can be along the rotation of X-axis, Y-axis, Z axle, and the moving of X-axis, Y-axis, Z-direction, and can realize the motion of six-freedom degree.
For achieving the above object, the present invention is a kind of six degree of freedom docking platform, comprise support platform, workbench, three plane regulating mechanisms that structure is identical, its key is: described three plane regulating mechanisms and a follower are set between support platform, workbench, they are by matrix distribution, on the support platform below the described plane regulating mechanism at least three setting governor motions that structure is identical are installed, they are pressed triangle and distribute; Described plane regulating mechanism is by horizontal motor, shaft coupling, feed screw nut pair, movable carriage, slide block and bearing are formed, wherein horizontal motor is installed on the described support platform, the output shaft of horizontal motor connects screw mandrel through shaft coupling, this screw mandrel is parallel with the upper surface of described support platform, the described nut of suit on this screw mandrel, this nut is fixed on the described movable carriage, this movable carriage bottom surface fluting, and be sleeved on the slide rail of described support platform upper surface, the upper surface of described movable carriage has chute and described slide rail spatial vertical, the described slide block of suit on this chute, this slide block is solidly set in the described bearing, and this bearing is packed in the described workbench bottom supporting post; In the identical plane regulating mechanism of described three structures, there are two screw mandrel axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel axial line in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
When the parallel screw mandrel of two plane regulating mechanisms of homonymy promotes movable carriage work in the same way, when another plane regulating mechanism quit work, movable carriage work zone movable slider, bearing and workbench were along the X-direction translation;
When another plane regulating mechanism screw mandrel promotes movable carriage work, when two plane regulating mechanisms of homonymy quit work, movable carriage work zone movable slider, bearing and workbench are along the Y direction translation, and the slide block of two plane regulating mechanisms of homonymy slides in chute.
When the screw mandrel edge of three plane regulating mechanisms promoted movable carriage work by suitable/counter clockwise direction simultaneously, movable carriage work zone movable slider, bearing and workbench rotated along Z-direction.
Described follower is made up of movable carriage, slide block and bearing, and the movable carriage in this follower, slide block and bearing are identical with the bearing annexation with movable carriage, slide block in the plane regulating mechanism of described plane regulating mechanism;
Follower cooperates three plane regulating mechanism operations, can improve the stability of workbench.
Described setting governor motion is made up of motor vertical, worm type of reduction gearing, nut seat and adjustment screw rod, wherein motor vertical is fixed on the described support platform, its output shaft connects described worm type of reduction gearing, the output shaft of worm type of reduction gearing links to each other with described adjustment screw rod through shaft coupling, this adjustment screw rod is vertical with described support platform and stretch out the lower end of support platform, and the end of adjusting screw rod is sleeved on the described nut seat.
Fix the nut seat of three setting governor motions, promote the support platform operation in the same way, when keeping the stroke unanimity of three adjustment screw rods, realize that support platform and workbench move along Z-direction when adjusting screw rod.
When the adjustment screw stroke of three setting governor motions does not wait, realize that support platform and workbench rotate along X-axis and Y direction.
Between described shaft coupling and the screw mandrel decelerator is installed.
The middle part of described support platform has cavity, and described motor vertical and worm type of reduction gearing are installed in this cavity.
All parts are installed in support platform and the workbench, save the space, and guard block is injury-free.
Rectangle is provided with, and improves the stability of workbench, and the stroke of also being convenient to movable carriage is calculated.
