CN106940552B - High-precision angle automatic adjustment platform - Google Patents
High-precision angle automatic adjustment platform Download PDFInfo
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- CN106940552B CN106940552B CN201611041289.7A CN201611041289A CN106940552B CN 106940552 B CN106940552 B CN 106940552B CN 201611041289 A CN201611041289 A CN 201611041289A CN 106940552 B CN106940552 B CN 106940552B
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
The invention discloses a high-precision angle automatic adjustment platform which is characterized by comprising a lower bottom plate, an upper bottom plate, a platform, first branched chains and second branched chains, wherein the upper bottom plate is fixed on the lower bottom plate through a plurality of supporting shafts; according to the invention, four motors are used as power sources, the angle of the platform is detected by the level sensor, and the accuracy of the movement of the platform is ensured by adopting the closed-loop control system, so that the angle of the space in multiple directions can be accurately and automatically adjusted. The invention adopts symmetrical structure design, flexible movement, strong bearing capacity, simple and compact structure, reasonable design and good processing and assembly process.
Description
Technical Field
The invention relates to the technical field of angle adjustment, in particular to a high-precision angle automatic adjustment platform.
Background
Currently, in mechanical assembly, some parts require a fixed clamping of the tilt angle, thus requiring an angle adjustment device to determine the spatial angle of the part.
The Chinese patent with the application number of 201410053166.X discloses an angle regulator, which adopts a manual regulation mode, and can conveniently regulate the angle without disassembling any tool; the Chinese patent application No. 201110455858.3 discloses an angle adjusting device, which utilizes a dial on a gear disc to manually adjust the angle and judges the rotation angle of a fuel throttle of an engine; chinese patent application No. 201310367315. X discloses an angle adjustment system for a microtome that allows precise angle adjustment of the microtome table in two directions simultaneously. However, the above patent of the invention adopts manual adjustment, which results in low accuracy of angle adjustment, complex operation process, and incapability of realizing automatic adjustment. Moreover, the invention can only realize the angle adjustment in one direction or two directions, but the invention is difficult to meet the requirements of multi-direction angle adjustment.
In view of the above-mentioned shortcomings, there is a need to design and develop a high-precision angle automatic adjustment platform that can complement the above-mentioned shortcomings.
Disclosure of Invention
The invention aims to solve the problems that the existing angle adjusting device is required to be manually adjusted, the adjusting precision is low and the operation process is complex, and provides a high-precision angle automatic adjusting platform which can automatically and accurately adjust angles in multiple directions.
The invention realizes the above purpose through the following technical scheme: the high-precision angle automatic adjustment platform is characterized by comprising a lower bottom plate, an upper bottom plate, a platform, first branched chains and second branched chains, wherein the upper bottom plate is fixed on the lower bottom plate through a plurality of supporting shafts, a plurality of supporting feet are fixed at the bottom of the lower bottom plate, fixed ends of the first branched chains and the second branched chains are connected with the upper bottom plate, output ends of the first branched chains and the second branched chains are connected with the platform, two first branched chains are arranged, and one second branched chain is arranged;
the first branched chain comprises a first motor, a first coupler, a first lead screw nut, a first fixed bracket, a first movable bracket and a first connecting rod; the first motor is fixedly connected to the upper bottom plate through a bolt, and the output end of the first motor is connected with a first lead screw through a first coupler; one end of the first screw rod is connected with the first coupler, and the other end of the first screw rod is connected with the first support bearing; the bottom end of the first fixing support is fixedly connected to the upper bottom plate through a bolt; the first support bearing is embedded in the upper end groove of the first fixing bracket; one end of the first movable support is fixedly connected with the first screw nut through a bolt, and the other end of the first movable support is connected with a connecting frame; the bottom end of the connecting frame is fixedly connected to the first movable support through a bolt, and the shaft end of the connecting frame is connected with one end of the first connecting rod through a movable end connecting piece; the movable end connecting piece comprises a movable end upper connecting piece, a movable end middle piece and a movable end lower connecting piece; one end of the upper connecting piece of the moving end is fixedly connected with the shaft end of the first connecting rod, and the other end of the upper connecting piece of the moving end is hinged with the middle piece of the moving end; one end of the movable end lower connector is hinged with the movable end middle connector, the other end of the movable end lower connector is fixedly connected with one end of the first connecting rod through a fastening screw, and the directions of hinge shafts between the movable end upper connector and the movable end lower connector and the movable end middle connector are mutually perpendicular; the other end of the first connecting rod is connected with the platform through a platform connecting piece; the platform connecting piece comprises a platform upper connecting piece, a platform middle piece and a platform lower connecting piece; one end of the upper connecting piece of the platform is connected with one end of the first connecting rod through a fastening screw, and the other end hole of the upper connecting piece of the platform is hinged with the middle piece of the platform; one end hole of the platform lower connector is hinged with the movable end middle part, the other end of the platform lower connector is connected with a shaft fixed on the platform through a fastening screw, and the direction of a hinge shaft between the platform upper connector and the platform lower connector and the hinge shaft between the platform lower connector and the platform middle connector are mutually perpendicular.
