CN106940552B - A high-precision angle automatic adjustment platform - Google Patents

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

A high-precision angle automatic adjustment platform

technical field

The invention relates to the technical field of angle adjustment, and more specifically, relates to a high-precision angle automatic adjustment platform.

Background technique

At present, in mechanical assembly, some parts need to be clamped with a fixed angle of inclination, so an angle adjustment device is needed to determine the space angle of the parts.

The Chinese invention patent with the application number 201410053166.X discloses an angle adjuster, which adopts a manual adjustment method, and the angle can be adjusted conveniently without dismantling any tooling; the Chinese invention patent with the application number 201110455858.3 discloses the angle The adjustment device uses the dial on the gear plate to manually adjust the angle to judge the rotation angle of the engine's fuel control throttle; the application number is 201310367115.X Chinese invention patent discloses an angle adjustment system for slicers, which can be used in two directions at the same time Make precise angular adjustments to the microtome table. However, the above-mentioned invention patents all use manual adjustment, resulting in low accuracy of angle adjustment, and the operation process is relatively complicated, and automatic adjustment cannot be realized. Moreover, the above invention patents can only achieve angle adjustment in one direction or two directions, but it is difficult to meet the requirements of some multi-directional angle adjustments.

In view of the above shortcomings, it is necessary to design and develop a high-precision angle automatic adjustment platform, which can make up for the above-mentioned shortcomings.

Contents of the invention

The purpose of the present invention is to solve the problem that the existing angle adjustment device must be manually adjusted, the adjustment accuracy is not high, and the operation process is complicated, and to provide a high-precision angle automatic adjustment platform, which can automatically and accurately adjust the angles in multiple directions.

The present invention achieves the above object through the following technical solutions: a high-precision angle automatic adjustment platform, which is characterized in that it includes a lower base plate, an upper base plate, a platform, a first branch chain, and a second branch chain, and the upper base plate is supported by a plurality of The shaft is fixed on the lower base plate, and a plurality of supporting feet are fixed on the bottom of the lower base plate, the fixed ends of the first branch chain and the second branch chain are connected to the upper base plate, and the output ends of the first branch chain and the second branch chain are connected to the platform , the first branch chain is provided with two, and the second branch chain is provided with one;

The first branch chain includes a first motor, a first shaft coupling, a first lead screw, a first lead screw nut, a first fixed bracket, a first movable bracket and a first connecting rod; the first motor passes through a bolt It is fixedly connected to the upper base plate, and the output end of the first motor is connected to the first screw through the first coupling; one end of the first screw is connected to the first coupling, and the other end is connected to the first support bearing; The bottom end of the first fixed bracket is fixedly connected to the upper base plate by bolts; the first support bearing is embedded in the upper end groove of the first fixed bracket; one end of the first mobile bracket is fixed to the first lead screw nut by bolts Connected, the other end of the first mobile bracket is connected with a connecting frame; the bottom end of the connecting frame is fixedly connected to the first mobile bracket by bolts, and the shaft end of the connecting frame is connected to one end of the first connecting rod through a moving end connector; The moving end connector includes a moving end upper connecting piece, a moving end middle piece and a moving end lower connecting piece; one end of the moving end upper connecting piece is fixedly connected to the shaft end of the first connecting rod, and the moving end upper connecting piece The other end is hinged with the middle piece of the mobile end; one end of the lower joint of the mobile end is hinged with the middle piece of the mobile end, and the other end of the lower joint of the mobile end is fixedly connected with one end of the first connecting rod by a fastening screw. The direction of the hinge axis between the upper end joint, the lower joint of the mobile end and the intermediate piece of the mobile end is perpendicular to each other; the other end of the first connecting rod is connected to the platform through a platform connector; the platform connector includes a platform upper joint , platform middle piece and platform lower joint; one end of the platform upper joint is connected to one end of the first connecting rod by a fastening screw, and the other end hole of the platform upper joint is hinged with the platform middle piece; the platform lower joint One end of the hole is hinged to the middle part of the mobile end, and the other end of the platform lower joint is connected to the shaft fixed on the platform through fastening screws. The axis directions are perpendicular to each other.

