CN106908262A - A kind of five degree of freedom pose governor motion - Google Patents
A kind of five degree of freedom pose governor motion Download PDFInfo
- Publication number
- CN106908262A CN106908262A CN201710144887.5A CN201710144887A CN106908262A CN 106908262 A CN106908262 A CN 106908262A CN 201710144887 A CN201710144887 A CN 201710144887A CN 106908262 A CN106908262 A CN 106908262A
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- platform
- pitching
- rolling
- motor
- translation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
Abstract
A kind of five degree of freedom pose governor motion, belongs to field of electromechanical equipment, and specifically using hoistable platform, revolving dial, rolling platform translates platform, testing stand base, pitching platform composition, it is characterised in that：The elevating mechanism is made up of lifting motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw, it is mainly used in carry load and various operating loads, lifting motor is connected with shaft coupling, hoistable platform is connected with riser guide sliding block, hoistable platform is made of stainless steel material, and ball-screw is connected by transmission nut with riser guide sliding block.The usefulness of the invention is：Ensure that reliability and kinematic accuracy of the pose governor motion under vacuum low-temperature environment.
Description
Technical field
The present invention relates to a kind of five degree of freedom pose governor motion, specifically using hoistable platform, revolving dial, rolling
Turn platform, translate platform, testing stand base, pitching platform composition belongs to field of electromechanical equipment.
Background technology
For satellite etc. in the moving object of the outer space, it is necessary to carry out pre-stage test on the ground, and existing electromechanical equipment
It is difficult to reach index of correlation requirement, especially five degree of freedom electromechanical equipment, i.e. the vacuum of pose governor motion, low temperature adaptability
Design, it is difficult to ensure reliability and kinematic accuracy of the pose governor motion under vacuum low-temperature environment, in view of the above problems, design
This five degree of freedom pose governor motion.
The content of the invention
For above-mentioned deficiency, the invention provides a kind of five degree of freedom pose governor motion.
The present invention is achieved by the following technical solutions：A kind of five degree of freedom pose governor motion, electricity is driven by lifting
Machine, hoistable platform, revolving dial, rolling platform, rolling motor, translating rails, testing stand base, pitching platform, pitching motor,
Rolling platform driving pinion, rolling platform drive arc-shaped rack, worm gear, translator slider, translating rack, the small tooth of driven in translation
Wheel, translation motor, turning motor, worm screw, floating bearing, pitching platform drive arc-shaped rack, pitching platform driving pinion, connection
Axle device, riser guide sliding block, ball-screw, mobile platform composition, it is characterised in that：Two lifting motors are separately mounted to
The upper end of elevating mechanism, hoistable platform is arranged on elevating mechanism centre position, and rolling motor output shaft is connected by decelerator and rolled
Turn platform driving pinion, rolling platform drives arc-shaped rack to be fixed on pitching platform, rolling platform drive arc-shaped rack with
Rolling platform driving pinion engaged transmission, translation platform is located at testing stand base top, and translating rails are arranged in testing stand bottom
On seat, translating rails are transferred loads on testing stand base by translator slider, and translation motor is arranged on translation platform, is put down
Move motor output shaft to be connected with driven in translation little gear, driven in translation little gear and translating rack engaged transmission, translating rack are solid
It is connected on testing stand base, pitching motor output shaft connects pitching platform driving pinion by decelerator, pitching platform drives
Arc-shaped rack and pitching platform driving pinion engaged transmission, pitching platform drive arc-shaped rack to be arranged on translation platform, return
Rotating motor output shaft is connected with worm screw, and worm and wheel engaged transmission, worm gear is fixed on the inner ring of floating bearing, floating bearing
Outer ring is fixed on revolving dial.
The elevating mechanism is made up of lifting motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw,
It is mainly used in carry load and various operating loads, elevating mechanism is designed to venetian blind type knot with the motion joint face of hoistable platform
Structure, to improve radiation protection, lifting motor is connected with shaft coupling, and hoistable platform is connected with riser guide by sliding block,
Hoistable platform is made of stainless steel material, and ball-screw is connected by transmission nut with riser guide sliding block.