The second branched chain comprises a second motor, a second coupler, a second lead screw nut, a second fixed bracket, a second movable bracket, a third motor, a third coupler and a second connecting rod; the second motor is fixedly connected to the upper bottom plate through a bolt, and the output end of the second motor is connected with a second lead screw through a second coupler; the bottom end of the second fixing support is fixedly connected to the upper bottom plate through a bolt; one end of the second lead screw is connected with the second coupler, and the other end of the second lead screw is connected with the second support bearing; the second support bearing is embedded in the upper end groove of the second fixing bracket; the second movable support is fixedly connected with the second screw nut through a bolt, and the motor support is fixedly connected to the second movable support through a bolt; the third motor is fixed on the inner side of the motor bracket, and the output end of the third motor is connected with the second connecting rod through a third coupler; one end of the second connecting rod is connected with the third motor, and the other end of the second connecting rod is connected with the platform through the platform connecting piece.
Further, the upper bottom plate and the lower bottom plate are provided with three through holes which are uniformly distributed, the number of the supporting shafts is three, threads are arranged at two ends of the supporting shafts, and one end of each supporting shaft penetrates through the through hole in the upper bottom plate and is fixed through a nut; the other end of the supporting shaft penetrates through the through hole in the lower bottom plate and is fixed through a nut; the lower bottom plate is also fixed with three supporting feet.
Further, the axle head of supporting legs is provided with the screw thread, be equipped with on the lower plate with the screw thread matched with mounting hole of supporting legs, the axle head of supporting legs passes the mounting hole on the lower plate, and the up end of lower plate is equipped with the adjusting nut who is connected with the supporting legs.
Further, the device also comprises an X-direction level bar and a Y-direction level bar, wherein the X-direction level bar and the Y-direction level bar are arranged on the upper end face of the lower bottom plate and are vertically distributed with each other.
The control system comprises a PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively a first servo driver, a second servo driver, a third servo driver and a fourth servo driver; the three servo motors are respectively a first motor, a second motor and a third motor; the four encoders are a first encoder, a second encoder, a third encoder and a fourth encoder respectively; the output end of the controller is respectively connected with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver in parallel; the output end of the first servo driver is connected with the input end of the first motor; one end of the first encoder is connected with the first motor, and the other end of the first encoder is connected with the first servo driver; the output end of the second servo driver is connected with the input end of the other first motor; one end of the second encoder is connected with the first motor, and the other end of the second encoder is connected with the second servo driver; the output end of the third servo driver is connected with the input end of the second motor; one end of the third encoder is connected with the second motor, and the other end of the third encoder is connected with the third servo driver. The output end of the fourth servo driver is connected with the input end of the third motor; one end of the fourth encoder is connected with the third motor, and the other end of the fourth encoder is connected with the fourth servo driver; the output end of the level sensor is connected with the controller.
The controller can calculate corresponding angles of rotation of the first motor, the second motor and the third motor through algorithm according to the set angle value, and then calculate corresponding pulse numbers and pulse frequencies according to the angles of rotation of the motors; the first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive pulse signals sent by the controller and respectively control the first motor, the second motor and the third motor to operate; the encoder collects the rotation angle and rotation angle information of the motor and transmits the collected information to the servo driver, and the servo driver adjusts the rotation angle and rotation angle of the corresponding motor by comparing initial information and feedback information, so that the motor is ensured to reach the set rotation angle and rotation angle. The horizontal sensor on the platform monitors the rotation angle of the platform and transmits the measured value to the controller, the controller compares whether the measured value is consistent with the set value, and if not, the controller adjusts the corresponding motor rotation angle, so that the platform accurately reaches the set angle.
