CN106041513B - Multiple degrees of freedom bay section pose adjusting means - Google Patents

Multiple degrees of freedom bay section pose adjusting means Download PDF

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Publication number
CN106041513B
CN106041513B CN201610490269.1A CN201610490269A CN106041513B CN 106041513 B CN106041513 B CN 106041513B CN 201610490269 A CN201610490269 A CN 201610490269A CN 106041513 B CN106041513 B CN 106041513B
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China
Prior art keywords
base
pitching
leading screw
iii
bearing
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CN106041513A (en
Inventor
刘勇
刘洋
王丙戌
徐志刚
刘哲
尹猛
吕新星
靳阳阳
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10Aligning parts to be fitted together
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02Assembly jigs

Abstract

The present invention relates to bay section docking facilities, specifically a kind of multiple degrees of freedom bay section pose adjusting means.Including base, lifting base, pitching yaw base, flap, support wheel base, rotating shaft, translation micromatic setting, lifting fine-turning device, pitching micromatic setting, driftage micromatic setting and rolling micromatic setting, wherein lifting base is arranged on base by translation micromatic setting, lifting fine-turning device is arranged on lifting base, and it is connected with pitching yaw base, flap is connected by rotating shaft with pitching yaw base, pitching micromatic setting is arranged in pitching yaw base, and it is connected with flap, support wheel base is positioned on flap, and it can relatively rotate, micromatic setting of going off course is arranged on the bottom of support wheel base, and it is connected with flap, rolling micromatic setting is arranged on support wheel base.The present invention compact, stable performance rational in infrastructure, cost is low, can meet regulation to bay section pose more freedom, for being finely tuned by hand in bay section docking or detection.

Description

Multiple degrees of freedom bay section pose adjusting means
Technical field
The present invention relates to bay section docking facilities, specifically a kind of multiple degrees of freedom bay section pose adjusting means.
Background technology
The effect of fixture system accommodates fastening and needs to assemble workpiece, and adjusts workpiece pose to realize workpieces in subsequent Assembling and detection.Due to multiple degrees of freedom manual fine-tuning must be carried out after the preliminary butt junction location of workpiece to ensure that bay section is quickly accurate True Butt Assembling, therefore multiple degrees of freedom bay section pose adjusting means is designed to realize that manual fine-tuning is significant.In bay section During docking and detection, generally the pose of bay section is adjusted using robot or the mode manually carried, but machine Device people cost is high, and artificial carry not only increases labor intensity, also exists certain dangerous.
The patent document of Chinese invention patent 201410018398.1 discloses one kind and is placed in cylinder bay section docking facilities Manual micro-adjusting mechanism.Manual micro-adjusting mechanism is placed in cylinder bay section docking facilities, there is translation manual fine-tuning mechanism, lifting respectively Manual fine-tuning mechanism and folding manual fine-tuning mechanism.The translation manual fine-tuning mechanism is made up of selector, sliding block and slide rail, profit Realize that automatically controlling butt junction location and manual fine-tuning switches, and contained cylindrical compartment is realized by manually applying horizontal thrust with selector Manual fine-tuning of the section along horizontal slide rail direction.Down manual micro-adjusting mechanism and folding manual fine-tuning mechanism are mainly by truncated cone spiral bullet Spring and spring spool are formed, and using conical spring stiffness characteristics, contained cylinder bay section edge is realized by manually applying thrust Vertical and the manual fine-tuning in folding direction.This invention effectively reduces labor strength, improves space availability ratio, improves work Make efficiency.But it can realize that the free degree is less, it is impossible to realize the regulation of pitch regulation, yaw adjustment and bay section rolling.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of multiple degrees of freedom bay section pose adjusting means.The device Compact, stable performance rational in infrastructure, cost is low, can meet regulation to bay section pose more freedom, for being docked in bay section Or finely tuned by hand during detection.
To achieve these goals, the present invention uses following technical scheme:
A kind of multiple degrees of freedom bay section pose adjusting means, including base, lifting base, pitching yaw base, flap, support Wheel seat, rotating shaft, translation micromatic setting, lifting fine-turning device, pitching micromatic setting, driftage micromatic setting and rolling micromatic setting, Wherein lifting base is arranged on base by translation micromatic setting, and the lifting fine-turning device is arranged on lifting base, simultaneously And be connected with pitching yaw base, the flap is connected by rotating shaft with pitching yaw base, the pitching micromatic setting installation It is connected in pitching yaw base and with flap, the support wheel base is arranged on flap and can relatively rotated, described inclined Boat micromatic setting is arranged on the bottom of support wheel base and is connected with flap, and the rolling micromatic setting is arranged on support wheel base On.