The second branch chain includes a second motor, a second coupling, a second screw, a second screw nut, a second fixed bracket, a second moving bracket, a third motor, a third coupling and a second connecting rod; the second motor is fixedly connected to the upper base plate through bolts, and the output end of the second motor is connected to the second lead screw through a second coupling; the bottom end of the second fixing bracket is fixedly connected to the upper base plate through bolts On the bottom plate; one end of the second lead screw is connected to the second coupling, and the other end is connected to the second support bearing; the second support bearing is embedded in the upper end groove of the second fixed bracket; the second mobile bracket It is fixedly connected with the second lead screw nut by bolts, and the motor bracket is fixedly connected on the second mobile bracket by bolts; the third motor is fixed on the inner side of the motor bracket, and the output end of the third motor is passed through the third coupling The device is connected to the second connecting rod; one end of the second connecting rod is connected to the third motor, and the other end is connected to the platform through the platform connecting piece.

Further, the upper base plate and the lower base plate are provided with three evenly distributed through holes, and there are three support shafts, the two ends of the support shafts are provided with threads, and one end of the support shaft passes through the through hole on the upper base plate and passes through the nut fixed; the other end of the support shaft passes through the through hole on the lower base plate and is fixed by a nut; the lower base plate is also fixed with three supporting feet.

Further, the shaft ends of the supporting legs are provided with threads, and the lower bottom plate is provided with mounting holes matching the threads of the supporting legs, and the shaft ends of the supporting legs pass through the mounting holes on the lower bottom plate, and the lower bottom plate The upper end surface is provided with the adjusting nut connected with the supporting foot.

Further, it also includes an X-direction level and a Y-direction level, the X-direction level and the Y-direction level are arranged on the upper end surface of the lower base plate, and the X-direction level and the Y-direction level are vertically distributed to each other.

Control system of the present invention, PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively the first servo driver, the second servo driver, the third servo driver and the fourth servo driver ; The three servo motors are respectively the first motor, the second motor and the third motor; the four encoders are respectively the first encoder, the second encoder, the third encoder and the fourth encoder; The output ends are respectively connected in parallel with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver; the output end of the first servo driver is connected with the input end of the first motor; One end of an encoder is connected to the first motor, and the other end is connected to the first servo driver; the output end of the second servo driver is connected to the input end of another first motor; one end of the second encoder is connected to the first One motor is connected, and the other end 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 is connected with the third Servo drive connection. The output end of the fourth servo driver is connected to the input end of the third motor; one end of the fourth encoder is connected to the third motor, and the other end is connected to the fourth servo driver; the output end of the level sensor is connected to the control connected to the device.

The controller can obtain the corresponding rotation angles of the first motor, the second motor and the third motor through algorithm calculation according to the set angle value, and then calculate the corresponding pulse number and pulse frequency according to the motor rotation angle; the first The servo driver, the second servo driver, the third servo driver and the fourth servo driver receive the pulse signal sent by the controller to respectively control the operation of the first motor, the second motor and the third motor; the encoder collects the rotation angle and the rotational speed of the motor information, and transmit the collected information to the servo drive, and the servo drive adjusts the speed and rotation angle of the corresponding motor by comparing the initial information with the feedback information, so as to ensure that the motor reaches the set speed 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, adjusts the corresponding motor rotation angle, so that the platform can accurately reach the set value. angle.

The working process of the present invention is as follows: according to the indications of the X square level and the Y direction level on the lower base plate, the lower base plate is made to reach a horizontal state by adjusting the adjusting nut. The set angle value is output, and the controller controls the operation of the first motor, the second motor and the third motor according to the angle value. When the first motor of the two first branch chains and the second motor of the second branch chain do not move, the third motor moves, and the platform rotates around the second branch chain; the third motor does not move, and the two second branch chains move. The first motor of one chain and the second motor of the second branch move synchronously to realize the linear movement of the platform and the rotation of two degrees of freedom in space. Through the movement of the first motor, the second motor and the third motor, the platform reaches a corresponding angle. At the same time, the level sensor on the platform monitors the angle of the platform in real time and feeds back to the controller. The controller continuously corrects the rotation angle of the motor so that the actual angle of the platform reaches the set value.

Further, the output shafts of the second motor and the third motor are coaxial, and the first motor and the second motor are of the same type.

Further, the two first branch chains and one second branch chain are connected to the upper bottom plate and the platform, and the connection positions of the two first branch chains and one second branch chain to the bottom plate and the platform are distributed in an equilateral triangle; The included angle between the axes of the first branch chain and the second branch chain and the plane of the upper bottom plate is 80 degrees.

