CN109129349A - Six degree of freedom posture adjustment docking platform - Google Patents
Six degree of freedom posture adjustment docking platform Download PDFInfo
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- CN109129349A CN109129349A CN201811093136.6A CN201811093136A CN109129349A CN 109129349 A CN109129349 A CN 109129349A CN 201811093136 A CN201811093136 A CN 201811093136A CN 109129349 A CN109129349 A CN 109129349A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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Abstract
Six degree of freedom posture adjustment docking platform mainly includes mobile base, bottom Three-degree-of-freedom motion platform and top layer Three-degree-of-freedom motion platform three parts composition.Using being arranged symmetrically, such drive motor is evenly arranged in platform plane a driving motor of basic motion platform of the present invention, keeps platform total quality uniformly distributed, has preferable balance, so that dynamic property be made to be promoted；Platform is using cross skew lines slideway and support frame A same layer, and using round slide and support frame B same layer, same layer distribution is conducive to height dimension and compresses, height increase caused by less structures in series；Realize that basic motion platform's position and pose is adjusted using four driving electric cylinders differential principles, driver in traditional approach is avoided to be superimposed with the space number of plies caused by driven object one-to-one correspondence distribution, conventional ADS driving arrangement space is optimized, to keep platform compact-sized in the height direction.
Description
Technical field
The present invention relates to six degree of freedom posture adjustment platform fields, and in particular to a kind of to install docking for large-scale space equipment
Six degree of freedom automatic-posture-adjustment tooling.
Background technique
Increasingly developed with aerospace industry, the installation docking demand of large-scale cabin equipment is continuously increased, and installs docking
It crosses range request to be increasingly stringenter, and conventional mounting docking facilities huge structure, is unfavorable for the reasonable arrangement of working space, it is serious to limit
Large-scale space equipment installation butt-joint operation improved efficiency is made.Currently, six most axis posture adjustment platform mechanical systems by base and
Multiple sub-platforms composition, predominantly load reference for installation is provided and realize rolling, pitching, orientation three axis rotary motions, and
Space three-freedom linear motion, so it can complete bulk loads pose adjustment on the ground, to set for large-scale heavy duty
Standby docking provides support.Real axis serial configured is used with regard to most of from the point of view of its mechanical structure, each shafting mixes independent drive
Moving cell, to realize that the spatial attitude of targeted loads is adjusted.Such as Authorization Notice No. is the Chinese patent of CN205957998U
Disclose a kind of satellite multiple degrees of freedom integrated synthesis posture adjustment platform, including 360 ° of turntables, overturning platform, adjusting parallel platform,
The parts such as Omni-mobile system.360 ° of turntables overturn platform, for realizing star ontology around X, Y for satellite along the rotation of Z axis
The overturning in 0-95 ° of direction.Adjusting parallel platform is made of, Neng Goushi posture adjustment upper mounting plate, posture adjustment lower platform, servo electric jar etc.
The translation and rotation of existing posture adjustment upper mounting plate X, Y, Z-direction low-angle.Omni-mobile system can load unified platform and realize
Assemble the all-around mobile in hall.The Chinese patent of Patent No. CN201610280296.6 discloses a kind of spacecraft for another example
The series-parallel posture adjustment platform of bay section flexible assembly six degree of freedom, lower platform is by lower platform seat, electronic slide unit A and electronic slide unit B group
At upper mounting plate is by upper mounting plate by upper mounting plate plate, guide cylinder A, guide cylinder B, fixed guide axis, telescopic guide shafts, fixed support shaft
It is formed with retractable support axis, upper mounting plate is by formation parallel institution.But this kind of platform exists general problem is that structure is not tight enough
It gathers, short transverse dimensional space is difficult to compress, and each shafting must add a set of driving unit, and these driving structures are arranged
All it is unfavorable for compression height space, this certainly will will increase the bulk and quality of the shafting, hinder the promotion of platform property.
Summary of the invention
The purpose of the present invention is to provide a kind of saving space, structure is simple, meets the domain requirements such as space flight ground tooling
Six degree of freedom posture adjustment docking platform.
The invention mainly comprises by mobile base, bottom Three-degree-of-freedom motion platform and top layer Three-degree-of-freedom motion platform three
Most of composition.