When workbench rotatablely moved along the Z axle, the stroke of three's movable carriage was:
X′
1＝R
0cos(θ+θ
X1)-R
0cosθ
x1
X′
2＝R
0cos(θ+θ
X2)-R
0cosθ
X2
Y′＝R
0sin(θ+θ
Y)-R
0sinθ
Y
Wherein:
θ
X1The initial angle that=135 ° of first plane regulating mechanism motor position and X-direction form
θ
X2The initial angle that=225 ° of second plane regulating mechanism motor position and X-direction form
θ
YThe initial angle that=45 ° of the 3rd plane regulating mechanism motor motor position and X-direction form
θ is the rotational angle that need of work is regulated
X '
1, X '
2For two motors of directions X need drive displacement
Y ' needs drive displacement for Y direction motor
R
0Radius when rotating around the center
Workbench is when X-axis or Y-axis move as straight line, and the stroke of three's movable carriage is:
If the moving displacement at platform center is r, then:
X″
1＝rcosθ
X1
X″
2＝rcosθ
X2
Y″＝rsinθ
Y
Wherein:
θ
X1The initial angle that=135 ° of first plane regulating mechanism motor position and X-direction form
θ
X2The initial angle that=225 ° of second plane regulating mechanism motor position and X-direction form
θ
YThe initial angle that=45 ° of the 3rd plane regulating mechanism motor position and X-direction form
X "
1, X "
2Drive displacement for directions X motor needs
Y " is the drive displacement that Y direction motor needs
So the actual motion of workbench is by around the rotation at center and pure flat moving two kinds of motions and synthetic, the specified rate X1 of final three motors, X2 and Y two type games motor-driven displacements just synthetic, that is:
X1＝X′
1+X″
1
X2＝X′
2+X″
2
Y＝Y′+Y″
Described three setting governor motions are that right angled triangle is arranged on described support platform bottom.
Translation according to geometrical relationship and coordinate system concerns with height gain and the plane angle of elevation that rotation can obtain certain point on three strong point working faces of adjustment screw rod, AF wherein, BG, EH are respectively the vertical line of Δ ABE corresponding sides, and EE ' is the distance of E point place feet elongation:
Δh＝EE′＝EH·tanα
Wherein: Δ h will realize around the AB line axle α angle that tilts, the stroke of E place motor-driven respective nut seat for the platform that will achieve a butt joint.It is similar that other motor situations and E place motor calculate control method.
The horizontal data of measuring on the code computer analytical work plane is determined its maximum (height) and minimum (low) value and in the position of flat board, then according to following formula, selection can be adjusted one or more strong points of minimum and maximum value position and adjust.Can provide the height gain Δ h of the needs of maximum (height) and minimum (low) point, calculate and adjust the needed adjustment amount Δ h of point and adjust the strong point, obtain the levelness that needs with this adjustment amount.The integral point of at first should appropriately setting the tone really in the application of reality so just can be avoided blindly adjusting, and the phenomenon of getting rid of height gain phase mutual interference or cancelling out each other improves efficient and the accuracy adjusted.
Right angled triangle is provided with, and can simplify the angle conversion relation between B point, A point, E point, and the stroke of being convenient to movable carriage is calculated.
Being set with the inner ring of bearing on the described adjustment screw rod, fixedlys connected with described support platform in the outer ring of this bearing.
Remarkable result of the present invention is: the effect of plane regulating mechanism makes the workbench can be along the rotation of the moving of X-axis and Y direction, Z axle, realize the parallel operation of Three Degree Of Freedom, the effect of erectting governor motion makes the workbench can moving along the rotation of X-axis and Y direction, Z-direction, realize the parallel operation of Three Degree Of Freedom, the function of plane regulating mechanism and setting governor motion is superimposed, realize the motion of six-freedom degree, two cover mechanisms are independent respectively installs, independent regulation and control, organically combine, operation control and the mounting or dismounting of being convenient to whole device are safeguarded again.
