CN106737476A - A kind of ultra-thin five degree of freedom docking platform of spatial reuse - Google Patents
A kind of ultra-thin five degree of freedom docking platform of spatial reuse Download PDFInfo
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- CN106737476A CN106737476A CN201611268399.7A CN201611268399A CN106737476A CN 106737476 A CN106737476 A CN 106737476A CN 201611268399 A CN201611268399 A CN 201611268399A CN 106737476 A CN106737476 A CN 106737476A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
Abstract
A kind of ultra-thin five degree of freedom docking platform of spatial reuse,It includes a support platform,One planar adjustment mechanism,One workbench and a level(l)ing mechanism,The planar adjustment mechanism drives the workbench to be rotated in X-axis and Y direction movement and in Z-direction,One first of the level(l)ing mechanism rotates adjusting part and one second rotates adjusting part and drives a first level platform and second levelling bench to rotate respectively,So as to realize rotation of second levelling bench in X-axis and Y direction,And the planar adjustment mechanism,The first rotation adjusting part and the second rotation adjusting part are respectively arranged at the support platform,The ultra-thin five degree of freedom docking platform of the spatial reuse can realize five rotations of the free degree,Can detect whether butt joint body and docking cavity are encountered during participating in tipping school,And it can be in time adjusted,To ensure butt joint body and docking cavity to tipping school quality and to tipping school effect.
Description
Technical field
The present invention relates to a kind of five degree of freedom docking platform, belong to and whole field, more particularly to a kind of space are tuned up to tipping
The ultra-thin five degree of freedom docking platform of multiplexing.
Background technology
Nowadays, many industry fill the requirement more and more higher of school technology to space articulation, and it is right to be must assure that first in assembling
Connect the accurate contraposition between workpiece.But because assembling, processing and object itself wedge shape can all cause not parallel, to tipping school
During then occur that stuck phenomenon occur in butt joint body and docking cavity contact, then, required during to tipping school
Docking physical efficiency is realized automatically adjusting, it is to avoid stuck phenomenon occur.
Existing space articulation dress smoothing platform can only ensure to before tipping school to the accurate contraposition of workpiece, it is impossible to tipping
It is adjusted during school, once to there is stuck phenomenon during tipping school, must just dock part and exit docking cavity, then
Re-start to tipping school.It has the disadvantage：The function of not automatically adjusted during to tipping school, it is impossible to ensure to the success of tipping school.
Directly affect butt joint body with dock cavity to tipping school quality and to tipping school effect.Therefore, the present invention provides a kind of space
The ultra-thin five degree of freedom docking platform of multiplexing, to solve the above problems.
The content of the invention
The position of butt joint body and angle are carried out during space articulation dress school it is an object of the invention to provide a kind of
The ultra-thin five degree of freedom docking platform of the spatial reuse of regulation.
In order to achieve the above object, the present invention provides a kind of ultra-thin five degree of freedom docking platform of spatial reuse, wherein should
The ultra-thin five degree of freedom docking platform of spatial reuse includes support platform, planar adjustment mechanism, a workbench
And a level(l)ing mechanism, the planar adjustment mechanism includes three plane regulating components, each plane regulating component point
Three diverse locations of the support platform are not arranged at, and each plane regulating component is connected to the workbench
Three diverse locations, so that each plane regulating Component driver workbench is moved and in Z axis in X-axis and Y direction
Direction rotates, and the level(l)ing mechanism includes that a first level platform, the second levelling bench, first rotation are adjusted
Section component and one second rotation adjusting part, wherein the first rotation adjusting part are arranged at the support platform, and this first
The upper end for rotating adjusting part is arranged at an end of the first level platform, another end of the first level platform
Axle is connected to the workbench, this second rotation adjusting part be arranged at the support platform, this second rotate adjusting part it is upper
End is arranged at an end of second levelling bench, and another end axis of second levelling bench are connected to first water
The sidepiece of average, the wherein end of the first level platform correspond to the sidepiece of second levelling bench, and the first level is put down
The sidepiece of platform corresponds to the end of second levelling bench, with by the first rotation adjusting part and the second rotation regulation group
Part drives the first level platform and second levelling bench to rotate respectively, so as to realize second levelling bench in X-axis and Y-axis
The rotation in direction.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, respectively