The rolling platform is separate with the pitching platform of the revolving dial of top, lower section in motion, and it rotates model
Enclose-5 -+5 °.
The revolving dial is box-structure, can improve the rigidity of slew gear, its rotating range-5 -+5 °.
The pitching platform is separate with the translation platform of the rolling platform of top, lower section in motion, and it rotates model
Enclose -10 ° -+10 °.
The usefulness of the invention is：Ensure that reliability and motion essence of the pose governor motion under vacuum low-temperature environment
Degree.When rolling motor works, drive rolling platform driving pinion to rotate by decelerator, and then drive whole rolling platform fortune
It is dynamic；When pitching motor works, drive pitching platform driving pinion to rotate by decelerator, and then drive whole pitching platform fortune
It is dynamic；When turning motor works, worm screw is driven by decelerator, and then drive worm gear wheel, worm gear to be fixed on the interior of floating bearing
On circle, so as to realize the gyration of revolving dial；Lifting motor drives ball screw turns by shaft coupling, so that real
Moving up and down for existing transmission nut counter ball leading screw, finally realizes the lifting of hoistable platform；When translation motor works, drive flat
Driving pinion is moved to rotate, and translating rack is connected on testing stand base, therefore realize the translation of translation platform.
Brief description of the drawings
Accompanying drawing 1 is a kind of five degree of freedom pose governor motion general structure schematic diagram；
Accompanying drawing 2 is a kind of five degree of freedom pose governor motion inner connecting structure schematic diagram；
Accompanying drawing 3 is a kind of five degree of freedom pose governor motion inner connecting structure partial schematic diagram；
Accompanying drawing 4 is a kind of elevating mechanism structural representation of five degree of freedom pose governor motion；
Accompanying drawing 5 is a kind of translation mechanism structural representation of five degree of freedom pose governor motion.
In figure, 1, lifting motor, 2, hoistable platform, 3, revolving dial, 4, rolling platform, 5, rolling motor, 6, flat
Move guide rail, 7, testing stand base, 8, pitching platform, 9, pitching motor, 10, rolling platform driving pinion, 11, rolling platform drives
Dynamic arc-shaped rack, 12, worm gear, 13, translator slider, 14, translating rack, 15, driven in translation little gear, 16, translation motor, 17,
Turning motor, 18, worm screw, 19, floating bearing, 20, pitching platform drive arc-shaped rack, 21, pitching platform driving pinion,
22nd, shaft coupling, 23, riser guide sliding block, 24, ball-screw, 25, translation platform.
Specific embodiment
A kind of five degree of freedom pose governor motion, by lifting motor 1, hoistable platform 2, revolving dial 3, rolling platform
4th, rolling motor 5, translating rails 6, testing stand base 7, pitching platform 8, pitching motor 9, rolling platform driving pinion 10, rolling
Turn platform and drive arc-shaped rack 11, worm gear 12, translator slider 13, translating rack 14, driven in translation little gear 15, translation motor
16th, turning motor 17, worm screw 18, floating bearing 19, pitching platform drive arc-shaped rack 20, pitching platform driving pinion 21,
Shaft coupling 22, riser guide sliding block 23, ball-screw 24, mobile platform 25 are constituted, it is characterised in that：Two lifting motors
1 upper end for being separately mounted to elevating mechanism, hoistable platform 2 is arranged on elevating mechanism centre position, and the output shaft of rolling motor 5 passes through
Decelerator connection rolling platform driving pinion 10, rolling platform drives arc-shaped rack 11 to be fixed on pitching platform 8, and rolling is put down
Platform drives arc-shaped rack 11 and the engaged transmission of rolling platform driving pinion 10, and translation platform 25 is located at the top of testing stand base 7,
Translating rails 6 are arranged on testing stand base 7, and translating rails 6 transfer loads to testing stand base 7 by translator slider 13
On, translation motor 16 is arranged on translation platform 25, and the output shaft of translation motor 16 is connected with driven in translation little gear 15, and translation is driven
Dynamic little gear 15 and the engaged transmission of translating rack 14, translating rack 14 are connected on testing stand base 7, the output shaft of pitching motor 9
Pitching platform driving pinion 21 is connected by decelerator, pitching platform drives arc-shaped rack 20 and pitching platform driving pinion
21 engaged transmissions, pitching platform drives arc-shaped rack 20 to be arranged on translation platform 25, the output shaft of turning motor 17 and worm screw 18
Connection, worm screw 18 and the engaged transmission of worm gear 12, worm gear 12 are fixed on the inner ring of floating bearing 19, and the outer ring of floating bearing 19 is fixed
On revolving dial 3.