The translation micromatic setting includes rotation hand wheel I, leading screw I, screw I, nut seat I, guide rail I and sliding block I, wherein Guide rail I is arranged on base in the horizontal direction, and the pitching yaw base is connected by sliding block I with guide rail I, and the leading screw I can Be rotatably mounted at it is on the bearing block I on base and parallel with guide rail I, the screw I be arranged on nut seat I on and with The leading screw I threaded connections, the nut seat I are connected with the pitching yaw base, and the rotation hand wheel I is arranged at leading screw I End.
It is curved that the lifting fine-turning device includes elevating mechanism, leading screw II, rotation hand wheel II, guide rail II, sliding block II and guide rail Plate, wherein leading screw II can be rotatably mounted on lifting base along level, and the leading screw II is provided with two sections of reverse threads, The elevating mechanism is two and two sections of reverse threads upper with leading screw II are connected respectively, and one end of each elevating mechanism is fixed on On lifting base, the other end is fixed in pitching yaw base;The guide rail bent plate is connected with the bottom of pitching yaw base, institute State guide rail II to be vertically arranged on guide rail bent plate, the sliding block II, which is connected with lifting base and slided with guide rail II, to be connected Connect, the rotation hand wheel II is arranged on leading screw II end.
The elevating mechanism includes the first free bearing, nut seat II, screw II, connecting rod and the second free bearing, wherein screw II peaces It is threadedly coupled on nut seat II and with leading screw II, the connecting rod is two and one end is hinged with nut seat II, The other end is hinged with the first free bearing and the second free bearing respectively, and first free bearing and the second free bearing connect firmly in pitching driftage base respectively On seat and lifting base.
The pitching micromatic setting includes rotation hand wheel III, leading screw III, drive seat, guide rail III, sliding block III, nut seat III, screw III, bearing block, key seat and pin, wherein drive seat are arranged in pitching yaw base, the guide rail III and bearing Seat is arranged in drive seat, and the both ends of the leading screw III are installed in rotation in drive seat and bearing block respectively, the screw III is arranged on that nut seat III is upper and form screw thread pair with leading screw III, the lower end of the nut seat III by sliding block III and Guide rail III is slidably connected, and upper end is rotatably connected by pin with key seat, and the key seat is connected with flap, the rotation Handwheel III is arranged on leading screw III end.
The pin is vertically arranged with leading screw III.
It is described driftage micromatic setting include rotation hand wheel IV, leading screw IV, bearing block IV, nut seat IV, screw IV, bearing pin, Shaft seat, substrate, driving substrate and bearing gland, wherein driving substrate is connected by pitching limit base with flap, the substrate On driving substrate and it can relatively rotate, the bearing block IV is fixed on substrate, and the leading screw IV is rotatably mounted On bearing block IV and end is connected with rotation hand wheel IV, the screw IV be arranged on nut seat IV on and with leading screw IV Screw thread pair is formed, the nut seat IV and shaft seat are rotatably connected by bearing pin, the shaft seat and support wheel base Connection.
The bearing pin is vertical with leading screw IV, installs bearing and bearing gland on the bearing block IV, the bearing gland with Gap is left between shaft seat.
The rolling adjusting means includes roller, rotation hand wheel V, annular auxiliary mould and annular frock, and wherein roller is Multiple and be sequentially arranged on support wheel base, the annular auxiliary mould is arranged on support wheel base, the annular frock peace On annular auxiliary mould, for clamping bay section, the rotation hand wheel V is connected with one of roller, passes through rotation hand wheel V Rotate connected roller, so as to drive annular auxiliary mould to be rolled on multiple rollers.
The centre of the pitching yaw base is provided with boss, is connected in the boss by oscillating bearing with rotating shaft, described The bottom of flap is connected with is located at the boss both sides and the two pitching limit bases contacted with the boss face respectively, described inclined Boat micromatic setting is connected with one of pitching limit base.