The individual plane regulating component is arranged in the support platform triangular in shapely.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, respectively
The individual plane regulating component is separately positioned on three sidepieces of the support platform.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, respectively
The individual plane regulating component include respectively plane regulating motor, decelerator, shaft coupling, screw mandrel, one
Nut, first direction slide rail, second direction slide rail, a sliding seat and a bearing, the plane regulating motor,
The decelerator, the shaft coupling, the screw mandrel, the nut, the first direction slide rail, the second direction slide rail are respectively arranged at the support
Platform, the decelerator are arranged at the plane regulating motor, the two ends of the shaft coupling and are connected to the decelerator and the screw mandrel, should
Nut is movably arranged at the screw mandrel, and the nut is fixed on the sliding seat, and the bearing is arranged at the sliding seat, and should
Bearing is connected to the workbench, and the first direction slide rail and the second direction slide rail arrange that the sliding seat can in cross
It is actuated to respectively along a movement in the first direction slide rail and the second direction slide rail.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
The bottom surface of sliding seat is provided with the first fluting, and the first direction slide rail is arranged at first fluting in the sliding seat, so that the work
Dynamic seat can be slided along the first direction slide rail, and the second fluting being provided with above the sliding seat, the second direction slide rail sets
Second fluting in the sliding seat is put, so that the sliding seat can be slided along the second direction slide rail, first fluting
The bearing of trend of bearing of trend and second fluting is mutually perpendicular to.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
First rotates adjusting part includes first motor, first lift, first adaptor and the
One steel ball, first motor and first lift are disposed adjacently in the support platform, and first motor
First elevator duty, first adaptor can be driven to be arranged at the top of first lift, first steel ball is set
In the upper end of first adaptor, and first steel ball and the first level contact with platform, the second rotation adjusting part
Including second motor, the second lift, second adaptor and second steel ball, second driving
Motor and second lift are disposed adjacently in the support platform, and second motor can drive second lifting
Machine works, and second adaptor is arranged at the top of second lift, and second steel ball is arranged at the upper of second adaptor
End, and second steel ball and second levelling bench contact.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
The upper end of the first adaptor is provided with a ball-and-socket, and first steel ball is arranged at the ball-and-socket of first adaptor, this second turn
The upper end of fitting is provided with a ball-and-socket, and second steel ball is arranged at the ball-and-socket of second adaptor.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
Axle is connected to the workbench respectively for the both sides of the end of first level platform, the both sides difference of the end of second levelling bench
Axle is connected to the sidepiece of the first level platform.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
The both sides of the end of first level platform are connected to the workbench by a hinge axis respectively, the end of second levelling bench
The both sides in portion are connected to the sidepiece of the first level platform by a hinge axis respectively.
As the further preferred embodiment of the ultra-thin five degree of freedom docking platform to the spatial reuse of the invention, should
The adjustable range of the ultra-thin five degree of freedom docking platform of spatial reuse is：
Along the moving range of X-direction：±50mm；
Along the moving range of Y direction：±50mm；
Around the slewing area of X-axis：±5°；
Around the slewing area of Y-axis：±5°；
Slewing area about the z axis：±5°.
The advantage of the ultra-thin five degree of freedom docking platform of the spatial reuse of the invention is：
The ultra-thin five degree of freedom docking platform of the spatial reuse of the invention includes support platform, a plane regulating
Mechanism, a workbench and a level(l)ing mechanism, the planar adjustment mechanism drive the workbench in X-axis and Y-axis
Direction is moved and is rotated in Z-direction, and first of the level(l)ing mechanism rotates adjusting part and one second rotation
Adjusting part drives a first level platform and second levelling bench to rotate respectively, so as to realize that second level is put down
Platform X-axis and Y direction rotation, and the planar adjustment mechanism, this first rotate adjusting part and this second rotate regulation
Component is respectively arranged at the support platform, and the ultra-thin five degree of freedom docking platform of the spatial reuse can realize five frees degree
Rotate, be one and automatically adjust platform, can detect whether butt joint body and docking cavity touch during participating in tipping school
Arrive, and it can be in time adjusted, to ensure butt joint body and docking cavity to tipping school quality and to tipping school effect.