The working process of the invention is as follows: according to the indication numbers of the X square level bar and the Y direction level bar on the lower bottom plate, the lower bottom plate is enabled to reach a horizontal state by adjusting the adjusting nuts. And outputting the set angle value, and controlling the first motor, the second motor and the third motor to operate by the controller according to the angle value. When the first motor of the two first branched chains and the second motor of the second branched chains are motionless, the third motor moves, and the platform rotates by taking the second branched chains as the axes; the third motor is motionless, and the first motor of the two first branched chains and the second motor of the second branched chains synchronously move, so that the linear movement of the platform and the rotation of two degrees of freedom in space are realized. The platform reaches a corresponding angle through the movement of the first motor, the second motor and the third motor. Meanwhile, a level sensor on the platform monitors the angle of the platform in real time and feeds the angle back to the controller. The controller continuously corrects the rotation angle of the motor so that the actual angle of the platform reaches a set value.
Further, the second motor and the output shaft of the third motor are coaxial, and the first motor and the second motor are the same motor.
Further, the two first branched chains and the second branched chain are connected with the upper base plate and the platform, and the connection positions of the two first branched chains and the second branched chain and the base plate and the platform are distributed in an equilateral triangle; the included angle between the axes of the first branched chain and the second branched chain and the plane of the upper bottom plate is 80 degrees.
Further, two first guide rails are arranged on two sides of the inner portion of the first fixing support, and first sliding blocks on the first guide rails are fixedly connected to two sides of the first screw nut through bolts.
Further, two second guide rails are arranged on two sides of the inner portion of the second fixing support, and second sliding blocks on the second guide rails are fixedly connected to two sides of the second screw nut through bolts.
Further, a horizontal sensor is arranged in the middle of the lower end face of the platform and is fixedly connected through bolts.
Further, the output shaft ends of the two first motors are respectively provided with a first encoder and a second encoder, and the output shaft ends of the second motor and the third motor are respectively provided with a third encoder and a fourth encoder.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, four motors are used as power sources, the angle of the platform is detected by the level sensor, and the accuracy of the movement of the platform is ensured by adopting the closed-loop control system, so that the angle of the space in multiple directions can be accurately and automatically adjusted. The invention adopts symmetrical structure design, flexible movement, strong bearing capacity, simple and compact structure, reasonable design and good processing and assembly process.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a high-precision angle-adjusting platform according to the present invention.
Fig. 2 is a schematic diagram of the connection structure of the upper and lower base plates of the present invention.
FIG. 3 is a schematic structural view of the first branch of the present invention.
FIG. 4 is a schematic structural diagram of a second branch of the present invention.
Fig. 5 is a partial block diagram of the platform of the present invention.
FIG. 6 is a schematic flow chart of the control system of the present invention.
In the figure, the support leg 1-, the lower base plate 2-, the support shaft 3-, the upper base plate 4-, the first fixed support 5-, the first movable support 6-, the connecting frame 7-, the lower movable end connector 8-, the upper movable end connector 9-, the first connecting rod 10-, the platform 11-, the upper platform connector 12-, the lower platform connector 13-, the second connecting rod 14-, the third coupling 15-the third motor 16-the third motor 17-the motor support 18-the second movable support 19-the second lead screw 20-the second coupling 21-the second motor 22-the first motor 23-the adjusting nut 24-the X-direction level, the second movable end 25-Y-direction level, the middle platform 26-the second fixed support 27-the second guide rail 28-the second slide block 29-the second lead screw nut 31-the second support bearing 32-the first support bearing 33-the first slide block 34-the first slide block 35-the first lead screw nut 36-the first coupling 37-the first lead screw and the first sensor 38-the horizontal sensor.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 6, the high-precision angle automatic adjustment platform comprises a lower base plate 2, an upper base plate 4, a platform 11, first branched chains and second branched chains, wherein the upper base plate 4 is fixed on the lower base plate 2 through a plurality of support shafts 3, a plurality of support feet 1 are fixed at the bottom of the lower base plate 2, fixed ends of the first branched chains and the second branched chains are connected with the upper base plate 4, output ends of the first branched chains and the second branched chains are connected with the platform 11, two first branched chains are arranged, and one second branched chain is arranged.
