CN106940552A - A kind of High-precision angle automatically adjusts platform - Google Patents
A kind of High-precision angle automatically adjusts platform Download PDFInfo
- Publication number
- CN106940552A CN106940552A CN201611041289.7A CN201611041289A CN106940552A CN 106940552 A CN106940552 A CN 106940552A CN 201611041289 A CN201611041289 A CN 201611041289A CN 106940552 A CN106940552 A CN 106940552A
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- China
- Prior art keywords
- platform
- motor
- support
- side chain
- fitting
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
Platform is automatically adjusted the invention discloses a kind of High-precision angle, it is characterized in that including lower shoe, upper plate, platform, the first side chain, the second side chain, the upper plate is fixed on lower shoe by many support shafts, the lower shoe bottom is fixed with multiple support feets, the fixing end connection upper plate of first side chain and the second side chain, the output end connecting platform of first side chain and the second side chain, first side chain is provided with two, and the second side chain is provided with one；The present invention uses four motors as power source, while using the angle of horizon sensor detection platform, the accuracy of platform motion is ensured using closed-loop control system, so as to accurately be automatically adjusted to the multidirectional angle in space.The present invention is using symmetrical structure design, and motion is flexible, and bearing capacity is strong, reasonable in design with simple and compact for structure, processing and the good advantage of assembly technology.
Description
Technical field
The present invention relates to angular adjustment technical field, in particular, more particularly to a kind of High-precision angle is automatically adjusted
Platform.
Background technology
At present, in Automatic manual transmission, some parts need to carry out the fixation clamping at angle of inclination, so as to need angular adjustment
Device determines the space angle of part.
Application No. 201410053166.X Chinese invention patent discloses a kind of angle demodulator, employs manual tune
The mode of section, it is not necessary to dismantle any frock, just can easily be adjusted angle；Application No. 201110455858.3
Chinese invention patent discloses angle regulator, carries out regulation angle manually using the dial on toothed disc, judges to start
The corner of throttle is adjusted in the combustion of machine；Application No. 201310367115.X Chinese invention patents disclose the angle for slicer
Regulating system, can simultaneously in two directions on accurate angular adjustment is carried out to section machine worktable.But, foregoing invention is special
Profit causes the precision of angular adjustment not high by the way of adjusting manually, and the process of operation is more complicated, it is impossible to realize certainly
Dynamic regulation.And foregoing invention patent can only realize the angular adjustment of one direction or both direction, but it is difficult to meet some many
The requirement of orientation angle regulation.
For above-mentioned deficiency, it is necessary to which designing and develop a kind of High-precision angle automatically adjusts platform, it can supply above-mentioned each
Individual shortcoming.
The content of the invention
Must adjust manually it is an object of the invention to solving existing angle regulator, degree of regulation it is not high, operation
The problem of process is complicated automatically adjusts platform there is provided a kind of High-precision angle, can automatically, accurately adjust the angle of multiple directions
Degree.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of High-precision angle automatically adjusts platform, and it is special
It is to include lower shoe, upper plate, platform, the first side chain, the second side chain to levy, and the upper plate is fixed on by many support shafts
On lower shoe, the lower shoe bottom is fixed with multiple support feets, the fixing end connection of first side chain and the second side chain
The output end connecting platform of base plate, the first side chain and the second side chain, first side chain is provided with two, and the second side chain is provided with
One；
First side chain includes the first motor, first shaft coupling, the first leading screw, the first feed screw nut, the first fixation branch
Frame, the first movement support and first connecting rod；First motor is bolted to connection on upper plate, and the first motor
Output end connects the first leading screw by first shaft coupling；One end connection first shaft coupling of first leading screw, other end connection
First spring bearing；The first fixed support bottom is bolted to connection on upper plate；First spring bearing
It is embedded in the first support bracket fastened upper end slot；Described first movement support one end is fixed by bolt and the first feed screw nut to be connected
Connect, the other end of the first movement support is connected with link；The bottom of the link is bolted to connection to be moved first
On dynamic support, the shaft end of link connects one end of first connecting rod by mobile end connection；The mobile end connection includes
Fitting under fitting, mobile terminal middleware and mobile terminal on mobile terminal；The axle of one end of fitting and first connecting rod on the mobile terminal
End is fixedly connected, and the other end of fitting is hinged with mobile terminal middleware on mobile terminal；One end of fitting and shifting under the mobile terminal
Moved end middleware is hinged, and the other end of fitting is fixedly connected with one end of first connecting rod by trip bolt under mobile terminal, described
The direction of principal axis that is hinged on mobile terminal under fitting and mobile terminal between fitting and mobile terminal middleware is mutually perpendicular to；The first connecting rod
The other end pass through platform connector connecting platform；The platform connector includes fitting, platform middleware and platform on platform
Lower fitting；One end of fitting connects the other end of fitting on one end of first connecting rod, platform by trip bolt on the platform
Hole is hinged with platform middleware；A stomidium of fitting is hinged with mobile terminal middleware under the platform, and fitting is another under platform
End is connected by trip bolt and the axle that is fixed on platform, on the platform under fitting and platform fitting and fitting in platform it
Between the direction of principal axis that is hinged be mutually perpendicular to.
