CN106908262B - A kind of five degree of freedom pose regulating mechanism - Google Patents
A kind of five degree of freedom pose regulating mechanism Download PDFInfo
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- CN106908262B CN106908262B CN201710144887.5A CN201710144887A CN106908262B CN 106908262 B CN106908262 B CN 106908262B CN 201710144887 A CN201710144887 A CN 201710144887A CN 106908262 B CN106908262 B CN 106908262B
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- platform
- pitching
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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
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- General Physics & Mathematics (AREA)
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Abstract
A kind of five degree of freedom pose regulating mechanism, belong to field of electromechanical equipment, specifically by hoistable platform, revolving platform, rolling platform, translate platform, testing stand pedestal, pitching platform composition, it is characterized by: the elevating mechanism is by lifting driving motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw composition, it is mainly used for carry load and various operating loads, lifting driving motor is connect with shaft coupling, hoistable platform is connect with riser guide sliding block, hoistable platform is made of stainless steel, ball-screw is connect by transmission nut with riser guide sliding block.The invention has the beneficial effect that the reliability and kinematic accuracy that ensure that pose regulating mechanism under vacuum low-temperature environment.
Description
Technical field
The present invention relates to a kind of five degree of freedom pose regulating mechanisms, specifically by hoistable platform, revolving platform, rolling
Platform, translation platform, testing stand pedestal, pitching platform composition, belong to field of electromechanical equipment.
Background technique
For satellite etc. in the moving object of the outer space, need 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. pose regulating mechanism are set in vacuum, low temperature adaptability
Meter aspect, it is difficult to guarantee reliability and kinematic accuracy of the pose regulating mechanism under vacuum low-temperature environment, in view of the above problems, if
This five degree of freedom pose regulating mechanism is counted.
Summary of the invention
In view of the above-mentioned deficiencies, the present invention provides a kind of five degree of freedom pose regulating mechanisms.
The present invention is achieved by the following technical solutions: a kind of five degree of freedom pose regulating mechanism, by lifting driving electricity
Machine, hoistable platform, revolving platform, rolling platform, rolling motor, translating rails, testing stand pedestal, 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 driving arc-shaped rack, pitching platform driving pinion, connection
Axis device, riser guide sliding block, ball-screw, mobile platform composition, it is characterised in that: two lifting driving motors are separately mounted to
The upper end of elevating mechanism, hoistable platform are mounted on elevating mechanism middle position, and rolling motor output shaft is connected by retarder and rolled
Turn platform driving pinion, rolling platform driving arc-shaped rack is fixed on pitching platform, rolling platform drive arc-shaped rack with
Rolling platform driving pinion engaged transmission, translation platform are located above testing stand pedestal, and translating rails are arranged in testing stand bottom
On seat, translating rails are transferred loads on testing stand pedestal by translator slider, and translation motor is mounted on translation platform, are put down
It moves motor output shaft to be connected with driven in translation pinion gear, driven in translation pinion gear and translating rack engaged transmission, translating rack are solid
It is connected on testing stand pedestal, pitching motor output shaft connects pitching platform driving pinion, the driving of pitching platform by retarder
Arc-shaped rack and pitching platform driving pinion engaged transmission, pitching platform driving arc-shaped rack are mounted on translation platform, return
Rotating motor output shaft is connect 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 platform.
The elevating mechanism is made of lifting driving motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw,
It is mainly used for carry load and various operating loads, the movement joint face of elevating mechanism and hoistable platform is designed to venetian blind type knot
Structure, to improve radiation protection, lifting driving motor is connect with shaft coupling, and hoistable platform is connect with riser guide by sliding block,
Hoistable platform is made of stainless steel, and ball-screw is connect by transmission nut with riser guide sliding block.
The rolling platform is mutually indepedent with the pitching platform of the revolving platform of top, lower section during exercise, rotates model
Enclose-5 -+5 °.
The revolving platform is box-structure, and the rigidity of swing mechanism, rotating range-5 -+5 ° can be improved.
The pitching platform is mutually indepedent with the translation platform of the rolling platform of top, lower section during exercise, rotates model
Enclose -10 ° -+10 °.
The invention has the beneficial effect that the reliability that ensure that pose regulating mechanism under vacuum low-temperature environment and movement essence
Degree.When rolling motor works, the rotation of rolling platform driving pinion is driven by retarder, and then drives entire rolling platform fortune
It is dynamic；When pitching motor works, the rotation of pitching platform driving pinion is driven by retarder, and then drives entire pitching platform fortune
It is dynamic；When turning motor works, worm screw is driven by retarder, and then drive worm gear rotation, worm gear is fixed on the interior of floating bearing
On circle, to realize the rotary motion of revolving platform；It goes up and down driving motor and ball screw turns is driven by shaft coupling, thus real
Existing transmission nut counter ball lead screw moves up and down, the final lifting for realizing hoistable platform；When translation motor works, drive flat
Driving pinion rotation is moved, and translating rack is connected on testing stand pedestal, therefore realizes the translation of translation platform.
