CN106772888A - Five degree of freedom self adaptation pose adjusts platform - Google Patents
Five degree of freedom self adaptation pose adjusts platform Download PDFInfo
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- CN106772888A CN106772888A CN201611268329.1A CN201611268329A CN106772888A CN 106772888 A CN106772888 A CN 106772888A CN 201611268329 A CN201611268329 A CN 201611268329A CN 106772888 A CN106772888 A CN 106772888A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
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Abstract
A kind of five degree of freedom self adaptation pose adjusts platform,It is characterized in that,Five degree of freedom self adaptation pose adjustment platform includes a horizontal support platform,One Three Degree Of Freedom adaptive mechanism,One turns about the X axis adaptive mechanism,One rotates adaptive mechanism and a loader mechanism around Y-axis,The Three Degree Of Freedom adaptive mechanism is arranged at the horizontal support platform,This turns about the X axis adaptive mechanism and is arranged at the Three Degree Of Freedom adaptive mechanism,This should be arranged at around Y-axis rotation adaptive mechanism turned about the X axis adaptive mechanism,The loader mechanism is arranged at this and rotates adaptive mechanism around Y-axis,And the horizontal support platform,The Three Degree Of Freedom adaptive mechanism,This turns about the X axis adaptive mechanism,Adaptive mechanism and the loader mechanism should be rotated around Y-axis to be sequentially connected in series from bottom to up,To form five degree of freedom pose adjustment platform.
Description
Technical field
The present invention relates to a kind of pose adjustment platform, belong to Dynamic High-accuracy pose adjustment field, more particularly to a kind of five
Free degree self adaptation pose adjusts platform.
Background technology
High accuracy, such as docking of micro-strain, the handling of some precision optics modules are often referred in modern project.
These optical modules need to be loaded into certain mirrored cabinet, but its volume and quality are all than larger, and need it is extremely accurate right
Connect, it is necessary to assure suffered contact stress is less than allowable stress in docking operation.Some specific optical modules, because system will
Ask, its volume is larger, particularly the length when vertical direction is docked is more long, docking operation is related to one or more free degree
Adjustment, adjustment process will reach the requirement of quick response, just can guarantee that docking operation is a process for Relative steady-state simultaneously.
If pose somewhat has some deviations to cause docking failure or even damages optical module in docking operation.General mechanism is all
It is using active adjustment, generally by the change of power and angle in force snesor and obliquity sensor acquisition module docking operation
Change, but the sensor of power not measures module actual loading situation, if module is subject to tilting moment and torque, is passed by power
Sensor is difficult to calculate module actual loading.Obliquity sensor can only also measure one to the inclination angle of both direction to module simultaneously.
So such adjustment structure is extremely difficult to the requirement of high accuracy docking.Still further aspect, the closed loop being made up of these sensors
The external circumstances that system often can only all reflect in docking operation to the mode for measuring, and the past of inside is docked in docking operation
Internal actual docking situation is observed toward not allowing addition measuring apparatus to go, so only increasing the methods such as sensor using in outside
Closed loop is realized, and the data of outside collection are difficult to reflect the truth of inside, and computational methods are complicated.Therefore this active
Formula docking calculation is difficult to realize high accuracy, small deformation, the docking of big displacement.The present invention in this active mating method not
Foot, it is proposed that a kind of five degree of freedom self adaptation pose adjusts platform.
The content of the invention
Can be docked according to the micro force adjust automatically produced in docking operation it is an object of the invention to provide a kind of
The five degree of freedom self adaptation pose adjustment platform of module, to improve merging precision.