Second side chain includes the second motor, second shaft coupling, the second leading screw, the second feed screw nut, the second fixation branch
Frame, the second movement support, the 3rd motor, the 3rd shaft coupling and second connecting rod；Second motor is bolted to connection
On upper plate, and the output end of the second motor connects the second leading screw by second shaft coupling；The second fixed support bottom leads to
Bolt is crossed to be fixedly connected on upper plate；One end connection second shaft coupling of second leading screw, other end connection second is supported
Bearing；Second spring bearing is embedded in the second support bracket fastened upper end slot；The second movement support and the second leading screw
Nut is bolted to connection, and the electric machine support is bolted to connection on the second movement support；3rd electricity
Machine is fixed on the inner side of electric machine support, and the output end of the 3rd motor connects second connecting rod by the 3rd shaft coupling；Described second
One end of connecting rod connects the 3rd motor, and the other end passes through platform connector connecting platform.
Further, the upper plate and lower shoe are both provided with three equally distributed through holes, and support shaft is provided with
Three, support shaft two ends are provided with screw thread, and one end of support shaft is fixed through the through hole on upper plate and by nut；The branch
The support axle other end is fixed through the through hole on lower shoe and by nut；The lower shoe is further fixed on three support feets.
Further, the shaft end of the support feet is provided with screw thread, and the lower shoe is provided with the spiral shell with the support feet
The mounting hole that line is engaged, the shaft end of support feet is through the mounting hole on lower shoe, and the upper surface of lower shoe is provided with and support feet
The adjusting nut of connection.
Further, also including X-direction horizon rule and Y-direction horizon rule, the X-direction horizon rule and Y directions horizon rule
It is arranged on the upper surface of lower shoe, X-direction horizon rule and Y-direction horizon rule are in vertical distribution each other.
The control system of the present invention, PLC, four servo-drivers, three servomotors and four encoders；Four
Individual servo-driver is respectively the first servo-driver, the second servo-driver, the 3rd servo-driver and the 4th servo-drive
Device；Three servomotors are respectively the first motor, the second motor and the 3rd motor；Four encoders be respectively the first encoder,
Second encoder, the 3rd encoder and the 4th encoder；The output end of the controller respectively with the first servo-driver, second
The input of servo-driver, the 3rd servo-driver and the 4th servo-driver is connected in parallel；First servo-driver
Output end be connected with the input of the first motor；One end of first encoder and the first motor connection, the other end and the
One servo-driver is connected；The output end of second servo-driver is connected with the input of another the first motor；It is described
One end of second encoder and the first motor connection, the other end are connected with the second servo-driver；3rd servo-driver
Output end be connected with the input of the second motor；One end of 3rd encoder and the second motor connection, the other end and the
Three servo-drivers are connected.The output end of 4th servo-driver is connected with the input of the 3rd motor；Described 4th compiles
One end of code device and the 3rd motor connection, the other end are connected with the 4th servo-driver；The output end of the horizon sensor with
Controller is connected.