That is, the ultra-thin five degree of freedom docking platform of the spatial reuse can be applied to being docked during tipping school
The real-time adjustment of body attitude.The support platform, the governor motion, work of the ultra-thin five degree of freedom docking platform of the spatial reuse
Make the mutual cooperation relation of platform and the level(l)ing mechanism so that the knot of the ultra-thin adjusting means of the five degree of freedom of the spatial reuse
Compact, the shared space of structure is smaller, is beneficial to the applicable model of the ultra-thin five degree of freedom docking platform for expanding the spatial reuse
Enclose.
Brief description of the drawings
In order to obtain above and other advantage of the invention and feature, hereinafter with reference to the tool of the invention shown in accompanying drawing
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these accompanying drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using accompanying drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings：
Fig. 1 is the stereogram at visual angle of the ultra-thin five degree of freedom docking platform of the spatial reuse.
Fig. 2 is the stereogram at another visual angle of the ultra-thin five degree of freedom docking platform of the spatial reuse.
Fig. 3 is that the support platform of ultra-thin five degree of freedom docking platform and the relation of planar adjustment mechanism of the spatial reuse are shown
It is intended to.
Fig. 4 is the principle schematic of the planar adjustment mechanism of the ultra-thin five degree of freedom docking platform of the spatial reuse.
Fig. 5 is that the steel ball motion principle of the level(l)ing mechanism of the ultra-thin five degree of freedom docking platform of the spatial reuse is illustrated
Figure.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
As shown in Figures 1 to 5, a kind of ultra-thin five degree of freedom docking of spatial reuse of spirit offer under this invention is flat
The ultra-thin five degree of freedom docking platform of platform, the wherein spatial reuse include 10, planar adjustment mechanism 20 of a support platform,
One workbench 30 and a level(l)ing mechanism 40, the support platform 10, the planar adjustment mechanism 20, the workbench
30 can cooperate with the level(l)ing mechanism 40, to realize five regulations of the free degree, and make the super of the spatial reuse
Compact conformation, the space layout of thin five degree of freedom docking platform rationally, are beneficial to the ultra-thin five degree of freedom for expanding the spatial reuse
The use scope of docking platform.
The planar adjustment mechanism 20 includes three plane regulating components 21, and each plane regulating component 21 is respectively arranged at
Three diverse locations of the support platform 10, and each plane regulating component 21 is connected to the three of the workbench 30
Individual diverse location, so that each plane regulating component 21 drives the workbench 30 in X-axis and Y direction movement and in Z
Direction of principal axis is rotated.The level(l)ing mechanism 40 includes 41, second levelling bench 42, first of a first level platform
Adjusting part 43 and one second rotation adjusting part 44 are rotated, wherein the first rotation adjusting part 43 is arranged at the support
Platform 10, the upper end of the first rotation adjusting part 43 is arranged at an end of the first level platform 41, first water
Average 41 another end axis are connected to the workbench 30, and the second rotation adjusting part 44 is arranged at the support platform
10, the upper end of the second rotation adjusting part 44 is arranged at an end of second levelling bench 42, and second level is put down
Another end axis of platform 42 are connected to the sidepiece of the first level platform 41, wherein the end correspondence of the first level platform 41
In the sidepiece of second levelling bench 42, the sidepiece of the first level platform 41 corresponds to the end of second levelling bench 42,
Second levelling bench 42 is driven in X-axis and Y with by the first rotation adjusting part 43 and the second rotation adjusting part 44
The rotation of direction of principal axis, so as to realize ultra-thin five degree of freedom docking platform freely the adjusting in each free degree of the spatial reuse,
And be not in stuck bad phenomenon.The adjustable range of the ultra-thin five degree of freedom docking platform of the spatial reuse is：Along X-axis
The moving range in direction：±50mm；Along the moving range of Y direction：±50mm；Around the slewing area of X-axis：±5°；Around Y-axis
Slewing area：±5°；Slewing area about the z axis：±5°.
Preferably, each plane regulating component 21 is arranged in the support platform 10 triangular in shapely.For example, each should
Plane regulating component 21 is separately positioned on three sidepieces of the support platform 10.
Further, axle is connected to the workbench 30 respectively for the both sides of the end of the first level platform 41, and this second
Axle is connected to the sidepiece of the first level platform 41 respectively for the both sides of the end of levelling bench 42.More further, this first
The both sides of the end of levelling bench 41 are connected to the workbench 30 by a hinge axis 45 respectively, second levelling bench 42
The both sides of end the sidepiece of the first level platform 41 is connected to by hinge axis 45 respectively.