Wherein, mobile base by rack, slideway mounting rack, wheat wheel drive motor, Mike receive female wheel, branch leg support, branch
Leg mounting plate, linear mould group, pedal disk composition.Rack is the rectangular frame that steel profile is welded, and surface fixes one on the rack
The slideway mounting rack that group is parallel to each other.Portion is correspondingly provided with four wheat wheel drive motors on the rack, each wheat wheel drive motor it is defeated
Shaft and corresponding Mike receive female wheel and are connected.The quadrangle in portion is respectively fixedly connected with branch leg support, branch leg support on the rack
By two sections in the support bar group of inverted L shape on the top of branch leg support equipped with supporting leg mounting plate, in branch leg support
Internal fixed linear mould group 2 is equipped with pedal disk in the bottom of linear mould group.
Bottom Three-degree-of-freedom motion platform mainly includes sliding A, slide block B, slide rail B, support frame A, support frame C, electronic
Cylinder movable leg, electric cylinder, electric cylinder shaft, shaft base, top layer platform base lead screw driving motor, three sliding block of support frame, branch
Three slideway of support, support frame B, composite slider, feed screw nut, wire lever 24, lead screw spring bearing, slide rail A, top layer platform
Overturn limited block, endless glide and ring slider 29.
Bottom Three-degree-of-freedom motion platform is formed by three layers of rectangular frame lamination, wherein three layers of rectangular frame divide from the bottom to top
Not Wei support frame A, support frame B, support frame C, wherein support frame A and support frame B are fixedly connected to form bracket assembly, predominantly
Respectively the platform structure of top improves installation foundation, and movement mechanism provides installation foundation between platform.Bracket assembly and shifting
Slide rail A between dynamic pedestal by a pair along the direction V is staggeredly constituted with a pair of slide rail B cross along the direction VI, wherein
Slide rail A is mounted in mobile base rack, and slide rail B is mounted on support frame B；Slide rail A and slide rail B it
Between be made of sliding block A and the slide block assembly that slide block B is constituted, slide block B and support frame A same layer are distributed；Bracket assembly passes through up and down
The cross of distribution interlock slide rail formed moving along the direction V, VI.Support frame C is connect by endless glide with support frame A,
Endless glide is fixed on support frame A, and ring slider is mounted on support frame C, and endless glide and support frame B same layer are distributed, and is led to
It crosses endless glide and realizes that top layer platform is rotated along IV axis.Rectangular support frame C four corners are respectively equipped with electronic, a rectangle short side side
To two electric cylinders are respectively arranged, the push rod collective effect of two electric cylinders is in the shaft base of support frame C short side midpoint
On, it is connected by an electric cylinder shaft, each electronic cylinder seat is mounted on supporting leg by electric cylinder movable leg and installs.Support frame B
There are two protrusion top layer platform overturning limited block it is symmetrical along support frame C long axis direction, be top layer platform horizontal attitude
Support is provided.Support frame C is along the symmetrical two groups of thread lead screws of long axis direction, to drive support frame C sliding when the overturning of top layer platform
Block provides driving force, and wherein thread lead screw is made of feed screw nut, wire lever and lead screw spring bearing.Lead screw spring bearing is fixed
On support frame C, wire lever one end is plugged in lead screw spring bearing, the lead screw other end and top layer platform base lead screw driving electricity
The output shaft of the output shaft of machine, top layer platform base lead screw driving motor is fixed on support frame C, is slidably connected on wire lever
Feed screw nut.
Top layer Three-degree-of-freedom motion platform mainly includes shaft A, top layer platform base, rotation strut, rollover stand, revolution
Disk, rotary disk feed screw nut, reversing frame, workbench, rotary disk slideway, rotary disk lead screw, rotary disk sliding block, shaft B and shaft
C。
Rollover stand is connect with top layer platform base by fixed rotating shaft C, is fixedly connected with rotation in rectangle rollover stand long side
Strut, the one end for rotating strut are connected with rectangle rollover stand, rotate the other end of strut and the fixed rotating shaft A on support frame C connects
It connects；Top layer motion platform provides four support frame C sliding blocks and connect with support frame C；Lead screw on top layer platform base and support frame C
Nut connection.Feed screw nut drives top layer motion platform support frame C sliding block by connecting top layer platform base indirectly, thus to turn over
Pivoted frame rotates strut and is connected by shaft B with rollover stand around fixed rotating shaft C powered rotation, realizes that rollover stand is turned over along III axis
It turn 90 degrees.Reversing frame is the frame of rectangle, is connect by four rotary disk sliding blocks with rotary disk slideway, rotary disk sliding block and revolution
Disk slideway is slidably connected, and the rotary disk lead screw by a pair along the direction IV drives, and reversing frame and rotary disk lead screw pass through revolution parcel
Thick stick nut is connected, and realizes that the position in loaded vertical direction is adjusted.Workbench is disk, is driven by the rotary disk lead screw of translator
It is dynamic, it is mounted on reversing frame, workbench is realized along II axis 360 degree rotation by the rotation of rotary disk, wherein rotary disk is built in
Between reversing frame and workbench, rotary disk is from translator and swing mechanism.