In order to achieve the above object, the present invention provides a kind of five degree of freedom self adaptation pose adjustment platform, wherein this five from
By degree self adaptation pose adjustment platform include horizontal support platform, Three Degree Of Freedom adaptive mechanism, one turn around X-axis
Dynamic adaptive mechanism, one rotate adaptive mechanism and a loader mechanism around Y-axis, the Three Degree Of Freedom adaptive mechanism is set
In the horizontal support platform, this turns about the X axis adaptive mechanism and is arranged at the Three Degree Of Freedom adaptive mechanism, should be rotated around Y-axis
Adaptive mechanism is arranged at this and turns about the X axis adaptive mechanism, and the loader mechanism is arranged at this and rotates adaptive mechanism around Y-axis,
And the horizontal support platform, the Three Degree Of Freedom adaptive mechanism, this turn about the X axis adaptive mechanism, should around Y-axis rotate it is adaptive
Mechanism and the loader mechanism is answered to be sequentially connected in series from bottom to up, to form five degree of freedom pose adjustment platform.Horizontal support is put down
Platform is mainly used in carrying whole adjustment mechanism, and horizontal support platform is detected and horizontal adjusting mechanism leveling by obliquity sensor,
So as to the benchmark for ensureing whole self adaptation is horizontality.Three Degree Of Freedom adaptive mechanism is by being embedded in the supporting plate structure of rolling element
Into so that mechanism's above section constitutes the three degree of freedom of plane with horizontal support platform, when mechanism receives horizontal direction
When power and torque, the Three Degree Of Freedom adaptive mechanism just can therewith make corresponding adjustment, elimination of level direction and around vertical
The stress that direction rotates.Wherein
Used as the further preferred embodiment to the five degree of freedom pose of the invention adjustment platform, this is turned about the X axis
The bottom of adaptive mechanism is provided with an axle for preset length, the axle for turning about the X axis adaptive mechanism sequentially pass through this three
The centre bore of the centre bore of free degree adaptive mechanism and the horizontal support platform is simultaneously fixed by customizing shaft end ring, this three from
Centre bore by degree adaptive mechanism is bigger than the diameter of the axle, and its size can have more the adjustment amount change of horizontal direction.Axle
The size of terminal block circle is bigger than horizontal support Platform center hole, to prevent coming off for axle.And during shaft end ring fixing axle, it is necessary to
Horizontal support platform base keep certain interval so that the adjustment of Three Degree Of Freedom is unaffected and structure without departing from.
Used as the further preferred embodiment to the five degree of freedom pose of the invention adjustment platform, this is turned about the X axis
Adaptive mechanism and the both sides that should rotate adaptive mechanism around Y-axis are symmetrical arranged with the rotation pair for non-fully rotating for a pair, its
In this turn about the X axis the secondary center of circle of the rotation of adaptive mechanism and the secondary circle of adaptive mechanism should be rotated around Y-axis the rotation
The heart is in approximately the same plane.Adaptive mechanism is rotated by around X-axis and around Y-axis so that pose adjustment platform possesses five sides
To the free degree adjustment, it is whole that mechanism will obtain around X-axis and need to have condition around the self-adaptative adjustment of two frees degree of Y-axis
The center of gravity of individual mechanism have to be lower than the intersection point in the Liang Ge frees degree mechanism axle center, and center of gravity is lower, the speed of its self-adaptative adjustment
Degree is faster and more stable, therefore this turns about the X axis and must have more loading module around the secondary radius of the rotation of Y rotating mechanisms
Size and barycenter and design, or the module met within maximum load condition can adjust platform and be adjusted by the pose
It is whole.
Used as the further preferred embodiment to the five degree of freedom pose of the invention adjustment platform, this is turned about the X axis
The rotation of adaptive mechanism rotation pair that is secondary and should rotating adaptive mechanism around Y-axis be respectively equipped with a position-limit mechanism, with
The adjusting range that adaptive mechanism rotates adaptive mechanism with this around Y-axis is turned about the X axis in this is limited.
The beneficial effect of five degree of freedom pose adjustment platform of the invention is that the five degree of freedom pose adjusts platform first
Simple structure, it is not necessary to complicated mechanical structure and electrical equipment auxiliary, by cleverly structure design, reaches the skill in docking operation
Art requirement, next five degree of freedom pose adjustment platform is avoided using active regulation scheme, so as to avoid active regulation
Dependence to measurement feedback.Often internal docking situation can not be monitored directly in docking operation, this causes measurement feedback simultaneously
It is inaccurate, so as to cause to connection module in docking operation be subject to excessive stresses, therefore the present invention in the five degree of freedom pose
Adjustment platform can overcome this drawback.In addition five degree of freedom pose adjustment platform applicability of the invention is wide, as long as module
Meet requirement and can be transferred through the high-precision pose adjustment of platform acquisition.
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 schematic diagram that five degree of freedom self adaptation pose of the invention adjusts platform.
Fig. 2 is the partial schematic diagram that five degree of freedom self adaptation pose of the invention adjusts platform.
Fig. 3 is another partial schematic diagram that five degree of freedom self adaptation pose of the invention adjusts platform.