Description of drawings
Fig. 1 is the space articulation schematic diagram between the workpiece;
Fig. 2 is a stereogram of the present invention;
Fig. 3 is a structural representation of the present invention;
Fig. 4 is the structural representation of support platform;
Fig. 5 workbench is along the parallel fundamental diagram when mobile of X-axis or Y-axis;
The fundamental diagram that Fig. 6 is a workbench when the Z axle rotates;
To be three setting governor motions rotate fundamental diagram when regulating along X-axis or Y-axis to Fig. 7;
Fig. 8 is the calculating schematic diagram of three setting governor motions leveling.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Shown in Fig. 2,3,4: a kind of six degree of freedom docking platform, form with three identical setting governor motions of structure by support platform 1, workbench 2, three the plane regulating mechanisms that structure is identical, followers, described three plane regulating mechanisms and a follower are set between support platform 1, workbench 2, they are by square profile, three setting governor motions that structure is identical are installed on the support platform 1 below the described plane regulating mechanism, and they press the triangle distribution; Described plane regulating mechanism is by horizontal motor 3, shaft coupling 4, screw mandrel 6 nuts 7 pairs, movable carriage 8, slide block 9 and bearing 10 are formed, wherein horizontal motor 3 is installed on the described support platform 1, the output shaft of horizontal motor 3 connects screw mandrel 6 through shaft coupling 4, this screw mandrel 6 is parallel with the upper surface of described support platform 1, the described nut 7 of suit on this screw mandrel 6, this nut 7 is fixed on the described movable carriage 8, this movable carriage 8 bottom surfaces fluting, and be sleeved on the slide rail 11 of described support platform 1 upper surface, the upper surface of described movable carriage 8 has chute 12 and described slide rail 11 spatial vertical, the described slide block 9 of suit on this chute 12, this slide block 9 is solidly set in the described bearing 10, and this bearing 10 is packed in the described workbench 2 bottom supporting posts; In the identical plane regulating mechanism of described three structures, there are two screw mandrel 6 axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel 6 axial lines in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
Shown in Fig. 4,5: when the parallel screw mandrel 6 of two plane regulating mechanisms of homonymy promotes movable carriage 8 work in the same way, when another plane regulating mechanism quit work, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 were along the X-direction translation;
When another plane regulating mechanism screw mandrel 6 promotes movable carriage 8 work, when two plane regulating mechanisms of homonymy quit work, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 are along the Y direction translation, and the slide block 9 of two plane regulating mechanisms of homonymy slides in chute 12.
Shown in Fig. 4,6: when screw mandrel 6 edges of three plane regulating mechanisms promoted movable carriage 8 work by suitable/counter clockwise direction simultaneously, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 rotated along Z-direction.
As shown in Figure 4: described follower is made up of movable carriage 8, slide block 9 and bearing 10, and the movable carriage 8 in this follower, slide block 9 and bearing 10 are identical with bearing 10 annexations with movable carriage 8, slide block 9 in the plane regulating mechanism of described plane regulating mechanism;
As shown in Figure 6, when workbench 2 rotatablely moved along the Z axle, the stroke of three's movable carriage 8 was:
X′
1＝R
0cos(θ+θ
X1)-R
0cosθ
x1
X′
2＝R
0cos(θ+θ
X2)-R
0cosθ
X2
Y′＝R
0sin(θ+θ
Y)-R
0sinθ
Y
Wherein:
θ
X1The initial angle that=135 ° of first plane regulating mechanism motor position and X-direction form
θ
X2The initial angle that=225 ° of second plane regulating mechanism motor position and X-direction form
θ
YThe initial angle that=45 ° of the 3rd plane regulating mechanism motor motor position and X-direction form
θ is the rotational angle that need of work is regulated
X '
1, X '
2The displacement that need drive for two motors in X side
Y ' needs drive displacement for Y direction motor
R
0Radius when rotating around the center
As shown in Figure 5, workbench 2 is when X-axis or Y-axis move as straight line, and the stroke of three's movable carriage 8 is:
If the moving displacement at platform center is r, then:
X″
1＝rcosθ
X1
X″
2＝rcosθ
X2
Y″＝rsinθ
Y
Wherein:
θ
X1The initial angle that=135 ° of first plane regulating mechanism motor position and X-direction form
θ
X2The initial angle that=225 ° of second plane regulating mechanism motor position and X-direction form
θ
YThe initial angle that=45 ° of the 3rd plane regulating mechanism motor position and X-direction form
X "
1, X "
2Drive displacement for directions X motor needs
Y " is the drive displacement that Y direction motor needs
So the actual motion of workbench is by around the rotation at center and pure flat moving two kinds of motions and synthetic, the specified rate X1 of final three motors, X2 and Y two type games motor-driven displacements just synthetic, that is:
X1＝X′
1+X″
1
X2＝X′
2+X″
2
Y＝Y′+Y″
Follower cooperates three plane regulating mechanism operations, can improve the stability of workbench 2.