Advantages of the present invention and beneficial effect are:
1. the moment of torsion input of each governor motion carries out moment of torsion input by handwheel in the present invention, space is saved, and drop The weight and cost of manufacture of the low present apparatus.
2. adjustable extent of the present invention is:It is less than 60mm in Y-direction amount of movement, Z-direction amount of movement is less than 60mm, and pitch regulation is small In 15 °, driftage micromatic setting can realize -10 ° to 10 ° continuously adjustabes, and rolling adjusting means gram realizes 0-90 ° of continuously adjustabe.
3. the package unit of the present invention can not only adjust the pose of bay section, and regulation side in more frees degree Just, it is time saving and energy saving.
4. using the device of two sets of present invention, the regulation of the posture of longer bay section can also be realized, only a work For driving link, another is as driven member.
5. the whole device governing speed of the present invention is fast, precision is high, and operation is flexible, and structural rigidity is strong, and regulation is stable, regulation Scope is big, low cost.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention;
Fig. 2 is the overall profile of the present invention;
Fig. 3 is the structural representation of elevating mechanism in the present invention;
Fig. 4 is the structural representation of pitching micromatic setting in the present invention;
Fig. 5 is the structural representation of driftage micromatic setting in the present invention;
Fig. 6 is the cooperation schematic diagram of the nut seat of driftage micromatic setting, bearing pin and bearing gland in the present invention.
In figure:1 is lateral register post, and 2 be base, and 3 be lifting base, and 4 be elevating mechanism, and 5 be rotation hand wheel I, and 6 be silk Thick stick I, 7 be guide rail II, and 8 be sliding block II, and 9 be guide rail bent plate, and 10 be pitching micromatic setting, and 101 be rotation hand wheel III, and 102 be silk Thick stick III, 103 be drive seat, and 104 be guide rail III, and 105 be sliding block III, and 106 be nut seat III, and 107 be screw III, 108 It is key seat for bearing block, 109,110 be pin, and 11 be pitching yaw base, and 12 be pitching limit base, and 13 be flap, and 14 be support Wheel seat, 15 be annular auxiliary mould, and 16 be annular frock, and 17 be rotation hand wheel V, and 18 be rotating shaft, and 19 be driftage micromatic setting, 191 be rotation hand wheel IV, and 192 be leading screw IV, and 193 be bearing block IV, and 194 be nut seat IV, and 195 be screw IV, and 196 be pin Axle, 197 be shaft seat, and 198 be substrate, and 199 be driving substrate, and 1910 be bearing gland, and 20 be leading screw II, and 21 be rotation hand wheel II, 22 be guide rail I, and 23 be sliding block I, and 24 be axle, and 25 be oscillating bearing inner ring, and 26 oscillating bearing outer rings, 27 be gland, and 28 are Bearing block I, 29 be protection ring, and 30 be screw I, and 31 be nut seat I, and 32 be roller, and 41 be the first free bearing, and 42 be the first bearing pin, 43 be nut seat II, and 44 be screw II, and 45 be connecting rod, and 46 be the second free bearing, and 47 be the second bearing pin.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair The present invention is described in detail.
As shown in Figure 1 and Figure 2, a kind of multiple degrees of freedom bay section pose adjusting means provided by the invention, including base 2, lifting Pedestal 3, pitching yaw base 11, flap 13, support wheel base 14, rotating shaft 18, translation micromatic setting, lifting fine-turning device, pitching Micromatic setting 10, driftage micromatic setting 19 and rolling micromatic setting 17, wherein lifting base 3 are arranged on by translation micromatic setting On base 2, the lifting fine-turning device is arranged on lifting base 3 and is connected with pitching yaw base 11, the flap 13 Be connected by rotating shaft 18 with pitching yaw base 11, the pitching micromatic setting 10 be arranged on pitching yaw base 11 on and with Flap 13 connects, and the support wheel base 14 is arranged on flap 13 and can relatively rotated.The driftage micromatic setting 19 is arranged on The bottom of support wheel base 14 and it is connected with flap 13, the rolling micromatic setting is arranged on support wheel base 14.In base 2 On lateral register post 1 is installed, lateral register post 1 plays positioning action.