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 Figure 1 to Figure 3, spirit under this invention provides a kind of five degree of freedom self adaptation pose adjustment platform,
Five degree of freedom self adaptation pose adjustment platform includes 1, Three Degree Of Freedom adaptive mechanism 2, of a horizontal support platform
The individual adaptive mechanism 3, that turns about the X axis rotates adaptive mechanism 4 and a loader mechanism 5 around Y-axis, and the five degree of freedom is certainly
Adapt to adjustment platform by the horizontal support platform 1, the Three Degree Of Freedom adaptive mechanism 2, this turn about the X axis adaptive mechanism 3, should
Adaptive mechanism 4 is rotated around Y-axis and the loader mechanism 5 is composed in series, so that the five degree of freedom self-adaptative adjustment platform can
Realize five frees degree of horizontal direction X-axis, the movement of Y-axis and rotation and the rotation around vertical direction.The five degree of freedom is certainly
The movable control of not taking the initiative of five frees degree of pose adjustment platform is adapted to, but utilizes the five degree of freedom adaptive bit
Appearance adjusts itself small stress of platform and automatically adjusts five frees degree, so as to the high precision during achieving a butt joint and guarantor
Stress in card docking operation is within allowable stress range.
The bottom of the horizontal support platform 1 can be fixedly connected with a pedestal or other platforms, and the Three Degree Of Freedom is certainly
Adapt to mechanism 2 to be arranged on the horizontal support platform 1, this turns about the X axis adaptive mechanism 3, and to be arranged on the Three Degree Of Freedom adaptive
Answer in mechanism 2, wherein an axle for certain length is arranged at the bottom for turning about the X axis adaptive mechanism 3, it passes through the Three Degree Of Freedom
The centre bore of adaptive mechanism 2 and the horizontal support platform 1 is simultaneously fixed.Adaptive mechanism 4 should be rotated around Y-axis be arranged on this around X
Axle is rotated on adaptive mechanism 3, and the loader mechanism 5 is arranged on this and rotates adaptive mechanism 4 around Y-axis, with by the loader mechanism 5
A tote 6 in certain mass and volume range is supported.The five degree of freedom self adaptation pose adjusts platform should in adjustment
During the pose of tote 6, without by measuring in docking operation, the actual stress of module and docking situation just can be to taking over
Journey makes adjust automatically, and ensure that the precision of docking after the adjustment.In addition, five degree of freedom self adaptation pose adjustment is flat
The adjustment process of platform relies primarily on module and slight active force is subject in composition is docked and corresponding displacement and rotation is produced
Change, whole adjustment composition need not apply pro-active intervention to five degree of freedom self adaptation pose adjustment platform, and adjust
The complicated stress of module need not be decomposed during whole, situation is docked also not simultaneously for internal reality in docking operation
Need to be detected by the feedback device of complexity, so that the complexity in reducing docking operation, with improving docking operation
Precision.
It is similar with the structure that should rotate adaptive mechanism 4 around Y-axis that this turns about the X axis adaptive mechanism 3, is turned around X-axis with this
As a example by dynamic adaptive mechanism 3, the both sides for turning about the X axis adaptive mechanism 3 are provided with a pair of structure identicals and rotate secondary, and this turn
Dynamic pair is non-fully to rotate.The X-axis rotates adaptive mechanism 3 and should be mutually perpendicular to around the axial direction of Y-axis rotation adaptive mechanism 4,
And turn about the X axis adaptive mechanism 3 at this and position-limit mechanism should be designed with the rotation pair that Y-axis rotates adaptive mechanism 4,
Adjusting range and preventing for limiting adaptive turns about the X axis adaptive mechanism 3 and should rotate adaptive mechanism 4 around Y-axis
Mutual dislocation or disengaging, lock-screw is provided with the rotation pair, to ensure the five degree of freedom adaptive bit in transportation
Appearance adjustment platform will not occur relative motion.
When the docking of the tote 6 is realized using the five degree of freedom self-adaptative adjustment platform, the tote 6 is embodied as
The center of gravity O ' of module have to be lower than the rotary shaft that this turns about the X axis adaptive mechanism 3 and adaptive mechanism 4 should be rotated around Y-axis
Intersection point O.Although this turns about the X axis adaptive mechanism 3 and should rotate adaptive mechanism 4 around Y-axis has the rotation pair of different radii,
But it rotates the secondary center of circle in approximately the same plane, so that this turns about the X axis adaptive mechanism 3 and should turn around Y-axis
The rotary shaft of dynamic adaptive mechanism 4 intersects at a point.