The elevating mechanism is by lifting motor 1, hoistable platform 2, shaft coupling 22, riser guide sliding block 23, ball wire
Thick stick 24 is constituted, and is mainly used in carry load and various operating loads, and lifting motor 1 is connected with shaft coupling 22, hoistable platform 2
It is connected with riser guide sliding block 23, hoistable platform 2 is made of stainless steel material, ball-screw 24 is by transmission nut and lifting
Guide rail slide block 23 is connected.
The rolling platform 4 is separate with the pitching platform 8 of the revolving dial 3, lower section of top in motion, its rotation
Scope-5 -+5 °.
The revolving dial 3 is box-structure, can improve the rigidity of slew gear, its rotating range-5 -+5 °.
The pitching platform 8 is separate with the translation platform 25 of the rolling platform 4, lower section of top in motion, its rotation
Turn -10 ° -+10 ° of scope.
When the device works, when rolling motor 5 works, 10 turns of rolling platform driving pinion is driven by decelerator
It is dynamic, and then drive whole rolling platform 4 to move；When pitching motor 9 works, pitching platform driving pinion is driven by decelerator
21 rotate, and then drive whole pitching platform 8 to move；When turning motor 17 works, worm screw 18, and then band are driven by decelerator
Dynamic worm gear 12 is rotated, and worm gear 12 is fixed on the inner ring of floating bearing 19, so as to realize the gyration of revolving dial 3；Lifting
Motor 1 drives ball-screw 24 to rotate by shaft coupling 22, so as to realize the upper and lower of transmission nut counter ball leading screw 24
It is mobile, finally realize the lifting of hoistable platform 2；When translation motor 16 works, drive driven in translation little gear 15 to rotate, and translate
Tooth bar 14 is connected on testing stand base 7, therefore realizes the translation of translation platform 25.
For the ordinary skill in the art, teaching of the invention, do not depart from principle of the invention with
In the case of spirit, the changes, modifications that are carried out to implementation method, replace and modification still fall within protection scope of the present invention it
It is interior.
Claims (5)
1. a kind of five degree of freedom pose governor motion, by lifting motor, hoistable platform, revolving dial, rolling platform, rolling
Motor, translating rails, testing stand base, pitching platform, pitching motor, rolling platform driving pinion, rolling platform drive arc
Shape tooth bar, worm gear, translator slider, translating rack, driven in translation little gear, translation motor, turning motor, worm screw, floating bearing,
Pitching platform drives arc-shaped rack, pitching platform driving pinion, shaft coupling, riser guide sliding block, ball-screw, mobile platform
Composition, it is characterised in that：Two lifting motors are separately mounted to the upper end of elevating mechanism, and hoistable platform is arranged on lift
Structure centre position, rolling motor output shaft connects rolling platform driving pinion by decelerator, and rolling platform drives arc-shaped gear
Bar is fixed on pitching platform, and rolling platform drives arc-shaped rack and rolling platform driving pinion engaged transmission, translates platform
Positioned at testing stand base top, translating rails are arranged on testing stand base, and translating rails pass through translator slider by load transmission
Onto testing stand base, translation motor is arranged on translation platform, and translation motor output shaft is connected with driven in translation little gear, is put down
Driving pinion and translating rack engaged transmission are moved, translating rack is connected on testing stand base, and pitching motor output shaft passes through
Decelerator connects pitching platform driving pinion, and pitching platform drives arc-shaped rack to engage biography with pitching platform driving pinion
Dynamic, pitching platform drives arc-shaped rack to be arranged on translation platform, and turning motor output shaft is connected with worm screw, and worm and wheel is nibbled
Transmission is closed, worm gear is fixed on the inner ring of floating bearing, and floating bearing outer ring is fixed on revolving dial.