In the use of the present invention, the six degree of freedom posture adjustment docking platform mainly realizes that working condition is cut by mobile base
It changes.When original state, that is, travel position when, non-loaded, shipping platform supporting leg collapses liftoff, and Mike receives female wheel and lands movement；Bottom
During motion platform is set relative to mobile base position, bracket assembly is consistent with three rotation attitude of support frame；Top layer motion platform
With vehicle frame level, during rotary disk and rollover stand are set.It is mated condition, shipping platform supporting leg support ground, Mai Kena in the course of work
Female wheel is liftoff；Basic motion platform drives support frame C by four electric pushrods, makes support frame three relative to support frame A around I axis
Rotation then drives bracket assembly to move relative to mobile base along the direction VI, moves relative to mobile base along the direction V,
The mobile planar movement for realizing six degree of freedom posture adjustment docking platform of two of them realizes that position adjustment, one of rotation are completed
Six degree of freedom posture adjustment docking platform rotates posture adjustment.Top layer motion platform drives sliding block using thread lead screw, makes top layer motion platform
90 ° are overturn to upright position, workbench passes through the thread lead screw adjustment height on rollover stand and realizes that load height position adjusts, work
Make platform to turn round by the motor driven of rotary disk, realizes the revolution pose adjustment of load.Six degree of freedom posture adjustment docking platform mainly by
Basic motion platform and top layer motion platform form.The structural nature of basic motion platform is differential attachment, wherein basic motion
The movement composition sequence of platform are as follows: prismatic pair (being moved along V axis), prismatic pair (being moved along VI axis), revolute pair (being rotated along I axis).
Wherein, prismatic pair is provided by the slide rail A of mobile base rack and support frame group frame, and prismatic pair is by mobile base rack and branch
The slide rail B of support group frame is provided, and wherein prismatic pair is interspersed with prismatic pair cross, and revolute pair is by support frame A and support
Endless glide between frame C provides；Four electric pushrods act on the both ends of support frame C, by adjusting four electric pushrods
Overhang realizes rotation and movement if resultant force effect is couple using the resultant force effect of its push rod Differential Control support frame C,
If resultant force effect is unidirectional force, unidirectional movement is shown as.The action direction that electric pushrod overhang also controls power is adjusted, into
And determine that resultant force to form unidirectional force or a pair of of couple, and be able to achieve size and the direction of adjustment torque.By kinematic pair with
The cooperation of kinematic pair is realized moves in platform orientation axial plane, the rotation of support frame three is realized by revolute pair, to realize top
Layer motion platform and realizes first positioning to top layer motion platform along the rotation of I axis, and targeted loads is made to enter the flat of top layer movement
In platform working space.The movement composition sequence of top layer motion platform are as follows: prismatic pair (moving along V axis), revolute pair (are moved along III axis
It is dynamic), prismatic pair (being moved along IV axis), revolute pair (being rotated along II axis).Prismatic pair by support frame C and top layer platform base support
Frame C slideway is constituted, and revolute pair is made of rotation strut and the rotating shaft C of top layer platform base, and prismatic pair is by reversing frame and rollover stand
Rotary disk slideway and rotary disk sliding block constitute, revolute pair provides by rotary disk.Wherein prismatic pair is driven by rotary disk lead screw,
Revolute pair is driven by standard electromotor.Prismatic pair realizes top layer motion platform moving along V axis direction, and then cooperates with revolute pair,
It realizes the lever force-saving mechanism of top layer movement platform base overturning, and load center of gravity can be made not deviate, car body is avoided to topple.