The first branched chain comprises a first motor 22, a first coupler 36, a first lead screw 37, a first lead screw nut 35, a first fixed bracket 5, a first movable bracket 6 and a first connecting rod 10; the first motor 22 is fixedly connected to the upper base plate 4 through a bolt, and the output end of the first motor 22 is connected with a first lead screw 37 through a first coupler 36; one end of the first lead screw 37 is connected with the first coupler 36, and the other end of the first lead screw is connected with the first support bearing 33; the bottom end of the first fixing support 5 is fixedly connected to the upper bottom plate 4 through bolts; the first support bearing 33 is embedded in the upper end groove of the first fixed bracket 5; one end of the first movable support 6 is fixedly connected with a first lead screw nut 35 through a bolt, and the other end of the first movable support 6 is connected with a connecting frame 7; the bottom end of the connecting frame 7 is fixedly connected to the first movable support 6 through a bolt, and the shaft end of the connecting frame 7 is connected with one end of the first connecting rod 10 through a movable end connecting piece; the movable end connector comprises a movable end upper connector 9, a movable end middle connector 32 and a movable end lower connector 8; one end of the movable end upper connector 9 is fixedly connected with the shaft end of the first connecting rod 10, and the other end of the movable end upper connector 9 is hinged with the movable end middle piece 32; one end of the movable end lower connector 8 is hinged with the movable end middle piece 32, the other end of the movable end lower connector 8 is fixedly connected with one end of the first connecting rod 10 through a fastening screw, and the direction of a hinge shaft between the movable end upper connector 9 and the movable end lower connector 8 and the movable end middle piece 32 is mutually perpendicular; the other end of the first connecting rod 10 is connected with a platform 11 through a platform connecting piece; the platform connector comprises a platform upper connector 12, a platform middle part 26 and a platform lower connector 13; one end of the upper platform connector 12 is connected with one end of the first connecting rod 10 through a fastening screw, and the other end hole of the upper platform connector 12 is hinged with the middle platform piece 26; one end hole of the platform lower connector 13 is hinged with the movable end middle piece 32, the other end of the platform lower connector 13 is connected with a shaft fixed on the platform 11 through a fastening screw, and the directions of the hinge shafts between the platform upper connector 12, the platform lower connector 13 and the connectors in the platform 11 are mutually perpendicular.
The second branched chain comprises a second motor 21, a second coupler 20, a second lead screw 19, a second lead screw nut 30, a second fixed bracket 27, a second movable bracket 18, a third motor 16, a third coupler 15 and a second connecting rod 14; the second motor 21 is fixedly connected to the upper base plate 4 through a bolt, and the output end of the second motor 21 is connected with the second lead screw 19 through a second coupler 20; the bottom end of the second fixing support 27 is fixedly connected to the upper bottom plate 4 through bolts; one end of the second lead screw 19 is connected with the second coupler 20, and the other end is connected with the second support bearing 31; the second support bearing 31 is embedded in the upper end groove of the second fixing bracket 27; the second movable bracket 18 is fixedly connected with the second screw nut 30 through a bolt, and the motor bracket 17 is fixedly connected to the second movable bracket 18 through a bolt; the third motor 16 is fixed on the inner side of the motor bracket 17, and the output end of the third motor 16 is connected with the second connecting rod 14 through a third coupler 15; one end of the second connecting rod 14 is connected with the third motor 16, and the other end is connected with the platform 11 through a platform connecting piece.
The upper bottom plate 4 and the lower bottom plate 2 are provided with three through holes which are uniformly distributed, the support shafts 3 are provided with three through holes, threads are arranged at two ends of the support shafts 3, and one end of the support shaft 3 passes through the through holes on the upper bottom plate 4 and is fixed through nuts; the other end of the supporting shaft 3 passes through a through hole on the lower bottom plate 2 and is fixed by a nut; the lower bottom plate 2 is also fixed with three supporting feet 1.