Such as Fig. 2 and Fig. 3, each plane regulating component 21 is respectively including 211, decelerator of a plane regulating motor
212nd, 213, one, shaft coupling, 215, one, the nut first direction slide rail 216, of a screw mandrel 214, second direction is slided
217, sliding seat 218 of rail and a bearing 219, the plane regulating motor 211, the decelerator 212, the shaft coupling 213,
The screw mandrel 214, the nut 215, the first direction slide rail 216, the second direction slide rail 217 are respectively arranged at the support platform
10th, the decelerator 212 is arranged at the plane regulating motor 211, the two ends of the shaft coupling 213 and is connected to the decelerator 212
With the screw mandrel 214, the nut 215 is movably arranged at the screw mandrel 214, and the nut 215 is fixed on the sliding seat 218,
The bearing 219 is arranged at the sliding seat 218, and the bearing 219 is connected to the workbench 30, the first direction slide rail 216
Arranged in cross with the second direction slide rail 217, the sliding seat 218 can be actuated to along the first direction slide rail respectively
216 and the second direction slide rail 217 in a movement.Three planar adjustment mechanisms 211 can cooperate and are somebody's turn to do with driving
Workbench 30 is moved in X-axis and Y direction and rotated in Z-direction.
The bottom surface of the sliding seat 218 is provided with the first fluting, and the first direction slide rail 216 is arranged in the sliding seat 218
First fluting, so that the sliding seat 218 can be slided along the first direction slide rail 216, is provided with above the sliding seat 218
Second fluting, the second direction slide rail 217 be arranged on the sliding seat 218 this second fluting so that the sliding seat 218 can
Slided along the second direction slide rail 217, the bearing of trend of the bearing of trend of first fluting and second fluting is mutually perpendicular to.
Such as Fig. 2, this first rotate adjusting part 43 include 431, first lift 432 of first motor,
One the first adaptor 433 and first steel ball 434, first motor 431 and first lift 432 are adjacent to
The support platform 10 is arranged at, and first motor 431 can drive first lift 432 to work, this first turn
Fitting 433 is arranged at the top of first lift 432, and first steel ball 434 is arranged at the upper end of first adaptor 433
Portion, and first steel ball 434 and the first level platform 41 contact.
This second rotates adjusting part 44 and includes the second lift of second motor 441,442, the
Two adaptors 443 and second steel ball 444, second motor 441 and second lift 442 be disposed adjacently in
The support platform 10, and second motor 441 can drive second lift 442 to work, second adaptor 443
The top of second lift 441 is arranged at, second steel ball 444 is arranged at the upper end of second adaptor 443, and should
Second steel ball 444 and second levelling bench 42 are contacted.
The upper end of first adaptor 433 is provided with a ball-and-socket, and first steel ball 434 is arranged at first adaptor
433 ball-and-socket, the upper end of second adaptor 443 is provided with a ball-and-socket, and second steel ball 444 is arranged at second switching
Ball-and-socket of part 443, to ensure the reliability of the level adjusting structure 40.
The Analysis of Motion Control of the ultra-thin five degree of freedom docking platform of the spatial reuse.
Pi' it is connecting rod PiLiCoordinate vector with the tie point of moving platform in moving coordinate system { o '-x ' y ' z ' }, is designated as
As shown in figure 4, set up fixed coordinate system { o-xyz } and moving coordinate system { o '-x ' y ' z ' } respectively on pedestal and moving platform, its seat
Mark origin is located at the geometric center of the two respectively.Description and space coordinate transformation reason according to parallel robot position and attitude
By can obtain
Pi=TPi′；I=1,2,3 (1)
In formula：PiIt is connecting rod PiLiCoordinate vector with the tie point of moving platform in fixed coordinate system { o '-x ' y ' z ' }
Amount, is designated as
Pi=[Pix Piy Piz]T (2)
Pi'=[P 'ix P′iy P′iz]T (3)
Matrix T is that moving coordinate system is translated and postrotational homogeneous coordinate transformation matrix to fixed coordinate system, and its value is
Formula (4) represents that under fixed coordinate system { o-xyz } moving coordinate system { o '-x ' y ' z ' } rotates θ angles about the z axis, along X, Y
Axle translation Δ X, the homogeneous transform matrix relative to fixed coordinate system obtained by Δ Y.