The controller can draw corresponding first motor, the second motor according to set angle angle value by algorithm computing
With the corner of the 3rd motor, corresponding umber of pulse and pulse frequency are calculated according to motor corner afterwards；First servo is driven
Dynamic device, the second servo-driver, the 3rd servo-driver and the 4th servo-driver receive the pulse signal that controller is sent, point
The first motor, the second motor and the 3rd motor operation are not controlled；The encoder gathers the corner and rotary speed information of motor, and handle
The information conveyance of collection is to servo-driver, and servo-driver is by contrasting initial information and feedback information, so as to adjust corresponding
The rotating speed and corner of motor, it is ensured that motor reaches the rotating speed and corner of setting.Horizon sensor monitoring platform on the platform
Corner, and measured value is sent to controller, whether controller measurement of comparison value consistent with setting value, is adjusted if inconsistent
Corresponding motor corner, so that platform accurately reaches the angle of setting.
The course of work of the present invention is as follows：According to the square horizon rules of X and Y-direction horizon rule registration on lower shoe, pass through
Adjustment adjusting nut make it that lower shoe reaches horizontality.The angle value of setting is exported, controller controls first according to angle value
Motor, the second motor and the 3rd motor rotation.When the first motor of two the first side chains and the second motor of the second side chain are motionless,
3rd motor movement, platform is rotated using the second side chain as axle center；3rd motor is motionless, the first electricity of two the first side chains
Second motor of machine and the second side chain is synchronized with the movement, and realizes the rectilinear movement of platform and the rotation of space two-freedom.Pass through
The motion of first motor, the second motor and the 3rd motor, so that platform reaches corresponding angle.While the level on platform
The angle of the real-time monitoring platform of sensor, and feed back to controller.Controller constantly corrects the corner of motor so that the reality of platform
Border angle reaches setting value.
Further, the output shaft of second motor and the 3rd motor is concentric, and the first motor and the second motor are
Motor of the same race.
Further, described two first side chains and the second side chain connection upper plate and platform, and two first
The link position of chain and second side chain and base plate and platform is distributed in equilateral triangle；First side chain and second
The axis of chain and the angle of upper plate plane are 80 degree.
Further, the described first support bracket fastened internal both sides are provided with two the first guide rails, and on the first guide rail
First sliding block is bolted to connection in the both sides of the first feed screw nut.
Further, the described second support bracket fastened internal both sides are provided with two the second guide rails, and on the second guide rail
Second sliding block is bolted to connection in the both sides of the second feed screw nut.
Further, the lower surface centre position of the platform is provided with horizon sensor, and is bolted fixation.
Further, the output shaft end of two the first motors is set the first encoder and second encoder, second respectively
The output shaft end of motor and the 3rd motor is respectively arranged with the 3rd encoder and the 4th encoder.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention using four motors as power source, simultaneously
Using the angle of horizon sensor detection platform, the accuracy of platform motion is ensured using closed-loop control system, so as to essence
True ground-to-air multidirectional angle automatically adjusts.The present invention is using symmetrical structure design, and motion is flexible, bearing capacity
By force, it is reasonable in design with simple and compact for structure, processing and the good advantage of assembly technology.
Brief description of the drawings
Fig. 1 is the overall structure diagram that a kind of High-precision angle of the invention automatically adjusts platform.
Fig. 2 is the attachment structure schematic diagram of upper plate of the present invention and lower shoe.
Fig. 3 is the structural representation of the first side chain of the invention.
Fig. 4 is the structural representation of the second side chain of the invention.
Fig. 5 is the local structural graph of platform of the present invention.
Fig. 6 is the schematic flow sheet of control system of the present invention.