The translation micromatic setting includes rotation hand wheel I5, leading screw I6, screw I30, nut seat I31, guide rail I22 and sliding block I23, its middle guide I22 in the horizontal direction be arranged on base 2 upper surface, the pitching yaw base 11 by sliding block I23 with Guide rail I22 connections, sliding block I23 and guide rail I22 hydrous waters smoothly move.Bearing block 28 is installed in the both sides of base 2, and leading screw I6 is arranged on two On side shaft holder I28, the leading screw I6 is parallel with guide rail I22.The screw I30 be arranged on nut seat I31 on and with it is described Leading screw I6 is threadedly coupled, and the nut seat I31 is connected with the pitching yaw base 11, and the rotation hand wheel I5 is arranged at leading screw I6 end.
The operation principle of the translation micromatic setting is:
Leading screw I6 rotations are driven by rotation hand wheel I5, leading screw I6 and screw I30 coordinates, and drive is connected firmly in lifting base 3 On nut seat I31 motions so that the horizontal movement of lifting base 3, realize that translation is finely tuned.
The lifting fine-turning device include elevating mechanism 4, leading screw II20, rotation hand wheel II21, guide rail II7, sliding block II8 and Guide rail bent plate 9, wherein leading screw II20 can be rotatably mounted on lifting base 3 along level, and the leading screw II20 is provided with two Section reverse thread, the elevating mechanism 4 is two and two sections of reverse threads upper with leading screw II20 are connected respectively, each lift One end of structure 4 is fixed on lifting base 3, and the other end is fixed in pitching yaw base 11;The guide rail bent plate 9 and pitching are inclined The bottom connection of boat pedestal 11, the guide rail II7 are vertically arranged on guide rail bent plate 9, the sliding block II8 and lifting base Seat 3 is connected and is slidably connected with guide rail II7, and the rotation hand wheel II21 is arranged on leading screw II20 end.
By the sliding block II8 connected firmly on the lifting base 3, coordinate cunning with connecting firmly the guide rail II 7 on guide rail bent plate 9 Dynamic, guide rail bent plate 9 is connected firmly in the lower surface of pitching yaw base 11, and leading screw II20 rotations are driven by rotation hand wheel II21, can be with Move elevating mechanism 4, the both ends of elevating mechanism 4 connect firmly on lifting base 3 and pitching yaw base 11 respectively, can make pitching The elevating movement of yaw base 11, that is, realize the lifting fine setting of whole device.
As shown in figure 3, the elevating mechanism 4 includes the first free bearing 41, nut seat II43, screw II44, connecting rod 45 and the Two free bearings 46, wherein screw II44 are arranged on nut seat II43 and are threadedly coupled with leading screw II 20, and the connecting rod 45 is Two and one end are hinged with nut seat II43, and the other end is be hinged with the first free bearing 41 and the second free bearing 46 respectively, and described the One free bearing 41 and the second free bearing 46 connect firmly in pitching yaw base 11 and lifting base 3 respectively.
The operation principle of the lifting fine-turning device is:
Leading screw II20 rotations are driven by rotation hand wheel II21, because leading screw II20 and screw II44 coordinates, work as leading screw II20 rotates, and the distance between nut seat II43 in two elevating mechanisms 4 can change, so that connecting rod 45 and nut seat II43 Between angle change, distance changes between the first free bearing 41 and the second free bearing 46, due to the first free bearing 41 and Two free bearings 46 connect firmly in pitching yaw base 11 and lifting base 3 respectively, and the guide rail II7 on guide rail bent plate 9 is with connecting firmly Sliding block II8 on lifting base 3, which coordinates, to be slided, therefore can realize that pitching yaw base 11 does lifting fortune relative to lifting base 3 It is dynamic.
As shown in figure 4, the pitching micromatic setting 10 include rotation hand wheel III101, leading screw III102, drive seat 103, Guide rail III104, sliding block III105, nut seat III106, screw III107, bearing block 108, key seat 109 and pin 110, wherein driving Dynamic seat 103 is arranged in pitching yaw base 11, and the guide rail III 104 and bearing block 108 are arranged in drive seat 103, institute The both ends for stating leading screw III102 are installed in rotation in drive seat 103 and bearing block 108 respectively, the screw III107 installations Screw thread pair is formed on nut seat III106 and with leading screw III102, the lower end of the nut seat III106 passes through sliding block III105 is slidably connected with guide rail III104, and upper end is rotatably connected by pin 110 with key seat 109, the pin 110 It is vertically arranged with leading screw III102.The key seat 109 is connected with flap 13, and the rotation hand wheel III 101 is arranged on leading screw III102 end.