Detailed description of the invention
Attached drawing 1 is a kind of five degree of freedom pose regulating mechanism general structure schematic diagram；
Attached drawing 2 is a kind of five degree of freedom pose regulating mechanism inner connecting structure schematic diagram；
Attached drawing 3 is a kind of five degree of freedom pose regulating mechanism inner connecting structure partial schematic diagram；
Attached drawing 4 is a kind of elevating mechanism structural schematic diagram of five degree of freedom pose regulating mechanism；
Attached drawing 5 is a kind of translation mechanism structural schematic diagram of five degree of freedom pose regulating mechanism.
In figure, 1, lifting driving motor, 2, hoistable platform, 3, revolving platform, 4, rolling platform, 5, rolling motor, 6, flat
Move guide rail, 7, testing stand pedestal, 8, pitching platform, 9, pitching motor, 10, rolling platform driving pinion, 11, the drive of rolling platform
Dynamic arc-shaped rack, 12, worm gear, 13, translator slider, 14, translating rack, 15, driven in translation pinion gear, 16, translation motor, 17,
Turning motor, 18, worm screw, 19, floating bearing, 20, pitching platform driving arc-shaped rack, 21, pitching platform driving pinion,
22, shaft coupling, 23, riser guide sliding block, 24, ball-screw, 25, translation platform.
Specific embodiment
A kind of five degree of freedom pose regulating mechanism, by lifting driving motor 1, hoistable platform 2, revolving platform 3, rolling platform
4, rolling motor 5, translating rails 6, testing stand pedestal 7, pitching platform 8, pitching motor 9, rolling platform driving pinion 10, rolling
Turn platform driving arc-shaped rack 11, worm gear 12, translator slider 13, translating rack 14, driven in translation pinion gear 15, translation motor
16, turning motor 17, worm screw 18, floating bearing 19, pitching platform driving arc-shaped rack 20, pitching platform driving pinion 21,
Shaft coupling 22, riser guide sliding block 23, ball-screw 24, mobile platform 25 form, it is characterised in that: two lifting driving motors
1 is separately mounted to the upper end of elevating mechanism, and hoistable platform 2 is mounted on elevating mechanism middle position, and 5 output shaft of rolling motor passes through
Retarder connects rolling platform driving pinion 10, and rolling platform driving arc-shaped rack 11 is fixed on pitching platform 8, and rolling is flat
Platform drives 10 engaged transmission of arc-shaped rack 11 and rolling platform driving pinion, and translation platform 25 is located at 7 top of testing stand pedestal,
Translating rails 6 are arranged on testing stand pedestal 7, and translating rails 6 transfer loads to testing stand pedestal 7 by translator slider 13
On, translation motor 16 is mounted on translation platform 25, and 16 output shaft of translation motor is connected with driven in translation pinion gear 15, and translation is driven
Dynamic pinion gear 15 is connected on testing stand pedestal 7 with 14 engaged transmission of translating rack, translating rack 14,9 output shaft of pitching motor
Pitching platform driving pinion 21 is connected by retarder, pitching platform drives arc-shaped rack 20 and pitching platform driving pinion
21 engaged transmissions, pitching platform driving arc-shaped rack 20 are mounted on translation platform 25,17 output shaft of turning motor and worm screw 18
Connection, 12 engaged transmission of worm screw 18 and worm gear, worm gear 12 are fixed on the inner ring of floating bearing 19, and 19 outer ring of floating bearing is fixed
On revolving platform 3.
The elevating mechanism is by lifting driving motor 1, hoistable platform 2, shaft coupling 22, riser guide sliding block 23, ball wire
Thick stick 24 forms, and is mainly used for carry load and various operating loads, and lifting driving motor 1 is connect with shaft coupling 22, hoistable platform 2
It is connect with riser guide sliding block 23, hoistable platform 2 is made of stainless steel, and ball-screw 24 passes through transmission nut and lifting
Guide rail slide block 23 connects.
The rolling platform 4 is mutually indepedent with the pitching platform 8 of the revolving platform 3 of top, lower section during exercise, rotation
Range-5 -+5 °.
The revolving platform 3 is box-structure, and the rigidity of swing mechanism, rotating range-5 -+5 ° can be improved.
The pitching platform 8 is mutually indepedent with the translation platform 25 of the rolling platform 4 of top, lower section during exercise, rotation
Turn -10 ° -+10 ° of range.