In figure, 1- support feets, 2- lower shoes, 3- support shafts, 4- upper plates, the fixed supports of 5- first, the movement branch of 6- first
Fitting under frame, 7- links, 8- mobile terminals, fitting on 9- mobile terminals, 10- first connecting rods, 11- platforms, fitting on 12- platforms,
Fitting, 14- second connecting rods, the shaft couplings of 15- the 3rd, the motors of 16- the 3rd, 17- electric machine supports, 18- second are moved under 13- platforms
Support, the leading screws of 19- second, 20- second shaft couplings, the motors of 21- second, the motors of 22- first, 23- adjusting nuts, 24-X directions
Horizon rule, 25-Y directions horizon rule, 26- platform middlewares, the fixed supports of 27- second, the guide rails of 28- second, the sliding blocks of 29- second,
The feed screw nuts of 30- second, the spring bearings of 31- second, 32- mobile terminals middleware, the spring bearings of 33- first, the sliding blocks of 34- first,
The feed screw nuts of 35- first, 36- first shaft couplings, the leading screws of 37- first, 38- horizon sensors.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in figs. 1 to 6, a kind of High-precision angle automatically adjusts platform, including lower shoe 2, upper plate 4, platform 11,
One side chain, the second side chain, the upper plate 4 are fixed on lower shoe 2 by many support shafts 3, and the bottom of lower shoe 2 is consolidated
Surely there are multiple support feets 1, the fixing end connection upper plate 4 of first side chain and the second side chain, the first side chain and the second side chain
Output end connecting platform 11, first side chain is provided with two, and the second side chain is provided with one.
First side chain includes the first motor 22, first shaft coupling 36, the first leading screw 37, the first feed screw nut 35, the
One fixed support 5, first moves support 6 and first connecting rod 10；First motor 22 is bolted to connection in upper plate 4
On, and the output end of the first motor 22 connects the first leading screw 37 by first shaft coupling 36；One end of first leading screw 37 connects
First shaft coupling 36 is connect, the other end connects the first spring bearing 33；The bottom of first fixed support 5 is bolted to connection
On upper plate 4；First spring bearing 33 is embedded in the upper end slot of the first fixed support 5；The first movement support 6
One end is fixedly connected by bolt with the first feed screw nut 35, and the other end of the first movement support 6 is connected with link 7；It is described
The bottom of link 7 is bolted to connection on the first movement support 6, and the shaft end of link 7 passes through mobile end connection
Connect one end of first connecting rod 10；The mobile end connection includes fitting 9, mobile terminal middleware 32 and mobile terminal on mobile terminal
Lower fitting 8；One end of fitting 9 is fixedly connected with the shaft end of first connecting rod 10 on the mobile terminal, and fitting 9 is another on mobile terminal
End is hinged with mobile terminal middleware 32；One end of fitting 8 is hinged with mobile terminal middleware 32 under the mobile terminal, is connect under mobile terminal
The other end of part 8 is fixedly connected with one end of first connecting rod 10 by trip bolt, on the mobile terminal under fitting 9 and mobile terminal
The direction of principal axis that is hinged between fitting 8 and mobile terminal middleware 32 is mutually perpendicular to；The other end of the first connecting rod 10 passes through platform
Connector connecting platform 11；The platform connector includes fitting 13 under fitting 12, platform middleware 26 and platform on platform；Institute
State on one end that one end of fitting 12 on platform connects first connecting rod 10 by trip bolt, platform another stomidium of fitting 12 with
Platform middleware 26 is hinged；A stomidium of fitting 13 is hinged with mobile terminal middleware 32 under the platform, fitting 13 under platform
The other end is connected by trip bolt and fixed axle on platform 11, on the platform under fitting 12 and platform fitting 13 with it is flat
The direction of principal axis that is hinged in platform 11 between fitting is mutually perpendicular to.
Second side chain includes the second motor 21, second shaft coupling 20, the second leading screw 19, the second feed screw nut 30, the
Two fixed supports 27, second movement support 18, the 3rd motor 16, the 3rd shaft coupling 15 and second connecting rod 14；Second motor
21 are bolted to connection on upper plate 4, and the output end of the second motor 21 connects second by second shaft coupling 20
Thick stick 19；The bottom of second fixed support 27 is bolted to connection on upper plate 4；One end of second leading screw 19 connects
Second shaft coupling 20 is connect, the other end connects the second spring bearing 31；Second spring bearing 31 is embedded in the second fixed support
In 27 upper end slot；The second movement support 18 is bolted to connection with the second feed screw nut 30, the electric machine support
17 are bolted to connection on the second movement support 18；3rd motor 16 is fixed on the inner side of electric machine support 17, and
The output end of 3rd motor 16 connects second connecting rod 14 by the 3rd shaft coupling 15；One end connection the 3rd of the second connecting rod 14
Motor 16, the other end passes through platform connector connecting platform 11.