Further, two first guide rails are provided on both sides inside the first fixing bracket, and the first slider on the first guide rails is fixedly connected to both sides of the first lead screw nut by bolts.

Further, two second guide rails are provided on both sides inside the second fixing bracket, and the second sliders on the second guide rails are fixedly connected to both sides of the second lead screw nut by bolts.

Further, a horizontal sensor is provided at the middle position of the lower end surface of the platform, and is fixed by bolt connection.

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 existing technology, the beneficial effect of the present invention is: the present invention uses four motors as power sources, and uses horizontal sensors to detect the angle of the platform, and adopts a closed-loop control system to ensure the accuracy of the platform movement, so that it can accurately control the The angle of multi-directional space is automatically adjusted. The invention adopts a symmetrical structure design, has flexible movement, strong bearing capacity, and has the advantages of simple and compact structure, reasonable design, and good processing and assembly technology.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a high-precision angle automatic adjustment platform of the present invention.

Fig. 2 is a schematic diagram of the connection structure of the upper base plate and the lower base plate of the present invention.

Fig. 3 is a schematic diagram of the structure of the first branch chain of the present invention.

Fig. 4 is a schematic diagram of the structure of the second branch of the present invention.

Fig. 5 is a partial structural diagram of the platform of the present invention.

Fig. 6 is a flow diagram of the control system of the present invention.

In the figure, 1-supporting foot, 2-lower base plate, 3-supporting shaft, 4-upper base plate, 5-the first fixed bracket, 6-the first moving bracket, 7-connecting frame, 8-moving end lower connector, 9-Movement end upper connector, 10-First connecting rod, 11-Platform, 12-Platform upper connector, 13-Platform lower connector, 14-Second connecting rod, 15-Third coupling, 16- The third motor, 17-motor bracket, 18-the second mobile bracket, 19-the second screw, 20-the second coupling, 21-the second motor, 22-the first motor, 23-adjusting nut, 24- Level ruler in X direction, 25-level ruler in Y direction, 26-platform middle piece, 27-second fixed bracket, 28-second guide rail, 29-second slider, 30-second screw nut, 31-second Support bearing, 32-moving end middleware, 33-first support bearing, 34-first slider, 35-first screw nut, 36-first coupling, 37-first screw, 38-horizontal sensor.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1 to 6, a high-precision angle automatic adjustment platform includes a lower base plate 2, an upper base plate 4, a platform 11, a first branch chain, and a second branch chain. The upper base plate 4 passes through multiple support shafts 3 Fixed on the lower bottom plate 2, the bottom of the lower bottom plate 2 is fixed with a plurality of supporting feet 1, the fixed ends of the first branch chain and the second branch chain are connected to the upper bottom plate 4, the output of the first branch chain and the second branch chain The ends are connected to the platform 11, two first branch chains are provided, and one second branch chain is provided.

The first branch chain includes a first motor 22, a first coupling 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 by bolts, and the output end of the first motor 22 is connected to the first lead screw 37 through the first coupling 36; one end of the first lead screw 37 is connected to the first Coupling 36, the other end of which is connected to the first support bearing 33; the bottom end of the first fixed bracket 5 is fixedly connected to the upper base plate 4 by bolts; the first support bearing 33 is embedded in the upper end of the first fixed bracket 5 In the groove; one end of the first mobile bracket 6 is fixedly connected with the first lead screw nut 35 by a bolt, and the other end of the first mobile bracket 6 is connected with a connecting frame 7; the bottom end of the connecting frame 7 is fixedly connected to the On the first mobile bracket 6, the shaft end of the connecting frame 7 is connected to one end of the first connecting rod 10 through the mobile end connector; Connector 8; one end of the upper connector 9 on the moving end is fixedly connected to the shaft end of the first connecting rod 10, and the other end of the upper connector 9 on the moving end is hinged with the middle piece 32 on the moving end; the lower connector on the moving end One end of 8 is hinged with the middle part 32 of the moving end, and the other end of the lower connecting part 8 of the moving end is fixedly connected with one end of the first connecting rod 10 by a fastening screw. The direction of the hinge axis between the moving end middle piece 32 is perpendicular to each other; the other end of the first connecting rod 10 is connected to the platform 11 by a platform connector; the platform connector includes a platform upper connector 12, a platform middle piece 26 and Platform lower connector 13; one end of the platform upper connector 12 is connected to one end of the first connecting rod 10 by a fastening screw, and the other end hole of the platform upper connector 12 is hinged with the platform middle piece 26; the platform lower connector One end hole of 13 is hinged with the middle piece 32 of the moving end, and the other end of the platform lower joint 13 is connected with the shaft fixed on the platform 11 by fastening screws, and the upper joint 12 of the platform and the lower joint 13 of the platform are connected with the platform 11 The directions of the hinge axes between the connecting pieces are perpendicular to each other.