Prismatic pair realizes moving along IV axis direction, and revolute pair realizes 360 degree of rotary motions along II axis direction.It is being loaded to realize
After position just positions, the accurate butt junction location of upper mounting plate is carried out.
Compared with the prior art, the present invention has the following advantages: a driving motor of basic motion platform uses symmetrical cloth
It sets, such drive motor is evenly arranged in platform plane, keeps platform total quality uniformly distributed, has preferable balance, to make
State performance boost；Platform should using round slide and support frame B same layer using cross skew lines slideway and support frame A same layer
Same layer distribution is conducive to height dimension and compresses, and height caused by less structures in series increases；Utilize four differential originals of driving electric cylinders
Reason realizes that basic motion platform's position and pose is adjusted, and avoids driver and driven object in traditional approach and corresponds caused by distribution
The superposition of the space number of plies, optimizes conventional ADS driving arrangement space, to keep platform compact-sized in the height direction.
Detailed description of the invention
Fig. 1 is overall effect figure of the present invention.
Fig. 2 is mobile base effect picture of the invention.
Fig. 3 is bottom Three-degree-of-freedom motion platform effect picture of the invention.
Fig. 4 is bottom Three-degree-of-freedom motion platform left view of the invention.
Fig. 5 is the A-A cross-sectional view of Fig. 4.
Fig. 6 is top layer Three-degree-of-freedom motion platform effect picture of the invention.
In figure: 1- rack, the linear mould group of 2-, 3- branch leg support, 4- supporting leg mounting plate, 5- wheat wheel drive motor, 6- are sliding
Road mounting rack, 7- Mike receive female wheel, 8- pedal disk, 9- sliding block A, 10- slide block B, 11- slide rail B, 12- support frame A, 13- support
Frame C, 14- electric cylinder movable leg, 15- electric cylinder, 16- electric cylinder shaft, 17- shaft base, 18- top layer platform base lead screw drive
Dynamic motor, three sliding block of 19- support frame, three slideway of 20- support frame, 21- support frame B, 22- composite slider, 23- feed screw nut, 24-
Wire lever, 25- lead screw spring bearing, 26- slide rail A, 27- top layer platform overturn limited block, 28- endless glide, 29- annular
Sliding block, 30- shaft A, 31- top layer platform base, 32- rotate strut, 33- rollover stand, 34- rotary disk, 35- rotary disk lead screw spiral shell
Mother, 36- reversing frame, 37- workbench, 38- rotary disk slideway, 39- rotary disk lead screw, 40- rotary disk sliding block, 41- shaft A, 42-
Shaft B.
Specific embodiment
In Fig. 1, Fig. 2 and simplified schematic diagram of the invention shown in Fig. 3, the invention mainly comprises by mobile base, bottom
Three-degree-of-freedom motion platform and top layer Three-degree-of-freedom motion platform three parts composition.
Mobile base by rack 1, slideway mounting rack 6, wheat wheel drive motor 5, Mike receive female wheel 7, branch leg support 3, branch
Leg mounting plate 4, linear mould group 2, pedal disk 8 form.Rack 1 is the rectangular frame that steel profile is welded, and surface is solid on the rack
Fixed one group of slideway mounting rack 6 being parallel to each other.Portion is correspondingly provided with four wheat wheel drive motors 5, each wheat wheel drive electricity on the rack
The output shaft of machine and corresponding Mike receive female wheel 7 and are connected.The quadrangle in portion is respectively fixedly connected with branch leg support 3 on the rack, branch
Leg support by two sections in inverted L shape support bar group at, the top of branch leg support be equipped with supporting leg mounting plate 4, propping up
The inside fixed linear mould group 2 of leg support is equipped with pedal disk 8 in the bottom of linear mould group.
Bottom Three-degree-of-freedom motion platform mainly includes sliding A9, slide block B 10, slide rail B11, support frame A12, support frame
C13, electric cylinder movable leg 14, electric cylinder 15, electric cylinder shaft 16, shaft base 17, top layer platform base lead screw driving motor
18, three sliding block 19 of support frame, three slideway 20 of support frame, support frame B21, composite slider 22, feed screw nut 23, wire lever 24, silk
Thick stick spring bearing 25, slide rail A26, top layer platform overturning limited block 27, endless glide 28 and ring slider 29.