The upper plate 4 and lower shoe 2 are both provided with three equally distributed through holes, and support shaft 3 is provided with three, branch
Support axle 3 two ends are provided with screw thread, and one end of support shaft 3 is fixed through the through hole on upper plate 4 and by nut；The support shaft
3 other ends are fixed through the through hole on lower shoe 2 and by nut；The lower shoe 2 is further fixed on three support feets 1.
The shaft end of the support feet 1 is provided with screw thread, and the lower shoe 2 is provided with the screw thread matching with the support feet 1
The mounting hole of conjunction, the shaft end of support feet 1 is through the mounting hole on lower shoe 2, and the upper surface of lower shoe 2 is provided with to be connected with support feet 1
The adjusting nut 23 connect.
Also include X-direction horizon rule 24 and Y-direction horizon rule 25, the X-direction horizon rule 24 and Y directions horizon rule 25
On the upper surface for being arranged on lower shoe 2, X-direction horizon rule 24 and Y-direction horizon rule 25 are in vertical distribution each other.
The output shaft of second motor 21 and the 3rd motor 16 is concentric, and the first motor 22 and the second motor 21 are same
Plant motor.
Described two first side chains and the second side chain connection upper plate 4 and platform 11, and two the first side chains and one
The link position of individual second side chain and base plate 4 and platform 11 is distributed in equilateral triangle；First side chain and the second side chain
The angle of axis and upper plate plane be 80 degree.
The inside both sides of first fixed support 5 are provided with two the first guide rails, and the first sliding block on the first guide rail
34 are bolted to connection in the both sides of the first feed screw nut 35.
The inside both sides of second fixed support 27 are provided with two the second guide rails 28, and on the second guide rail 28
Two sliding blocks 29 are bolted to connection in the both sides of the second feed screw nut 30.
The lower surface centre position of the platform 11 is provided with horizon sensor 38, and is bolted fixation.
The output shaft end of two the first motors 22 is set the first encoder and second encoder, the He of the second motor 21 respectively
The output shaft end of 3rd motor 16 is respectively arranged with the 3rd encoder and the 4th encoder.
The control system of the present invention, PLC, four servo-drivers, three servomotors and four encoders；Four
Individual servo-driver is respectively the first servo-driver, the second servo-driver, the 3rd servo-driver and the 4th servo-drive
Device；Three servomotors are respectively the first motor, the second motor and the 3rd motor；Four encoders be respectively the first encoder,
Second encoder, the 3rd encoder and the 4th encoder；The output end of the controller respectively with the first servo-driver, second
The input of servo-driver, the 3rd servo-driver and the 4th servo-driver is connected in parallel；First servo-driver
Output end be connected with the input of the first motor；One end of first encoder and the first motor connection, the other end and the
One servo-driver is connected；The output end of second servo-driver is connected with the input of another the first motor；It is described
One end of second encoder and the first motor connection, the other end are connected with the second servo-driver；3rd servo-driver
Output end be connected with the input of the second motor；One end of 3rd encoder and the second motor connection, the other end and the
Three servo-drivers are connected.The output end of 4th servo-driver is connected with the input of the 3rd motor；Described 4th compiles
One end of code device and the 3rd motor connection, the other end are connected with the 4th servo-driver；The output end of the horizon sensor with
Controller is connected.
Controller can draw corresponding first motor, the second motor and according to set angle angle value by algorithm computing
The corner of three motors, calculates corresponding umber of pulse and pulse frequency according to motor corner afterwards；First servo-driver,
Second servo-driver, the 3rd servo-driver and the 4th servo-driver receive the pulse signal that controller is sent, and control respectively
Make the first motor, the second motor and the 3rd motor operation；The encoder gathers the corner and rotary speed information of motor, and collection
Information conveyance to servo-driver, servo-driver is by contrasting initial information and feedback information, so as to adjust corresponding motor
Rotating speed and corner, it is ensured that motor reaches the rotating speed and corner of setting.Turn of horizon sensor monitoring platform on the platform
Angle, and measured value is sent to controller, whether controller measurement of comparison value is consistent with setting value, adjusts corresponding if inconsistent
Motor corner so that platform accurately reaches the angle of setting.