Shown in Fig. 2,3: as described in the setting governor motion by motor vertical 13, worm type of reduction gearing 14, nut seat 15 with adjust screw rod 16 and form, wherein motor vertical 13 is fixed on the described support platform 1, its output shaft connects described worm type of reduction gearing 14, the output shaft of worm type of reduction gearing 14 links to each other with described adjustment screw rod 16 through shaft coupling, this adjustment screw rod 16 and described support platform 1 are vertical and stretch out the lower end of support platform 1, and the end of adjusting screw rod 16 is sleeved on the described nut seat 15.
Fix the nut seat 15 of three setting governor motions, promote support platform 1 operation in the same way when adjusting screw rod 16, when keeping three strokes of adjusting screw rods 16 consistent, realization support platform 1 and workbench 2 move along Z-direction.
When adjustment screw rod 16 strokes of three setting governor motions do not wait, realize that support platform 1 and workbench 2 rotate along X-axis and Y direction.
Shown in Fig. 7,8: as described in three setting governor motions be support platform 1 bottom as described in right angled triangle is arranged on.
Translation according to geometrical relationship and coordinate system concerns with height gain and the plane angle of elevation that rotation can obtain certain point on 16 3 strong point working faces of adjustment screw rod, AF wherein, BG, EH are respectively the vertical line of Δ ABE corresponding sides, and EE ' is the distance of E point place feet elongation:
Δh＝EE′＝EH·tanα
Wherein: Δ h will realize around the AB line axle α angle that tilts, the stroke of E place motor-driven respective nut seat 15 for the platform that will achieve a butt joint.It is similar that other motor situations and E place motor calculate control method.
The horizontal data of measuring on the code computer analytical work plane is determined its maximum (height) and minimum (low) value and in the position of flat board, then according to following formula, selection can be adjusted one or more strong points of minimum and maximum value position and adjust.Can provide the height gain Δ h of the needs of maximum (height) and minimum (low) point, calculate and adjust the needed adjustment amount Δ h of point and adjust the strong point, obtain the levelness that needs with this adjustment amount.The integral point of at first should appropriately setting the tone really in the application of reality so just can be avoided blindly adjusting, and the phenomenon of getting rid of height gain phase mutual interference or cancelling out each other improves efficient and the accuracy adjusted.
Right angled triangle is provided with, and can simplify the angle conversion relation between B point, A point, E point, and the stroke of being convenient to movable carriage 8 is calculated.
Between described shaft coupling 4 and the screw mandrel 6 decelerator 5 is installed.
The middle part of described support platform 1 has cavity, and described motor vertical 13 and worm type of reduction gearing 14 are installed in this cavity.
All parts are installed in support platform 1 and the workbench 2, save the space, and guard block is injury-free.
Being set with the inner ring of bearing 17 on the described adjustment screw rod 16, fixedlys connected with described support platform 1 in the outer ring of this bearing 17.
Its operation principle is:
Shown in Fig. 4,5: when the parallel screw mandrel 6 of two plane regulating mechanisms of homonymy promotes movable carriage 8 work in the same way, when another plane regulating mechanism quit work, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 were along the X-direction translation;
When another plane regulating mechanism screw mandrel 6 promotes movable carriage 8 work, when two plane regulating mechanisms of homonymy quit work, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 are along the Y direction translation, and the slide block 9 of two plane regulating mechanisms of homonymy slides in chute 12.