Sliding block III105 is connected firmly on nut seat III106, and is coordinated with guide rail III104 and slided.Nut seat III 106 with Pin 110 is axle, can realize and relatively rotate with key seat 109.
The operation principle of the pitching micromatic setting 10 is:
Leading screw III102 rotations are driven by rotation hand wheel III101, screw III107 is moved on leading screw III102, band Movable slider III105 is slided on guide rail III104, is turned so that nut seat III106 and key seat 109 are relative centered on pin 110 It is dynamic.Because key seat 109 is arranged on flap 13, drive seat 103 is arranged in pitching yaw base 11, so the now phase of flap 13 Elevating movement is done for pitching yaw base 11, the angle change scope of pitching is about between -15 ° to+15 °.
As shown in figure 5, it is described driftage micromatic setting 19 include rotation hand wheel IV191, leading screw IV192, bearing block IV193, Nut seat IV194, screw IV195, bearing pin 196, shaft seat 197, substrate 198, driving substrate 199 and bearing gland 1910, its Middle driving substrate 199 is connected by pitching limit base 12 with flap 13, and the substrate 198 is arranged on driving substrate 199, can Relatively rotate.The bearing block IV 193 is fixed on substrate 198, and the leading screw IV192 is installed in rotation on bearing block IV193 is upper and end is connected with rotation hand wheel IV191.The screw IV195 be arranged on nut seat IV194 on and with silk Thick stick IV192 forms screw thread pair, and the nut seat IV194 and shaft seat 197 are rotatably connected by bearing pin 196, described Shaft seat 197 is connected with support wheel base 14.
The bearing pin 196 is vertical with leading screw IV192, and bearing and bearing gland 1910, institute are installed on the bearing block IV193 State and gap is left between bearing gland 1910 and shaft seat 197, bearing gland 1910 can be on bearing pin 196 within the specific limits Slide.
It is described driftage micromatic setting 19 operation principle be:
Leading screw IV192 rotations are driven by rotation hand wheel IV191, screw IV195 is moved on leading screw IV192.Now, Substrate 198 is relatively rotated by driving relative to driving substrate 199 on substrate 199 centered on circular bosses, meanwhile, nut seat IV194 Together with bearing gland 1910, small range is slided on bearing pin 196.Because the pitching that driving substrate 199 is connected firmly on right side is spacing On seat 12, shaft seat 197 is connected firmly on support wheel base 14, therefore support wheel base 14 can be centered on rotating shaft 18, relative to flap 13 do yawing rotation.
The rolling adjusting means includes roller 32, rotation hand wheel V17, annular auxiliary mould 15 and annular frock 16, its Middle roller 32 is multiple and is sequentially arranged on support wheel base 14 that the annular auxiliary mould 15 is arranged on support wheel base 14 On, the annular frock 16 is arranged on annular auxiliary mould 15, for clamping bay section, the rotation hand wheel V17 and wherein one Individual roller 32 connects, and rotates connected roller 32 by rotation hand wheel V17, so as to drive annular auxiliary mould 15 more Rolled on individual roller 32.
The centre of the pitching yaw base 11 is provided with boss, and the boss is connected with one end of rotating shaft 18.The rotating shaft 18 include oscillating bearing, axle 24 and gland 27, and wherein oscillating bearing is connected by oscillating bearing inner ring 25 with axle 24, passes through joint Bearing outer ring 26 is connected with the boss, and the lower end of oscillating bearing inner ring 25 is provided with gland 27.The other end of rotating shaft 18 connects firmly On flap 13, and coordinate with the hole on support wheel base 14, it is possible to achieve support wheel base 14 is with flap 13 centered on rotating shaft 18 Relatively rotate.
The bottom of the flap 13 is connected with two for being located at the boss both sides respectively and being contacted with the boss face and bowed Limit base 12 is faced upward, the driving substrate 199 of the driftage micromatic setting 19 is connected with one of pitching limit base 12.The boss The pitching limit base 12 of both sides, flap 13 can be limited and only do elevating movement relative to pitching yaw base 11.