2. a kind of five degree of freedom pose governor motion according to claim 1, it is characterised in that：The elevating mechanism is by rising
Drop motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw composition, are mainly used in carry load and various works
Industry load, elevating mechanism is designed to venetian blind type structure with the motion joint face of hoistable platform, to improve radiation protection, lifting
Motor is connected with shaft coupling, and hoistable platform is connected with riser guide by sliding block, and hoistable platform uses stainless steel material system
Into ball-screw is connected by transmission nut with riser guide sliding block.
3. a kind of five degree of freedom pose governor motion according to claim 1, it is characterised in that：The rolling platform is in fortune
Pitching platform when dynamic with the revolving dial of top, lower section is separate, its rotating range-5 -+5 °.
4. a kind of five degree of freedom pose governor motion according to claim 1, it is characterised in that：The revolving dial is case
Type structure, can improve the rigidity of slew gear, its rotating range-5 -+5 °.
5. a kind of five degree of freedom pose governor motion according to claim 1, it is characterised in that：The pitching platform is in fortune
Translation platform when dynamic with the rolling platform of top, lower section is separate, -10 ° -+10 ° of its rotating range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144887.5A CN106908262B (en) | 2017-03-13 | 2017-03-13 | A kind of five degree of freedom pose regulating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144887.5A CN106908262B (en) | 2017-03-13 | 2017-03-13 | A kind of five degree of freedom pose regulating mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106908262A true CN106908262A (en) | 2017-06-30 |
| CN106908262B CN106908262B (en) | 2019-02-01 |
Family
ID=59187075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710144887.5A Expired - Fee Related CN106908262B (en) | 2017-03-13 | 2017-03-13 | A kind of five degree of freedom pose regulating mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN106908262B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150320A (en) * | 2017-07-15 | 2017-09-12 | 合肥杰源机电科技有限公司 | A kind of automobile mounting production line lift rotating equipment |
| CN107520836A (en) * | 2017-09-08 | 2017-12-29 | 燕山大学 | A kind of big plane of rotation Three-degree-of-freedom motion platform |
| CN108318267A (en) * | 2018-01-18 | 2018-07-24 | 浙江大学 | Slurry balance shield comprehensive simulation test platform five degree of freedom follow-up support system |
| CN108916583A (en) * | 2018-07-31 | 2018-11-30 | 华南理工大学 | A kind of double freedom adjusting platform |
| CN109448869A (en) * | 2018-10-30 | 2019-03-08 | 中国科学院合肥物质科学研究院 | Single linear drives timesharing Two-shaft drive mechanism of fusion reactor internal part test platform |
| CN112113781A (en) * | 2020-08-19 | 2020-12-22 | 南京晨光集团有限责任公司 | Large-scale multi-degree-of-freedom pose adjusting device in vacuum low-temperature environment |
| CN112634699A (en) * | 2020-12-28 | 2021-04-09 | 芜湖信诺教育设备有限公司 | New energy automobile differential mechanism and motor disassembly and assembly training workbench |
| CN112644713A (en) * | 2020-12-21 | 2021-04-13 | 中国人民解放军63677部队 | Middle and low altitude airship missile hanging posture stabilizing device |
| CN112923951A (en) * | 2021-03-12 | 2021-06-08 | 中国电子科技集团公司第三十八研究所 | Liftable single-shaft rotary table |