Pi' P can directly be obtained by physical dimension1(-a,-b)、P2(a,-b)、P3(a,b)、P4(-a,b)。
When be given moving platform relative to fixed coordinate system position (after Δ x, Δ y, Δ z) and attitude (θ, 0,0), PiBy formula (1)
Can directly try to achieve：If connecting rod PiLiWith the tie point L of cross slide railiCoordinate vector in fixed coordinate system is
Li=[Lix Liy Liz1] (i=1,2,3) (5)
Known cross slide rail can only be along x, the motion of y directions, connecting rod PiLiAll the time perpendicular to xoy planes, it is clear that there is connecting rod
PiLiLength l=| Piz-Liz|, and can be obtained according to 2, space range formula：
l2=(Liz-Piz)2=(Lix-Pix)2+(Liy-Piy)2+(Liz-Piz)2 (6)
That is (Lix-Pix)2+(Liy-Piy)2=0 (7)
Formula (7) will be set up, and must have：
Lix=Pix,Liy=Piy (8)
Formula (8) is the position-based routing of locating platform.When the pose of given moving platform, three positions of cross slide rail can be obtained by above formula
Put.
Steel ball to the distance of hinge is changed with the change of plane adjustment mechanism, to determine that horizontal adjusting mechanism turns
Dynamic corner and the relation of lifting height, it must be determined that the distance of steel ball to hinge is with plane adjustment mechanism along X-axis and the position of Y-axis
Relation between the corner for moving and turning about the Z axis.The situation that steel ball rises is as shown in Figure 5.
The steel ball of jacking Y plates is to the distance between hinge：
Ly=L1y cos(θ1+θ)+L2y+y cos(θ1+θ)+x sin(θ1+θ) (9)
After the relation that steel ball is moved to the distance of hinge with plane adjustment mechanism is determined, it is possible to determine horizontal adjustment machine
Angle and the relation of lifting height that structure is rotated.
The steel ball of jacking Y plates is with the distance of horizontal plane when initial：
H1y=Ly tanα1-r/cosα1 (10)
Steel ball center is to the distance of horizontal plane after rotating α angles：
H2y=Ly tan(α1+α)-r/cos(α1+α) (11)
Then the angle of Y plates rotation is with the relation of steel ball lifting height：
ΔHy=H2y-H1y=Ly tan(α1+α)-r/cos(α1+α)-(Ly tanα1-r/cosα1) (12)
To the distance of Y plate pivots, L2y is distance of the Y plates pivot to hinge, θ to steel ball when wherein L1y is initial
1 for it is initial when planar adjustment mechanism and X-axis angle, x is displacement of the planar adjustment mechanism along the movement of X-axis, and y is plane regulating
Mechanism along the movement of Y-axis displacement, the angle that θ is turned about the Z axis for planar adjustment mechanism.Y plates and horizontal plane when α 1 is initial
Angle, α is the angle that Y plates are rotated around Y-axis.R is the radius of steel ball.
The angle that X plates are rotated is also relevant with the angle that Y plates are rotated with the relation of lifting height
Then the steel ball of jacking X plates is to the distance between hinge：
Lx=L1x cos(θ1+θ)+L2x+x sin(α1+α)cos(θ1+θ)+y sin(θ1+θ) (13)
The distance of the steel ball of jacking X plates to hinge is also relevant with the angle that Y plates are rotated.
The steel ball of jacking X plates is with the distance of horizontal plane when initial：
H1x=Lx tanβ1-r cos(α1+α)/cosβ1 (14)
Steel ball center is to the distance of horizontal plane after rotating β angles：
H2x=Lx tan(β1+β)-r cos(α1+α)/cos(β1+β) (15)
X plates rotate angle be with the relation of steel ball lifting height：
To the distance of X plate pivots, L2x is distance of the X plates pivot to hinge, θ to steel ball when wherein L1x is initial
1 for it is initial when planar adjustment mechanism and X-axis angle, x is displacement of the planar adjustment mechanism along the movement of X-axis, and y is plane regulating
Mechanism along the movement of Y-axis displacement, the angle that θ is turned about the Z axis for planar adjustment mechanism, α 1 for it is initial when Y plates and horizontal plane
Angle, α is the angle that Y plates are rotated around Y-axis, and the angle of X plates and horizontal plane when β 1 is initial, β is the angle that X plates are turned about the X axis,
R is the radius of steel ball.