The axle head of supporting legs 1 is provided with the screw thread, be equipped with on the lower plate 2 with the screw thread matched with mounting hole of supporting legs 1, the axle head of supporting legs 1 passes the mounting hole on the lower plate 2, and the up end of lower plate 2 is equipped with the adjusting nut 23 that is connected with supporting legs 1.
The device further comprises an X-direction level 24 and a Y-direction level 25, wherein the X-direction level 24 and the Y-direction level 25 are arranged on the upper end face of the lower base plate 2, and the X-direction level 24 and the Y-direction level 25 are vertically distributed.
The second motor 21 is coaxial with the output shaft of the third motor 16, and the first motor 22 and the second motor 21 are the same motor.
The two first branched chains and the second branched chain are connected with the upper base plate 4 and the platform 11, and the connection positions of the two first branched chains and the second branched chain and the base plate 4 and the platform 11 are distributed in an equilateral triangle; the included angle between the axes of the first branched chain and the second branched chain and the plane of the upper bottom plate is 80 degrees.
Two first guide rails are arranged on two sides of the inside of the first fixing support 5, and first sliding blocks 34 on the first guide rails are fixedly connected on two sides of a first lead screw nut 35 through bolts.
Two second guide rails 28 are arranged on two sides of the inside of the second fixing support 27, and second sliding blocks 29 on the second guide rails 28 are fixedly connected on two sides of a second lead screw nut 30 through bolts.
The middle position of the lower end surface of the platform 11 is provided with a horizontal sensor 38 which is fixedly connected through bolts.
The output shaft ends of the two first motors 22 are respectively provided with a first encoder and a second encoder, and the output shaft ends of the second motor 21 and the third motor 16 are respectively provided with a third encoder and a fourth encoder.
The control system comprises a PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively a first servo driver, a second servo driver, a third servo driver and a fourth servo driver; the three servo motors are respectively a first motor, a second motor and a third motor; the four encoders are a first encoder, a second encoder, a third encoder and a fourth encoder respectively; the output end of the controller is respectively connected with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver in parallel; the output end of the first servo driver is connected with the input end of the first motor; one end of the first encoder is connected with the first motor, and the other end of the first encoder is connected with the first servo driver; the output end of the second servo driver is connected with the input end of the other first motor; one end of the second encoder is connected with the first motor, and the other end of the second encoder is connected with the second servo driver; the output end of the third servo driver is connected with the input end of the second motor; one end of the third encoder is connected with the second motor, and the other end of the third encoder is connected with the third servo driver. The output end of the fourth servo driver is connected with the input end of the third motor; one end of the fourth encoder is connected with the third motor, and the other end of the fourth encoder is connected with the fourth servo driver; the output end of the level sensor is connected with the controller.
The controller can calculate corresponding angles of rotation of the first motor, the second motor and the third motor through an algorithm according to the set angle value, and then calculate corresponding pulse numbers and pulse frequencies according to the angles of rotation of the motors; the first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive pulse signals sent by the controller and respectively control the first motor, the second motor and the third motor to operate; the encoder collects the rotation angle and rotation angle information of the motor and transmits the collected information to the servo driver, and the servo driver adjusts the rotation angle and rotation angle of the corresponding motor by comparing initial information and feedback information, so that the motor is ensured to reach the set rotation angle and rotation angle. The horizontal sensor on the platform monitors the rotation angle of the platform and transmits the measured value to the controller, the controller compares whether the measured value is consistent with the set value, and if not, the controller adjusts the corresponding motor rotation angle, so that the platform accurately reaches the set angle.