The second branch chain includes a second motor 21, a second shaft coupling 20, a second leading screw 19, a second leading screw nut 30, a second fixed bracket 27, a second moving bracket 18, a third motor 16, a second Three couplings 15 and the second connecting rod 14; the second motor 21 is fixedly connected to the upper base plate 4 by bolts, and the output end of the second motor 21 is connected to the second lead screw 19 through the second coupling 20; The bottom end of the second fixing bracket 27 is fixedly connected to the upper base plate 4 by bolts; one end of the second lead screw 19 is connected to the second coupling 20, and the other end is connected to the second support bearing 31; the second support The bearing 31 is embedded in the upper end groove of the second fixed bracket 27; the second moving bracket 18 is fixedly connected to the second lead screw nut 30 by bolts, and the motor bracket 17 is fixedly connected to the second moving bracket 18 by bolts The third motor 16 is fixed on the inside of the motor bracket 17, and the output end of the third motor 16 is connected to the second connecting rod 14 through the third coupling 15; one end of the second connecting rod 14 is connected to the third motor 16. The other end is connected to the platform 11 through a platform connector.

The upper base plate 4 and the lower base plate 2 are all provided with three evenly distributed through holes, and the support shaft 3 is provided with three, the two ends of the support shaft 3 are provided with threads, and one end of the support shaft 3 passes through the through holes on the upper base plate 4 and fixed by nuts; the other end of the support shaft 3 passes through the through hole on the lower bottom plate 2 and is fixed by nuts; the lower bottom plate 2 is also fixed with three support feet 1 .

The shaft end of the support foot 1 is provided with threads, and the lower base plate 2 is provided with a mounting hole matched with the thread of the support foot 1, and the shaft end of the support leg 1 passes through the mounting hole on the lower base plate 2, An adjusting nut 23 connected with the support leg 1 is provided on the upper end surface of the lower bottom plate 2 .

Also include X direction level bar 24 and Y direction level bar 25, described X direction level bar 24 and Y direction level bar 25 are arranged on the upper end surface of lower base plate 2, X direction level bar 24 and Y direction level bar 25 mutual distributed vertically.

The output shafts of the second motor 21 and the third motor 16 are coaxial, and the first motor 22 and the second motor 21 are of the same type.

The two first branch chains and one second branch chain are connected to the upper bottom plate 4 and the platform 11, and the connection positions of the two first branch chains and one second branch chain to the bottom plate 4 and the platform 11 are distributed in an equilateral triangle ; The included angle between the axes of the first branch chain and the second branch chain and the plane of the upper bottom plate is 80 degrees.

Two first guide rails are arranged on both sides inside the first fixing bracket 5 , and the first slider 34 on the first guide rails is fixedly connected to both sides of the first lead screw nut 35 by bolts.

Two second guide rails 28 are arranged on both sides inside the second fixing bracket 27 , and the second sliding blocks 29 on the second guide rails 28 are fixedly connected to both sides of the second lead screw nut 30 by bolts.

A horizontal sensor 38 is provided at the middle position of the lower end surface of the platform 11 and is fixed by bolts.

The output shaft ends of the two first motors 22 are respectively provided with a first encoder and the 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.

Control system of the present invention, PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively the first servo driver, the second servo driver, the third servo driver and the fourth servo driver ; The three servo motors are respectively the first motor, the second motor and the third motor; the four encoders are respectively the first encoder, the second encoder, the third encoder and the fourth encoder; The output ends are respectively connected in parallel with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver; the output end of the first servo driver is connected with the input end of the first motor; One end of an encoder is connected to the first motor, and the other end is connected to the first servo driver; the output end of the second servo driver is connected to the input end of another first motor; one end of the second encoder is connected to the first One motor is connected, and the other end 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 is connected with the third Servo drive connection. The output end of the fourth servo driver is connected to the input end of the third motor; one end of the fourth encoder is connected to the third motor, and the other end is connected to the fourth servo driver; the output end of the level sensor is connected to the control connected to the device.