When plate side in the horizontal plane, angle is for just, when plate is below horizontal plane, angle is negative.
One embodiment of the present of invention has been described in detail above, but the content is only preferable implementation of the invention
Example, it is impossible to be considered as limiting practical range of the invention.All impartial changes made according to the present patent application scope and improvement
Deng all should still belong within patent covering scope of the invention.
Claims (10)
1. a kind of ultra-thin five degree of freedom docking platform of spatial reuse, it is characterised in that the ultra-thin five degree of freedom of the spatial reuse
Docking platform includes support platform, planar adjustment mechanism, a workbench and a level(l)ing mechanism, should
Planar adjustment mechanism includes three plane regulating components, and each plane regulating component is respectively arranged at three of the support platform
Diverse location, and each plane regulating component is connected to three diverse locations of the workbench, so that each should
The plane regulating Component driver workbench is moved and rotated in Z-direction, the level(l)ing mechanism in X-axis and Y direction
Rotated including a first level platform, second levelling bench, a first rotation adjusting part and one second and adjusted
Section component, wherein the first rotation adjusting part are arranged at the support platform, and first upper end for rotating adjusting part is set
In an end of the first level platform, another end axis of the first level platform are connected to the workbench, and this
Two rotation adjusting parts are arranged at the support platform, and the upper end of the second rotation adjusting part is arranged at second levelling bench
An end, another end axis of second levelling bench are connected to the sidepiece of the first level platform, wherein this first
The end of levelling bench corresponds to the sidepiece of second levelling bench, and the sidepiece of the first level platform corresponds to second level
The end of platform, the first level platform is driven with by the first rotation adjusting part and the second rotation adjusting part respectively
Rotated with second levelling bench, so as to realize rotation of second levelling bench in X-axis and Y direction.
2. the ultra-thin five degree of freedom docking platform of a kind of spatial reuse as claimed in claim 1, it is characterised in that each this put down
Face adjusting part is arranged in the support platform triangular in shapely.
3. the ultra-thin five degree of freedom docking platform of a kind of spatial reuse as claimed in claim 2, it is characterised in that each this put down
Face adjusting part is separately positioned on three sidepieces of the support platform.
4. the ultra-thin five degree of freedom docking platform of a kind of spatial reuse as claimed in claim 2, it is characterised in that each this put down
Face adjusting part includes plane regulating motor, decelerator, shaft coupling, screw mandrel, nut, one respectively
Individual first direction slide rail, second direction slide rail, a sliding seat and a bearing, the plane regulating motor, the deceleration
Device, the shaft coupling, the screw mandrel, the nut, the first direction slide rail, the second direction slide rail be respectively arranged at the support platform,
The decelerator is arranged at the plane regulating motor, the two ends of the shaft coupling and is connected to the decelerator and the screw mandrel, the nut
The screw mandrel is movably arranged at, and the nut is fixed on the sliding seat, and the bearing is arranged at the sliding seat, and the bearing
The workbench is connected to, the first direction slide rail and the second direction slide rail arrange that the sliding seat can be respectively in cross
It is actuated to along a movement in the first direction slide rail and the second direction slide rail.
5. a kind of ultra-thin five degree of freedom docking platform of spatial reuse as claimed in claim 4, it is characterised in that the sliding seat
Bottom surface be provided with the first fluting, the first direction slide rail be arranged at the sliding seat this first fluting so that the sliding seat energy
The second fluting that is enough to be slided along the first direction slide rail, being provided with above the sliding seat, the second direction slide rail is arranged on this
Second fluting of sliding seat, so that the sliding seat can be slided along the second direction slide rail, the extension side of first fluting
It is mutually perpendicular to the bearing of trend with second fluting.
6., such as a kind of ultra-thin five degree of freedom docking platform of any one of spatial reuse in claim 1-5, it is special
Levy and be, this first rotate adjusting part include first motor, first lift, first adaptor with
And first steel ball, first motor and first lift be disposed adjacently in the support platform, and this first
Motor can drive first elevator duty, first adaptor to be arranged at the top of first lift, and this first
Steel ball is arranged at the upper end of first adaptor, and first steel ball and the first level contact with platform, second rotation
Adjusting part includes the second motor, the second lift, second adaptor and second steel ball, should
Second motor and second lift are disposed adjacently in the support platform, and second motor can drive this
Second elevator duty, second adaptor is arranged at the top of second lift, and second steel ball is arranged at this second turn
The upper end of fitting, and second steel ball and second levelling bench contact.