The working process of the invention is as follows: the lower base plate 2 is brought to a horizontal state by adjusting the adjusting nut 23 according to the readings of the X square level 24 and the Y direction level 25 on the lower base plate. The set angle value is output, and the controller controls the first motor 22, the second motor 21, and the third motor 16 to operate according to the angle value. When the first motor 22 of the two first branched chains and the second motor 21 of the second branched chains are motionless, the third motor 16 moves, and the platform 11 rotates by taking the second branched chains as the axes; the third motor 16 is stationary, and the first motor 22 of the two first branches and the second motor 21 of the second branches move synchronously, so that the linear movement of the platform 11 and the rotation of two degrees of freedom in space are realized. The platform 11 is brought to the corresponding angle by the movement of the first motor 22, the second motor 21 and the third motor 16. Meanwhile, the angle of the platform 11 is monitored in real time by a level sensor 38 on the platform 11 and fed back to the controller. The controller continuously corrects the rotation angle of the motor so that the actual angle of the platform 11 reaches the set value.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (8)
1. A high-precision angle automatic adjustment platform is characterized in that: the device comprises a lower bottom plate (2), an upper bottom plate (4), a platform (11), first branched chains and second branched chains, wherein the upper bottom plate (4) is fixed on the lower bottom plate (2) through a plurality of supporting shafts (3), a plurality of supporting feet (1) are fixed at the bottom of the lower bottom plate (2), the fixed ends of the first branched chains and the second branched chains are connected with the upper bottom plate (4), the output ends of the first branched chains and the second branched chains are connected with the platform (11), two first branched chains are arranged, and one second branched chain is arranged;
the first branched chain comprises a first motor (22), a first coupler (36), a first lead screw (37), a first lead screw nut (35), a first fixed bracket (5), a first movable bracket (6) and a first connecting rod (10); the first motor (22) is fixedly connected to the upper base plate (4) through a bolt, and the output end of the first motor (22) is connected with a first lead screw (37) through a first coupler (36); one end of the first lead screw (37) is connected with the first coupler (36), and the other end of the first lead screw is connected with the first support bearing (33); the bottom end of the first fixing bracket (5) is fixedly connected to the upper bottom plate (4) through a bolt; the first support bearing (33) is embedded in the upper end groove of the first fixed bracket (5); one end of the first movable support (6) is fixedly connected with a first screw nut (35) through a bolt, and the other end of the first movable support (6) is connected with a connecting frame (7); the bottom end of the connecting frame (7) is fixedly connected to the first movable support (6) through a bolt, and the shaft end of the connecting frame (7) is connected with one end of the first connecting rod (10) through a movable end connecting piece; the movable end connecting piece comprises a movable end upper connecting piece (9), a movable end middle piece (32) and a movable end lower connecting piece (8); one end of the movable end upper connecting piece (9) is fixedly connected with the shaft end of the first connecting rod (10), and the other end of the movable end upper connecting piece (9) is hinged with the movable end middle piece (32); one end of the movable end lower connecting piece (8) is hinged with the movable end middle piece (32), the other end of the movable end lower connecting piece (8) is fixedly connected with one end of the first connecting rod (10) through a fastening screw, and the directions of hinge shafts between the movable end upper connecting piece (9) and the movable end lower connecting piece (8) and the movable end middle piece (32) are mutually perpendicular; the other end of the first connecting rod (10) is connected with a platform (11) through a platform connecting piece; the platform connector comprises a platform upper connector (12), a platform middle part (26) and a platform lower connector (13); one end of the upper platform connecting piece (12) is connected with one end of the first connecting rod (10) through a fastening screw, and the other end hole of the upper platform connecting piece (12) is hinged with the middle platform piece (26); one end hole of the platform lower connector (13) is hinged with the movable end middle piece (32), the other end of the platform lower connector (13) is connected with a shaft fixed on the platform (11) through a fastening screw, and the direction of a hinge shaft between the platform upper connector (12) and the platform lower connector (13) and the hinge shaft between the platform lower connector (13) and the platform (11) is mutually perpendicular;
the second branched chain comprises a second motor (21), a second coupler (20), a second lead screw (19), a second lead screw nut (30), a second fixed bracket (27), a second movable bracket (18), a third motor (16), a third coupler (15) and a second connecting rod (14); the second motor (21) is fixedly connected to the upper bottom plate (4) through a bolt, and the output end of the second motor (21) is connected with a second lead screw (19) through a second coupler (20); the bottom end of the second fixing bracket (27) is fixedly connected to the upper bottom plate (4) through a bolt; one end of the second lead screw (19) is connected with the second coupler (20), and the other end of the second lead screw is connected with the second support bearing (31); the second support bearing (31) is embedded in the upper end groove of the second fixing bracket (27); the second movable bracket (18) is fixedly connected with the second screw nut (30) through a bolt, and the motor bracket (17) is fixedly connected to the second movable bracket (18) through a bolt; the third motor (16) is fixed on the inner side of the motor bracket (17), and the output end of the third motor (16) is connected with the second connecting rod (14) through a third coupler (15); one end of the second connecting rod (14) is connected with the third motor (16), and the other end of the second connecting rod is connected with the platform (11) through a platform connecting piece;
the upper bottom plate (4) and the lower bottom plate (2) are provided with three through holes which are uniformly distributed, the supporting shafts (3) are provided with three through holes, threads are arranged at two ends of the supporting shafts (3), and one end of each supporting shaft (3) penetrates through the through hole in the upper bottom plate (4) and is fixed through a nut; the other end of the supporting shaft (3) passes through a through hole on the lower bottom plate (2) and is fixed through a nut; the lower bottom plate (2) is also fixed with three supporting legs (1);
the two first branched chains and one second branched chain are connected with the upper base plate (4) and the platform (11), and the connection positions of the two first branched chains and the second branched chain and the base plate (4) and the platform (11) are distributed in an equilateral triangle; the included angle between the axes of the first branched chain and the second branched chain and the plane of the upper bottom plate is 80 degrees.