The course of work of the present invention is as follows：According to the square horizon rules 24 of X and the registration of Y-direction horizon rule 25 on lower shoe,
By adjusting adjusting nut 23 so that lower shoe 2 reaches horizontality.The angle value of setting is exported, controller is according to angle value control
The first motor 22, the second motor 21 and the 3rd motor 16 is made to operate.When the first motor 22 and the second side chain of two the first side chains
The second motor 21 it is motionless, the 3rd motor 16 is moved, and platform 11 is rotated using the second side chain as axle center；3rd motor 16 is not
Dynamic, the first motor 22 of two the first side chains and the second motor 21 of the second side chain are synchronized with the movement, and realize that the straight line of platform 11 is moved
The rotation of dynamic and space two-freedom.By the motion of the first motor 22, the second motor 21 and the 3rd motor 16, so that
Platform 11 reaches corresponding angle.The angle of the real-time monitoring platform 11 of horizon sensor 38 on platform 11, and feeding back to simultaneously
Controller.Controller constantly corrects the corner of motor so that the actual angle of platform 11 reaches setting value.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
The technical scheme that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (10)
1. a kind of High-precision angle automatically adjusts platform, it is characterised in that：Including lower shoe (2), upper plate (4), platform (11),
First side chain, the second side chain, the upper plate (4) are fixed on lower shoe (2) by many support shafts (3), the lower shoe
(2) bottom is fixed with multiple support feets (1), the fixing end connection upper plate (4) of first side chain and the second side chain, first
The output end connecting platform (11) of chain and the second side chain, first side chain is provided with two, and the second side chain is provided with one；
First side chain includes the first motor (22), first shaft coupling (36), the first leading screw (37), the first feed screw nut
(35), the first fixed support (5), the first movement support (6) and first connecting rod (10)；First motor (22) is solid by bolt
Surely it is connected on upper plate (4), and the output end of the first motor (22) connects the first leading screw (37) by first shaft coupling (36)；
One end connection first shaft coupling (36) of first leading screw (37), the other end connects the first spring bearing (33)；Described first
Fixed support (5) bottom is bolted to connection on upper plate (4)；First spring bearing (33) is embedded in first and consolidated
In the upper end slot of fixed rack (5)；Described first movement support (6) one end connects by the way that bolt and the first feed screw nut (35) are fixed
Connect, the other end of the first movement support (6) is connected with link (7)；The bottom of the link (7) is bolted to connection
On the first movement support (6), the shaft end of link (7) connects one end of first connecting rod (10) by mobile end connection；Institute
Stating mobile end connection includes fitting (8) under fitting (9), mobile terminal middleware (32) and mobile terminal on mobile terminal；The movement
One end of fitting (9) is fixedly connected with the shaft end of first connecting rod (10) on end, the other end of fitting (9) and mobile terminal on mobile terminal
Middleware (32) is hinged；One end of fitting (8) is hinged with mobile terminal middleware (32) under the mobile terminal, fitting under mobile terminal
(8) the other end is fixedly connected with the one end of first connecting rod (10) by trip bolt, fitting (9) and movement on the mobile terminal
The lower direction of principal axis that is hinged between fitting (8) and mobile terminal middleware (32) in end is mutually perpendicular to；The first connecting rod (10) it is another
End passes through platform connector connecting platform (11)；The platform connector includes fitting (12), platform middleware (26) on platform
With fitting under platform (13)；One end of fitting (12) connects one end of first connecting rod (10) by trip bolt on the platform,
Another stomidium of fitting (12) is hinged with platform middleware (26) on platform；A stomidium of fitting (13) and movement under the platform
End middleware (32) is hinged, and the other end of fitting (13) is connected by trip bolt and the axle being fixed on platform (11) under platform
Connect, the direction of principal axis that is hinged on the platform under fitting (12) and platform in fitting (13) and platform (11) between fitting mutually hangs down
Directly；
Second side chain includes the second motor (21), second shaft coupling (20), the second leading screw (19), the second feed screw nut
(30), the second fixed support (27), the second movement support (18), the 3rd motor (16), the 3rd shaft coupling (15) and second connecting rod
(14)；Second motor (21) is bolted to connection on upper plate (4), and the output end of the second motor (21) passes through
Second shaft coupling (20) connects the second leading screw (19)；Second fixed support (27) bottom is bolted to connection at upper bottom
On plate (4)；One end connection second shaft coupling (20) of second leading screw (19), the other end connects the second spring bearing (31)；
Second spring bearing (31) is embedded in the upper end slot of the second fixed support (27)；The second movement support (18) and the
Two feed screw nuts (30) are bolted to connection, and the electric machine support (17) is bolted to connection moves support second
(18) on；3rd motor (16) is fixed on the inner side of electric machine support (17), and the output end of the 3rd motor (16) passes through
Three shaft couplings (15) connection second connecting rod (14)；One end of the second connecting rod (14) connects the 3rd motor (16), and the other end leads to
Cross platform connector connecting platform (11).
2. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：The upper plate (4)
Three equally distributed through holes are both provided with lower shoe (2), and support shaft (3) is provided with three, support shaft (3) two ends are set
There is screw thread, one end of support shaft (3) is fixed through the through hole on upper plate (4) and by nut；Support shaft (3) other end
Fixed through the through hole on lower shoe (2) and by nut；The lower shoe (2) is further fixed on three support feets (1).
3. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：The support feet (1)
Shaft end be provided with screw thread, the lower shoe (2) is provided with the mounting hole being engaged with the screw thread of the support feet (1), support
The shaft end of pin (1) is through the mounting hole on lower shoe (2), and the upper surface of lower shoe (2) is provided with the regulation being connected with support feet (1)
Nut (23).
4. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：Also include X-direction water
Leveling ruler (24) and Y-direction horizon rule (25), the X-direction horizon rule (24) and Y-direction horizon rule (25) are arranged on lower shoe (2)
Upper surface on, X-direction horizon rule (24) and Y-direction horizon rule (25) are in vertical distribution each other.
5. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：Second motor
(21) output shaft with the 3rd motor (16) is concentric, and the first motor (22) and the second motor (21) are motor of the same race.
6. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：Described two first
Chain and the second side chain connection upper plate (4) and platform (11), and two the first side chains and second side chain and base plate (4)
It is distributed with the link position of platform (11) in equilateral triangle；The axis of first side chain and the second side chain is put down with upper plate
The angle in face is 80 degree.
7. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：Described first fixes branch
The inside both sides of frame (5) are provided with two the first guide rails, and the first sliding block (34) on the first guide rail is bolted to connection
Both sides in the first feed screw nut (35).
8. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：Described second fixes branch
The inside both sides of frame (27) are provided with two the second guide rails (28), and the second sliding block (29) on the second guide rail (28) passes through bolt
It is fixedly connected on the both sides of the second feed screw nut (30).
9. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that：The platform (11)
Lower surface centre position is provided with horizon sensor (38), and is bolted fixation.
10. a kind of High-precision angle according to any one in claim 1~9 automatically adjusts platform, it is characterised in that：
The output shaft end of two the first motors (22) is set the first encoder and second encoder, the second motor (21) and the 3rd respectively
The output shaft end of motor (16) is respectively arranged with the 3rd encoder and the 4th encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041289.7A CN106940552B (en) | 2016-11-22 | 2016-11-22 | High-precision angle automatic adjustment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041289.7A CN106940552B (en) | 2016-11-22 | 2016-11-22 | High-precision angle automatic adjustment platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106940552A true CN106940552A (en) | 2017-07-11 |
| CN106940552B CN106940552B (en) | 2023-06-27 |
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ID=59468917
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611041289.7A Active CN106940552B (en) | 2016-11-22 | 2016-11-22 | High-precision angle automatic adjustment platform |
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| Country | Link |
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| CN (1) | CN106940552B (en) |
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| CN113263495A (en) * | 2021-06-08 | 2021-08-17 | 佛山科学技术学院 | Movable platform for industrial robot |
| CN113266176A (en) * | 2021-06-07 | 2021-08-17 | 佳木斯大学 | Stage convenient to expand for musical performance |
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| Publication number | Publication date |
|---|---|
| CN106940552B (en) | 2023-06-27 |
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