7. the ultra-thin five degree of freedom docking platform of a kind of spatial reuse as claimed in claim 6, it is characterised in that this first turn
The upper end of fitting is provided with a ball-and-socket, and first steel ball is arranged at the ball-and-socket of first adaptor, second adaptor
Upper end is provided with a ball-and-socket, and second steel ball is arranged at the ball-and-socket of second adaptor.
8. a kind of ultra-thin five degree of freedom docking platform of spatial reuse as claimed in claim 6, it is characterised in that first water
Axle is connected to the workbench respectively for the both sides of the end of average, the both sides difference axle connection of the end of second levelling bench
In the sidepiece of the first level platform.
9. a kind of ultra-thin five degree of freedom docking platform of spatial reuse as claimed in claim 8, it is characterised in that first water
The both sides of the end of average are connected to the workbench by a hinge axis respectively, and the two of the end of second levelling bench
Side is connected to the sidepiece of the first level platform by a hinge axis respectively.
10. a kind of ultra-thin five degree of freedom docking platform of spatial reuse as claimed in claim 1, it is characterised in that the space
The adjustable range of ultra-thin five degree of freedom docking platform of multiplexing is：
Along the moving range of X-direction：±50mm；
Along the moving range of Y direction：±50mm；
Around the slewing area of X-axis：±5°；
Around the slewing area of Y-axis：±5°；
Slewing area about the z axis：±5°.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268399.7A CN106737476B (en) | 2016-12-31 | 2016-12-31 | Space multiplexing ultra-thin five-degree-of-freedom docking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268399.7A CN106737476B (en) | 2016-12-31 | 2016-12-31 | Space multiplexing ultra-thin five-degree-of-freedom docking platform |
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| CN108916583A (en) * | 2018-07-31 | 2018-11-30 | 华南理工大学 | A kind of double freedom adjusting platform |
| CN109613024A (en) * | 2018-11-12 | 2019-04-12 | 深圳中科飞测科技有限公司 | Motion platform and its working method, detection device and detection method |
| CN109675899A (en) * | 2019-03-05 | 2019-04-26 | 浙江国自机器人技术有限公司 | A kind of handling device and photovoltaic cleaning equipment |
| CN110103008A (en) * | 2019-05-06 | 2019-08-09 | 江苏金猫机器人科技有限公司 | A kind of robot workstation suitable for large-size box docking |
| CN112066205A (en) * | 2020-08-20 | 2020-12-11 | 深圳芯光测试技术有限公司 | Horizontal adjusting mechanism for probe station chuck |
| CN112309493A (en) * | 2020-10-29 | 2021-02-02 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN113063379A (en) * | 2021-03-16 | 2021-07-02 | 北京北方华创微电子装备有限公司 | Position calibration equipment of film box |
| CN113167984A (en) * | 2018-12-03 | 2021-07-23 | Thk株式会社 | Alignment device and lens alignment system |
| CN113484155A (en) * | 2021-07-06 | 2021-10-08 | 中国工程物理研究院激光聚变研究中心 | Ultrathin film mechanical property measuring device and method |
| CN115111505A (en) * | 2022-05-18 | 2022-09-27 | 安徽理工大学 | Triaxial linkage's removal deformation test platform |
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| CN112066205A (en) * | 2020-08-20 | 2020-12-11 | 深圳芯光测试技术有限公司 | Horizontal adjusting mechanism for probe station chuck |
| CN112309493A (en) * | 2020-10-29 | 2021-02-02 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
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| CN113063379A (en) * | 2021-03-16 | 2021-07-02 | 北京北方华创微电子装备有限公司 | Position calibration equipment of film box |
| CN113063379B (en) * | 2021-03-16 | 2023-11-14 | 北京北方华创微电子装备有限公司 | Position calibration equipment of box |
| CN113484155A (en) * | 2021-07-06 | 2021-10-08 | 中国工程物理研究院激光聚变研究中心 | Ultrathin film mechanical property measuring device and method |
| CN115111505A (en) * | 2022-05-18 | 2022-09-27 | 安徽理工大学 | Triaxial linkage's removal deformation test platform |
| CN115111505B (en) * | 2022-05-18 | 2023-08-15 | 安徽理工大学 | Triaxial linkage mobile deformation testing platform |
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