The controller can obtain the corresponding rotation angles of the first motor, the second motor and the third motor through algorithm calculation according to the set angle value, and then calculate the corresponding pulse number and pulse frequency according to the motor rotation angle; the first servo driver , the second servo driver, the third servo driver and the fourth servo driver receive the pulse signal sent by the controller to respectively control the operation of the first motor, the second motor and the third motor; the encoder collects the rotation angle and speed information of the motor, And the collected information is sent to the servo driver. The servo driver adjusts the speed and rotation angle of the corresponding motor by comparing the initial information and the feedback information to ensure that the motor reaches the set speed 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, adjusts the corresponding motor rotation angle, so that the platform can accurately reach the set value. angle.

The working process of the present invention is as follows: according to the X square level ruler 24 and the Y direction level ruler 25 indications on the lower base plate, make the lower base plate 2 reach a horizontal state by adjusting the adjusting nut 23. The set angle value is output, and the controller controls the operation of the first motor 22 , the second motor 21 and the third motor 16 according to the angle value. When the first motor 22 of the two first branch chains and the second motor 21 of the second branch chain do not move, the third motor 16 moves, and the platform 11 rotates with the second branch chain as the axis; the third motor 16 does not The first motor 22 of the two first branch chains and the second motor 21 of the second branch chain move synchronously to realize the linear movement of the platform 11 and the rotation of two degrees of freedom in space. Through the movement of the first motor 22 , the second motor 21 and the third motor 16 , the platform 11 reaches a corresponding angle. Simultaneously, the horizontal sensor 38 on the platform 11 monitors the angle of the platform 11 in real time, and feeds 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 foregoing embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the foregoing embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights.

Claims (8)