Shown in Fig. 4,6: when screw mandrel 6 edges of three plane regulating mechanisms promoted movable carriage 8 work by suitable/counter clockwise direction simultaneously, movable carriage 8 work zone movable sliders 9, bearing 10 and workbench 2 rotated along Z-direction.
Fix the nut seat 15 of three setting governor motions, promote support platform 1 operation in the same way when adjusting screw rod 16, when keeping three strokes of adjusting screw rods 16 consistent, realization support platform 1 and workbench 2 move along Z-direction.
When adjustment screw rod 16 strokes of three setting governor motions do not wait, realize that support platform 1 and workbench 2 rotate along X-axis and Y direction.
Claims (4)
1, a kind of six degree of freedom docking platform, comprise support platform (1), workbench (2), three plane regulating mechanisms that structure is identical, it is characterized in that: described three plane regulating mechanisms and a follower are set between support platform (1), workbench (2), they are by matrix distribution, on the support platform (1) below the described plane regulating mechanism at least three setting governor motions that structure is identical are installed, they are pressed triangle and distribute;
Described plane regulating mechanism is by horizontal motor (3), shaft coupling (4), screw mandrel (6) pair of nut (7), movable carriage (8), slide block (9) and bearing (10) are formed, wherein horizontal motor (3) is installed on the described support platform (1), the output shaft of horizontal motor (3) connects screw mandrel (6) through shaft coupling (4), this screw mandrel (6) is parallel with the upper surface of described support platform (1), this screw mandrel (6) is gone up the described nut of suit (7), this nut (7) is fixed on the described movable carriage (8), this movable carriage (8) bottom surface fluting, and be sleeved on the slide rail (11) of described support platform (1) upper surface, the upper surface of described movable carriage (8) has chute (12) and described slide rail (11) spatial vertical, this chute (12) is gone up the described slide block of suit (9), this slide block (9) is solidly set in the described bearing (10), and this bearing (10) is packed in described workbench (2) the bottom supporting post;
In the identical plane regulating mechanism of described three structures, there are two screw mandrel (6) axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel (6) axial line in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
Described follower is made up of movable carriage (8), slide block (9) and bearing (10), and the movable carriage in this follower (8), slide block (9) and bearing (10) are identical with bearing (10) annexation with movable carriage (8), slide block (9) in the plane regulating mechanism of described plane regulating mechanism;
Described setting governor motion is made up of motor vertical (13), worm type of reduction gearing (14), nut seat (15) and adjustment screw rod (16), wherein motor vertical (13) is fixed on the described support platform (1), its output shaft connects described worm type of reduction gearing (14), the output shaft of worm type of reduction gearing (14) links to each other with described adjustment screw rod (16) through shaft coupling, this adjustment screw rod (16) is vertical with described support platform (1) and stretch out the lower end of support platform (1), and the end of adjusting screw rod (16) is sleeved on the described nut seat (15).
2, six degree of freedom docking platform according to claim 1 is characterized in that: between described shaft coupling (4) and the screw mandrel (6) decelerator (5) is installed.
3, six degree of freedom docking platform according to claim 1 is characterized in that: the middle part of described support platform (1) has cavity, and described motor vertical (13) and worm type of reduction gearing (14) are installed in this cavity.
4, six degree of freedom docking platform according to claim 1 is characterized in that: being set with the inner ring of bearing (17) on the described adjustment screw rod (16), fixedlys connected with described support platform (1) in the outer ring of this bearing (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100786315A CN100448627C (en) | 2007-06-15 | 2007-06-15 | Six degree of freedom buttjunction platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100786315A CN100448627C (en) | 2007-06-15 | 2007-06-15 | Six degree of freedom buttjunction platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101081504A true CN101081504A (en) | 2007-12-05 |
| CN100448627C CN100448627C (en) | 2009-01-07 |
Family
ID=38911399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100786315A Expired - Fee Related CN100448627C (en) | 2007-06-15 | 2007-06-15 | Six degree of freedom buttjunction platform |
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