Driftage micromatic setting 19, the flap 13 and pitching are installed between right side pitching limit base 12 and support wheel base 14 Pitching micromatic setting 10 is installed between yaw base 11.
Support wheel base 14 is installed on flap 13, can be rotated centered on rotating shaft 18 relative to flap 13, realizes driftage Motion, driftage micromatic setting 19 can adjust yaw angle.
In the present embodiment, four rolling 32 is installed on the support wheel base 14, rotation is installed on one of roller 32 Handwheel V17, by rotation hand wheel V17 roller 32 can be driven to rotate, so as to drive annular auxiliary mould 15 to be rolled on roller 32 Dynamic, annular frock 16 is arranged on annular auxiliary mould, it is possible to achieve clamped bay section makees rolling movement.
The present invention is few in order to solve the achievable free degree of existing bay section device for adjusting posture, adjusts the problem of inconvenient. By rotating corresponding handwheel, it is possible to achieve the adjustment of bay section posture, it is possible to achieve action have translation, lifting, pitching, driftage And rolling.It is less than 60mm in Y-direction amount of movement, Z-direction amount of movement is less than 60mm, and pitch regulation is less than 15 °, and driftage micromatic setting can be real Existing -10 ° to 10 ° continuously adjustabes, rolling adjusting means gram realize 0-90 ° of continuously adjustabe.
It is an advantage of the invention that:The regulation of achievable multiple degrees of freedom bay section pose, degree of regulation height, stable performance, structure It is rationally compact, cost is cheap, and can cooperate with another identical governor motion, one as active, another is It is driven, shorter bay section is so may be not only suitable for, is equally applicable to the pose regulation of whole bay section.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the present invention.It is all in the present invention Spirit and principle within made any modification, equivalent substitution and improvements, extension etc., be all contained in protection scope of the present invention It is interior.

Claims (10)

1. a kind of multiple degrees of freedom bay section pose adjusting means, it is characterised in that inclined including base (2), lifting base (3), pitching Boat pedestal (11), flap (13), support wheel base (14), rotating shaft (18), translation micromatic setting, lifting fine-turning device, pitching fine setting Device (10), driftage micromatic setting (19) and rolling micromatic setting, wherein lifting base (3) are arranged on by translation micromatic setting On base (2), the lifting fine-turning device is arranged on lifting base (3) and is connected with pitching yaw base (11), described Flap (13) is connected by rotating shaft (18) with pitching yaw base (11), and the pitching micromatic setting (10) is gone off course installed in pitching It is connected on pedestal (11) and with flap (13), the support wheel base (14) is arranged on flap (13) and can relatively rotated, The driftage micromatic setting (19) is arranged on the bottom of support wheel base (14) and is connected with flap (13), the rolling fine setting Device is arranged on support wheel base (14).
2. multiple degrees of freedom bay section pose adjusting means according to claim 1, it is characterised in that the translation micromatic setting Including rotation hand wheel I (5), leading screw I (6), screw I (30), nut seat I (31), guide rail I (22) and sliding block I (23), its middle guide I (22) is arranged on base (2) in the horizontal direction, and the pitching yaw base (11) is connected by sliding block I (23) and guide rail I (22) Connect, the leading screw I (6) is installed in rotation on the bearing block I (28) on base (2) and, institute parallel with guide rail I (22) State screw I (30) to be threadedly coupled on nut seat I (31) and with the leading screw I (6), the nut seat I (31) and institute State pitching yaw base (11) to be connected, the rotation hand wheel I (5) is arranged at the end of leading screw I (6).
3. according to the multiple degrees of freedom bay section pose adjusting means described in claim 1, it is characterised in that the lifting fine-turning device bag Elevating mechanism (4), leading screw II (20), rotation hand wheel II (21), guide rail II (7), sliding block II (8) and guide rail bent plate (9) are included, wherein Leading screw II (20) can be rotatably mounted on lifting base (3) along level, and the leading screw II (20) is provided with two sections of reverse spiral shells Line, the elevating mechanism (4) are two and are connected respectively with the upper two sections of reverse threads of leading screw II (20), each elevating mechanism (4) One end be fixed on lifting base (3), the other end is fixed in pitching yaw base (11);The guide rail bent plate (9) is with bowing The bottom connection of yaw base (11) is faced upward, the guide rail II (7) is vertically arranged on guide rail bent plate (9), the sliding block II (8) is connected with lifting base (3) and is slidably connected with guide rail II (7), and the rotation hand wheel II (21) is arranged on leading screw II (20) end.