2. The high precision angle-adjusting platform of claim 1, wherein: the shaft end of the supporting leg (1) is provided with threads, the lower bottom plate (2) is provided with a mounting hole matched with the threads of the supporting leg (1), the shaft end of the supporting leg (1) penetrates through the mounting hole on the lower bottom plate (2), and the upper end face of the lower bottom plate (2) is provided with an adjusting nut (23) connected with the supporting leg (1).
3. The high precision angle-adjusting platform of claim 1, wherein: the automatic leveling device is characterized by further comprising an X-direction leveling ruler (24) and a Y-direction leveling ruler (25), wherein the X-direction leveling ruler (24) and the Y-direction leveling ruler (25) are arranged on the upper end face of the lower base plate (2), and the X-direction leveling ruler (24) and the Y-direction leveling ruler (25) are vertically distributed.
4. The high precision angle-adjusting platform of claim 1, wherein: the second motor (21) is coaxial with the output shaft of the third motor (16), and the first motor (22) and the second motor (21) are the same motor.
5. The high precision angle-adjusting platform of claim 1, wherein: two first guide rails are arranged on two sides of the inside of the first fixing support (5), and first sliding blocks (34) on the first guide rails are fixedly connected to two sides of a first screw nut (35) through bolts.
6. The high precision angle-adjusting platform of claim 1, wherein: two second guide rails (28) are arranged on two sides of the inside of the second fixing support (27), and second sliding blocks (29) on the second guide rails (28) are fixedly connected on two sides of a second screw nut (30) through bolts.
7. The high precision angle-adjusting platform of claim 1, wherein: the middle position of the lower end face of the platform (11) is provided with a horizontal sensor (38) which is fixedly connected through bolts.
8. The high-precision automatic angle adjustment platform according to any one of claims 1 to 7, wherein: the output shaft ends of the two first motors (22) are respectively provided with a first encoder and a second encoder, and the output shaft ends of the second motor (21) and the third motor (16) are respectively provided with a third encoder and a fourth 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041289.7A CN106940552B (en) | 2016-11-22 | 2016-11-22 | High-precision angle automatic adjustment platform |
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| CN106940552A CN106940552A (en) | 2017-07-11 |
| CN106940552B true CN106940552B (en) | 2023-06-27 |
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| CN113266176B (en) * | 2021-06-07 | 2023-01-24 | 佳木斯大学 | Stage convenient to expand for musical performance |
| CN113263495B (en) * | 2021-06-08 | 2022-07-29 | 佛山科学技术学院 | Movable platform for industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1501065A1 (en) * | 2003-07-22 | 2005-01-26 | William Lai | Parallel kinematic hexapodal dynamic simulator |
| CN100377847C (en) * | 2006-04-30 | 2008-04-02 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN102451994B (en) * | 2010-10-25 | 2013-08-14 | 大连德新机电技术工程有限公司 | Twin-shaft pitch electric bolt screwing machine |
| CN103101050B (en) * | 2013-03-05 | 2015-06-10 | 清华大学 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
| CN103381601B (en) * | 2013-07-01 | 2016-05-25 | 上海交通大学 | Six degree of freedom 3-3 orthogonal type parallel robot |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN206369955U (en) * | 2016-11-22 | 2017-08-01 | 浙江工业大学 | A kind of High-precision angle automatically adjusts platform |
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