When device work, when rolling motor 5 works, 10 turns of rolling platform driving pinion is driven by retarder
It is dynamic, and then entire rolling platform 4 is driven to move；When pitching motor 9 works, pitching platform driving pinion is driven by retarder
21 rotations, and then entire pitching platform 8 is driven to move；When turning motor 17 works, worm screw 18, and then band are driven by retarder
Dynamic worm gear 12 rotates, and worm gear 12 is fixed on the inner ring of floating bearing 19, to realize the rotary motion of revolving platform 3；Lifting
Driving motor 1 drives ball-screw 24 to rotate by shaft coupling 22, to realize the upper and lower of transmission nut counter ball lead screw 24
It is mobile, the final lifting for realizing hoistable platform 2；When translation motor 16 works, driven in translation pinion gear 15 is driven to rotate, and translated
Rack gear 14 is connected on testing stand pedestal 7, therefore realizes the translation of translation platform 25.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (5)
1. a kind of five degree of freedom pose regulating mechanism, by lifting driving motor, hoistable platform, revolving platform, rolling platform, rolling
Motor, translating rails, testing stand pedestal, pitching platform, pitching motor, rolling platform driving pinion, rolling platform drive arc
Shape rack gear, worm gear, translator slider, translating rack, driven in translation pinion 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 driving motors are separately mounted to the upper end of elevating mechanism, and hoistable platform is mounted on elevator
Structure middle position, rolling motor output shaft connect rolling platform driving pinion by retarder, and rolling platform drives arc-shaped gear
Item is fixed on pitching platform, and rolling platform drives arc-shaped rack and rolling platform driving pinion engaged transmission, translates platform
Above testing stand pedestal, translating rails are arranged on testing stand pedestal, and translating rails pass through translator slider for load transmission
Onto testing stand pedestal, translation motor is mounted on translation platform, and translation motor output shaft is connected with driven in translation pinion gear, is put down
Driving pinion and translating rack engaged transmission are moved, translating rack is connected on testing stand pedestal, and pitching motor output shaft passes through
Retarder connects pitching platform driving pinion, and pitching platform drives arc-shaped rack to engage biography with pitching platform driving pinion
Dynamic, pitching platform driving arc-shaped rack is mounted on translation platform, and turning motor output shaft is connect 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 platform.
2. a kind of five degree of freedom pose regulating mechanism according to claim 1, it is characterised in that: the elevating mechanism is by rising
Driving motor, hoistable platform, shaft coupling, riser guide sliding block, ball-screw composition are dropped, carry load and various works are mainly used for
The movement joint face of industry load, elevating mechanism and hoistable platform is designed to venetian blind type structure, to improve radiation protection, lifting
Driving motor is connect with shaft coupling, and hoistable platform is connect with riser guide by sliding block, and hoistable platform uses stainless steel material system
At ball-screw is connect by transmission nut with riser guide sliding block.
3. a kind of five degree of freedom pose regulating mechanism according to claim 1, it is characterised in that: the rolling platform is being transported
When dynamic and revolving platform, the pitching platform of lower section of top are mutually indepedent, rotating range-5 -+5 °.
4. a kind of five degree of freedom pose regulating mechanism according to claim 1, it is characterised in that: the revolving platform is case
The rigidity of swing mechanism, rotating range-5 -+5 ° can be improved in type structure.
5. a kind of five degree of freedom pose regulating mechanism according to claim 1, it is characterised in that: the pitching platform is being transported
When dynamic and rolling platform, the translation platform of lower section of top are mutually indepedent, and -10 ° -+10 ° of 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 CN106908262A (en) | 2017-06-30 |
| CN106908262B true CN106908262B (en) | 2019-02-01 |
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| 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 |
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| CN (1) | CN106908262B (en) |
Families Citing this family (13)
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| 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 |
| CN107520836B (en) * | 2017-09-08 | 2023-06-23 | 燕山大学 | Large-rotation-plane three-degree-of-freedom motion platform |
| 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 |
| 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 |
| CN111805492A (en) * | 2020-07-29 | 2020-10-23 | 沈阳中德新松教育科技集团有限公司 | Six-degree-of-freedom adjusting 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 |
| 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 |
| 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 |
| 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 |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| AU2010267546B2 (en) * | 2009-06-16 | 2015-03-12 | Zen Technologies Limited | A motion platform system |
| CN204214632U (en) * | 2014-10-16 | 2015-03-18 | 上海品铭机械工程有限公司 | A kind of portable optical for aviation driving cabin measures support |
| CN105652684B (en) * | 2014-11-13 | 2019-03-26 | 北京航天计量测试技术研究所 | A kind of novel large four-degree-of-freedom attitude-simulating simulation architecture |
| CN104787363B (en) * | 2015-05-06 | 2016-08-24 | 中国科学院沈阳自动化研究所 | A kind of satellite ground microgravity dynamic load simulation mechanism |
| CN106404346A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Apparatus for testing influence of large-aperture camera gravity deformation on image quality |
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2017
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| CN106908262A (en) | 2017-06-30 |
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