4. multiple degrees of freedom bay section pose adjusting means according to claim 3, it is characterised in that the elevating mechanism (4) Including the first free bearing (41), nut seat II (43), screw II (44), connecting rod (45) and the second free bearing (46), wherein screw II (44) it is arranged on nut seat II (43) and is threadedly coupled with leading screw II (20), the connecting rod (45) is two and one end Be hinged with nut seat II (43), the other end is be hinged with the first free bearing (41) and the second free bearing (46) respectively, first free bearing (41) connected firmly respectively in pitching yaw base (11) and lifting base (3) with the second free bearing (46).
5. the multiple degrees of freedom bay section pose adjusting means according to right 1, it is characterised in that:The pitching micromatic setting (10) Including rotation hand wheel III (101), leading screw III (102), drive seat (103), guide rail III (104), sliding block III (105), screw Seat III (106), screw III (107), bearing block (108), key seat (109) and pin (110), wherein drive seat (103) are arranged on In pitching yaw base (11), the guide rail III (104) and bearing block (108) are arranged in drive seat (103), the leading screw III (102) both ends are installed in rotation in drive seat (103) and bearing block (108) respectively, screw III (107) peace Screw thread pair is formed on nut seat III (106) and with leading screw III (102), the lower end of the nut seat III (106) leads to Cross sliding block III (105) and guide rail III (104) to be slidably connected, upper end is rotatably connected by pin (110) and key seat (109) Connect, the key seat (109) is connected with flap (13), and the rotation hand wheel III (101) is arranged on leading screw III (102) end.
6. the multiple degrees of freedom bay section pose adjusting means according to right 5, it is characterised in that:The pin (110) and leading screw III (102) it is vertically arranged.
7. the multiple degrees of freedom bay section pose adjusting means according to right 1, it is characterised in that:The driftage micromatic setting (19) Including rotation hand wheel IV (191), leading screw IV (192), bearing block IV (193), nut seat IV (194), screw IV (195), bearing pin (196), shaft seat (197), substrate (198), driving substrate (199) and bearing gland (1910), wherein driving substrate (199) is logical Cross pitching limit base (12) to be connected with flap (13), the substrate (198) is arranged on driving substrate (199) and relative can turned Dynamic, the bearing block IV (193) is fixed on substrate (198), and the leading screw IV (192) is installed in rotation on bearing block IV (193) on and end is connected with rotation hand wheel IV (191), and the screw IV (195) is arranged on nut seat IV (194), simultaneously And form screw thread pair, the nut seat IV (194) and shaft seat (197) with leading screw IV (192) and relative can be turned by bearing pin (196) Connect dynamicly, the shaft seat (197) is connected with support wheel base (14).
8. the multiple degrees of freedom bay section pose adjusting means according to right 7, it is characterised in that:The bearing pin (196) and leading screw IV (192) vertically, installs bearing and bearing gland (1910) on the bearing block IV (193), the bearing gland (1910) with Shaft seat leaves gap between (197).
9. the multiple degrees of freedom bay section pose adjusting means according to right 1, it is characterised in that:The rolling adjusting means includes Roller (32), rotation hand wheel V (17), annular auxiliary mould (15) and annular frock (16), wherein roller (32) to be multiple and It is sequentially arranged on support wheel base (14), the annular auxiliary mould (15) is arranged on support wheel base (14), the annular work Fill (16) to be arranged on annular auxiliary mould (15), for clamping bay section, the rotation hand wheel V (17) and one of roller (32) connect, rotate connected roller (32) by rotation hand wheel V (17), so as to drive annular auxiliary mould (15) to exist Rolled on multiple rollers (32).
10. the multiple degrees of freedom bay section pose adjusting means according to right 1, it is characterised in that:The pitching yaw base (11) centre is provided with boss, is connected in the boss by oscillating bearing with rotating shaft (18), and the bottom of the flap (13) connects It is connected to and is located at the boss both sides and the two pitching limit bases (12) contacted with the boss face respectively, the driftage fine setting dress (19) are put to be connected with one of pitching limit base (12).
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