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 (4)
1. a kind of five degree of freedom self adaptation pose adjusts platform, it is characterised in that the five degree of freedom self adaptation pose adjusts platform
Adaptive mechanism is turned about the X axis including a horizontal support platform, Three Degree Of Freedom adaptive mechanism, one, one around Y-axis
Adaptive mechanism and a loader mechanism are rotated, the Three Degree Of Freedom adaptive mechanism is arranged on the horizontal support platform, should
Turn about the X axis adaptive mechanism to be arranged on the Three Degree Of Freedom adaptive mechanism, adaptive mechanism should be rotated around Y-axis and be arranged at this
Turn about the X axis on adaptive mechanism, the loader mechanism is arranged at this and is rotated on adaptive mechanism around Y-axis, and the horizontal support
Platform, the Three Degree Of Freedom adaptive mechanism, this turn about the X axis adaptive mechanism, should around Y-axis rotate adaptive mechanism and the loading
Mechanism is sequentially connected in series from bottom to up, to form five degree of freedom pose adjustment platform.
2. a kind of five degree of freedom self adaptation pose as claimed in claim 1 adjusts platform, it is characterised in that this is turned about the X axis
The bottom of adaptive mechanism is provided with an axle for preset length, the axle for turning about the X axis adaptive mechanism sequentially pass through this three
The simultaneously fixation of the centre bore of the centre bore of free degree adaptive mechanism and the horizontal support platform, three freedom is limited with by the axle
Degree adaptive mechanism.
3. a kind of five degree of freedom self adaptation pose as claimed in claim 2 adjusts platform, it is characterised in that this is turned about the X axis
Adaptive mechanism and the both sides that should rotate adaptive mechanism around Y-axis have a pair rotation pairs for non-fully rotating respectively, wherein should
The center of circle for turning about the X axis the rotation pair of adaptive mechanism and the circle centre position of the rotation pair that adaptive mechanism should be rotated around Y-axis
In approximately the same plane.
4. a kind of five degree of freedom self adaptation pose as claimed in claim 3 adjusts platform, it is characterised in that this is turned about the X axis
The rotation of adaptive mechanism rotation pair that is secondary and should rotating adaptive mechanism around Y-axis be respectively equipped with a position-limit mechanism, with
The adjusting range that adaptive mechanism rotates adaptive mechanism with this around Y-axis is turned about the X axis in this is limited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268329.1A CN106772888A (en) | 2016-12-31 | 2016-12-31 | Five degree of freedom self adaptation pose adjusts platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268329.1A CN106772888A (en) | 2016-12-31 | 2016-12-31 | Five degree of freedom self adaptation pose adjusts platform |
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| Publication Number | Publication Date |
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| CN106772888A true CN106772888A (en) | 2017-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611268329.1A Pending CN106772888A (en) | 2016-12-31 | 2016-12-31 | Five degree of freedom self adaptation pose adjusts platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227234A (en) * | 2017-12-28 | 2018-06-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of single-degree-of-freedom adaptive equalization assemble mechanism |
| CN115502919A (en) * | 2022-09-19 | 2022-12-23 | 中国工程物理研究院激光聚变研究中心 | Pose adjusting mechanism and 6-degree-of-freedom fault-tolerant adjusting method based on same |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1076433A (en) * | 1996-09-02 | 1998-03-24 | Nissan Motor Co Ltd | Work mounting device |
| CN101954577A (en) * | 2010-10-18 | 2011-01-26 | 重庆大学 | Mechanical self-adaptive auxiliary docking platform |
| CN203401295U (en) * | 2013-08-05 | 2014-01-22 | 北京锐视康科技发展有限公司 | Multi-dimensional adjustment table |
-
2016
- 2016-12-31 CN CN201611268329.1A patent/CN106772888A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1076433A (en) * | 1996-09-02 | 1998-03-24 | Nissan Motor Co Ltd | Work mounting device |
| CN101954577A (en) * | 2010-10-18 | 2011-01-26 | 重庆大学 | Mechanical self-adaptive auxiliary docking platform |
| CN203401295U (en) * | 2013-08-05 | 2014-01-22 | 北京锐视康科技发展有限公司 | Multi-dimensional adjustment table |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227234A (en) * | 2017-12-28 | 2018-06-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of single-degree-of-freedom adaptive equalization assemble mechanism |
| CN108227234B (en) * | 2017-12-28 | 2019-12-17 | 中国科学院长春光学精密机械与物理研究所 | single-degree-of-freedom self-adaptive balance assembling mechanism |
| CN115502919A (en) * | 2022-09-19 | 2022-12-23 | 中国工程物理研究院激光聚变研究中心 | Pose adjusting mechanism and 6-degree-of-freedom fault-tolerant adjusting method based on same |
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Application publication date: 20170531 |