| CN114102474A (en) * | 2021-12-02 | 2022-03-01 | 杭州君杭科技有限公司 | Can satisfy different models new energy automobile reduction gear installation device for experiment |
| CN114261544A (en) * | 2021-12-30 | 2022-04-01 | 哈尔滨工业大学 | Five-degree-of-freedom zero-gravity test device |
| CN114659764A (en) * | 2022-02-21 | 2022-06-24 | 昆山福步工业设备有限公司 | Can regulate and control triaxial test device of sealed operation gesture |
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| CN2881551Y (en) * | 2006-02-24 | 2007-03-21 | 中国船舶重工集团公司第七一一研究所 | Five-freedom three-dimension flat moving desk |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150320A (en) * | 2017-07-15 | 2017-09-12 | 合肥杰源机电科技有限公司 | A kind of automobile mounting production line lift rotating equipment |
| CN107520836A (en) * | 2017-09-08 | 2017-12-29 | 燕山大学 | A kind of big plane of rotation Three-degree-of-freedom motion platform |
| CN107520836B (en) * | 2017-09-08 | 2023-06-23 | 燕山大学 | Large-rotation-plane three-degree-of-freedom motion platform |
| CN108318267A (en) * | 2018-01-18 | 2018-07-24 | 浙江大学 | Slurry balance shield comprehensive simulation test platform five degree of freedom follow-up support system |
| CN108318267B (en) * | 2018-01-18 | 2019-07-26 | 浙江大学 | Slurry balance shield comprehensive simulation test platform five degree of freedom follow-up support system |
| CN108916583A (en) * | 2018-07-31 | 2018-11-30 | 华南理工大学 | A kind of double freedom adjusting platform |
| CN109448869A (en) * | 2018-10-30 | 2019-03-08 | 中国科学院合肥物质科学研究院 | Single linear drives timesharing Two-shaft drive mechanism of fusion reactor internal part test platform |
| CN109448869B (en) * | 2018-10-30 | 2020-04-24 | 中国科学院合肥物质科学研究院 | Single-linear driving time-sharing double-shaft driving mechanism of fusion reactor internal part testing platform |
| CN112113781B (en) * | 2020-08-19 | 2022-06-21 | 南京晨光集团有限责任公司 | Large-scale multi-degree-of-freedom pose adjusting device in vacuum low-temperature environment |
| CN112113781A (en) * | 2020-08-19 | 2020-12-22 | 南京晨光集团有限责任公司 | Large-scale multi-degree-of-freedom pose adjusting device in vacuum low-temperature environment |
| CN112644713A (en) * | 2020-12-21 | 2021-04-13 | 中国人民解放军63677部队 | Middle and low altitude airship missile hanging posture stabilizing device |
| CN112634699A (en) * | 2020-12-28 | 2021-04-09 | 芜湖信诺教育设备有限公司 | New energy automobile differential mechanism and motor disassembly and assembly training workbench |
| CN112634699B (en) * | 2020-12-28 | 2023-04-07 | 芜湖信诺教育设备有限公司 | New energy automobile differential mechanism and motor disassembly and assembly training workbench |
| CN112923951A (en) * | 2021-03-12 | 2021-06-08 | 中国电子科技集团公司第三十八研究所 | Liftable single-shaft rotary table |
| CN114102474A (en) * | 2021-12-02 | 2022-03-01 | 杭州君杭科技有限公司 | Can satisfy different models new energy automobile reduction gear installation device for experiment |
| CN114102474B (en) * | 2021-12-02 | 2024-04-05 | 重庆恒伟林汽车零部件有限公司 | Can satisfy experimental installation device of using of different model new energy automobile reducers |
| CN114261544A (en) * | 2021-12-30 | 2022-04-01 | 哈尔滨工业大学 | Five-degree-of-freedom zero-gravity test device |
| CN114659764A (en) * | 2022-02-21 | 2022-06-24 | 昆山福步工业设备有限公司 | Can regulate and control triaxial test device of sealed operation gesture |
| CN114659764B (en) * | 2022-02-21 | 2024-04-12 | 昆山福步工业设备有限公司 | Triaxial test device capable of regulating and controlling sealing operation posture |
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|---|---|
| CN106908262B (en) | 2019-02-01 |
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