1. A high-precision angle automatic adjustment platform, characterized in that it includes a lower base plate (2), an upper base plate (4), a platform (11), a first branch chain, a second branch chain, and the upper base plate (4 ) is fixed on the lower base plate (2) through a plurality of support shafts (3), the bottom of the lower base plate (2) is fixed with a plurality of support legs (1), and the fixed ends of the first branch chain and the second branch chain are connected The upper bottom plate (4), the output ends of the first branch chain and the second branch chain are connected to the platform (11), the first branch chain is provided with two, and the second branch chain is provided with one; The first branch chain includes a first motor (22), a first coupling (36), a first lead screw (37), a first lead screw nut (35), a first fixing bracket (5), a first Move the bracket (6) and the first connecting rod (10); the first motor (22) is fixedly connected to the upper base plate (4) by bolts, and the output end of the first motor (22) passes through the first coupling (36) Connect the first lead screw (37); one end of the first lead screw (37) is connected to the first coupling (36), and the other end is connected to the first support bearing (33); the first fixing bracket (5) The bottom end is fixedly connected to the upper base plate (4) by bolts; the first supporting bearing (33) is embedded in the upper end groove of the first fixing bracket (5); the first moving bracket (6) One end is fixedly connected to the first lead screw nut (35) by bolts, and the other end of the first mobile bracket (6) is connected to a connecting frame (7); the bottom end of the connecting frame (7) is fixedly connected to the first On the moving bracket (6), the shaft end of the connecting frame (7) is connected to one end of the first connecting rod (10) through the moving end connecting piece; the moving end connecting piece includes the moving end upper connecting piece (9), the middle piece (32) and the moving end connecting piece (8); one end of the moving end connecting piece (9) is fixedly connected with the shaft end of the first connecting rod (10), and the other end of the moving end connecting piece (9) One end is hinged to the middle piece of the mobile end (32); one end of the lower joint (8) of the mobile end is hinged to the middle piece (32) of the mobile end, and the other end of the lower joint (8) of the mobile end is connected to the first connecting rod ( One end of 10) is fixedly connected by a fastening screw, and the direction of the hinge axis between the upper joint (9) of the mobile end, the lower joint (8) of the mobile end and the intermediate piece (32) of the mobile end is perpendicular to each other; The other end of a link (10) is connected to the platform (11) through a platform connector; the platform connector includes a platform upper connector (12), a platform middle member (26) and a platform lower connector (13); the One end of the platform upper connector (12) is connected to one end of the first connecting rod (10) through a fastening screw, and the other end hole of the platform upper connector (12) is hinged with the platform middle member (26); the platform lower connector One end hole of (13) is hinged with the moving end middle piece (32), and the other end of the platform lower joint (13) is connected with the shaft fixed on the platform (11) through fastening screws, and the platform upper joint (12) ) and the direction of the hinge axis between the platform lower joint (13) and the platform (11) middle joint are perpendicular to each other; The second branch chain includes a second motor (21), a second coupling (20), a second lead screw (19), a second lead screw nut (30), a second fixing bracket (27), a second The mobile bracket (18), the third motor (16), the third coupling (15) and the second connecting rod (14); the second motor (21) is fixedly connected to the upper base plate (4) by bolts, And the output end of the second motor (21) is connected to the second lead screw (19) through the second coupling (20); the bottom end of the second fixing bracket (27) is fixedly connected to the upper base plate (4) by bolts ; One end of the second lead screw (19) is connected to the second coupling (20), and the other end is connected to the second support bearing (31); the second support bearing (31) is embedded in the second fixed bracket ( 27) in the upper end groove; the second mobile bracket (18) is fixedly connected with the second lead screw nut (30) by bolts, and the motor bracket (17) is fixedly connected by bolts on the second mobile bracket (18); the 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 to the second connecting rod (14) through the third coupling (15); One end of the rod (14) is connected to the third motor (16), and the other end is connected to the platform (11) through the platform connector; Both the upper base plate (4) and the lower base plate (2) are provided with three evenly distributed through holes, and the support shaft (3) is provided with three, and the two ends of the support shaft (3) are provided with threads, and the support shaft (3) One end passes through the through hole on the upper base plate (4) and is fixed by a nut; the other end of the support shaft (3) passes through the through hole on the lower base plate (2) and is fixed by a nut; the lower base plate (2) also Three supporting feet (1) are fixed; The two first branch chains and one second branch chain are connected to the upper bottom plate (4) and the platform (11), and the two first branch chains and one second branch chain are connected to the bottom plate (4) and the platform (11) The connection positions are all distributed in an equilateral triangle; the angle between the axes of the first branch chain and the second branch chain and the plane of the upper bottom plate is 80 degrees. 2. A high-precision angle automatic adjustment platform according to claim 1, characterized in that: the shaft end of the support foot (1) is provided with a thread, and the lower bottom plate (2) is provided with the The thread of the supporting foot (1) matches the mounting hole, the shaft end of the supporting foot (1) passes through the mounting hole on the lower bottom plate (2), and the upper end surface of the lower bottom plate (2) is provided with a connection with the supporting foot (1). the adjusting nut (23). 3. A high-precision angle automatic adjustment platform according to claim 1, characterized in that it also includes an X-direction level (24) and a Y-direction level (25), and the X-direction level (24) and the Y-direction level (25) are arranged on the upper end surface of the lower base plate (2), and the X-direction level (24) and the Y-direction level (25) are vertically distributed to each other. 4. A high-precision angle automatic adjustment platform according to claim 1, characterized in that: the output shafts of the second motor (21) and the third motor (16) are coaxial, and the first motor ( 22) and the second motor (21) are the same kind of motor. 5. A high-precision angle automatic adjustment platform according to claim 1, characterized in that two first guide rails are arranged on both sides of the first fixed bracket (5), and the first guide rails The first slider (34) is fixedly connected to both sides of the first lead screw nut (35) by bolts. 6. A high-precision angle automatic adjustment platform according to claim 1, characterized in that: two second guide rails (28) are arranged on both sides inside the second fixed bracket (27), and the second The second slider (29) on the guide rail (28) is fixedly connected to both sides of the second lead screw nut (30) by bolts. 7. The high-precision angle automatic adjustment platform according to claim 1, characterized in that: a level sensor (38) is provided at the middle position of the lower end surface of the platform (11), and is fixed by bolts. 8. A high-precision angle automatic adjustment platform according to any one of claims 1 to 7, characterized in that: the output shaft ends of the two first motors (22) are respectively equipped with a first encoder and a second encoder. Two encoders, 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.

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