Bottom Three-degree-of-freedom motion platform is formed by three layers of rectangular frame lamination, wherein three layers of rectangular frame divide from the bottom to top
Not Wei support frame A12, support frame B21, support frame C13, wherein support frame A12 and support frame B21 are fixedly connected to form support frame
Component, predominantly respectively the platform structure of top improves installation foundation, and movement mechanism provides installation foundation between platform.Support
By a pair along the slide rail A26 in the direction V and a pair of slide rail B11 cross along the direction VI between frame component and mobile base
It staggeredly constitutes, wherein slide rail A26 is mounted in mobile base rack 1, and slide rail B11 is mounted on support frame B21；It is sliding
The slide block assembly 22 being made of sliding block A9 with slide block B 10 between dynamic guide rail A26 and slide rail B11 is constituted, slide block B 10 and support
The distribution of frame A12 same layer；Bracket assembly passes through the cross that the is distributed up and down slide rail that interlocks and forms moving along the direction V, VI.Branch
Support C13 is connect by endless glide 28 with support frame A12, and endless glide 28 is fixed on support frame A12, and ring slider 29 is pacified
On support frame C13, endless glide 28 and support frame B21 same layer are distributed, and realize top layer platform along IV by endless glide 28
Axis rotation.Rectangular support frame C13 four corners are respectively equipped with one electronic 15, and rectangle short side direction is respectively arranged two electric cylinders
15, the push rod collective effects of two electric cylinders 15 is electronic by one on the shaft base 17 of support frame C13 short side midpoint
Cylinder shaft 16 connects, and each electronic cylinder seat is mounted in supporting leg installation 4 by electric cylinder movable leg 14.There are two support frame B13
The top layer platform overturning limited block 27 of protrusion is symmetrical along support frame C13 long axis direction, mentions for the horizontal attitude of top layer platform
For support.Support frame C13 is along the symmetrical two groups of thread lead screws of long axis direction, to drive support frame C sliding when the overturning of top layer platform
Block 19 provides driving force, and wherein thread lead screw is made of feed screw nut 23, wire lever 24 and lead screw spring bearing 25.Lead screw support
Bearing is fixed on support frame C, and wire lever one end is plugged in lead screw spring bearing, the lead screw other end and top layer platform base silk
The output shaft of the output shaft 18 of thick stick driving motor, top layer platform base lead screw driving motor is fixed on support frame C, in wire lever
On be slidably connected feed screw nut.
Top layer Three-degree-of-freedom motion platform mainly includes shaft A30, top layer platform base 31, rotation strut 32, rollover stand
33, rotary disk 34, rotary disk feed screw nut 35, reversing frame 36, workbench 37, rotary disk slideway 38, rotary disk lead screw 39, revolution
Disk sliding block 40, shaft B41 and rotating shaft C 42.
Rollover stand 33 is connect with top layer platform base 31 by fixed rotating shaft C42, fixed in 33 long side of rectangle rollover stand
Connection rotation strut 32, one end of rotation strut 32 are connected with rectangle rollover stand, rotate the other end and support frame C13 of strut 32
On fixed rotating shaft A30 connection；Top layer motion platform provides four support frame C sliding blocks 19 and connect with support frame C13；Top layer platform
Pedestal 31 is connect with the feed screw nut 23 on support frame C13.Feed screw nut 23 is driven indirectly by connection top layer platform base 31
Top layer motion platform support frame C sliding block 19 rotates strut 32 to be rollover stand 33 around fixed rotating shaft C42 powered rotation
It is connected by shaft B41 with rollover stand 33, realizes that rollover stand 33 is turned over along III axis and turn 90 degrees.Reversing frame 36 is the frame of rectangle, is led to
It crosses four rotary disk sliding blocks 40 to connect with rotary disk slideway 38, rotary disk sliding block is slidably connected with rotary disk slideway, by a pair of of edge
The rotary disk lead screw 39 in the direction IV drives, and reversing frame 36 is connected with rotary disk lead screw 39 by rotary disk feed screw nut 35, real
The position in existing loaded vertical direction is adjusted.Workbench 37 is disk, is driven, is mounted on back by the rotary disk lead screw 39 of translator
On pivoted frame 36, workbench 37 is realized along II axis 360 degree rotation by the rotation of rotary disk 34, wherein rotary disk 34 is built in revolution
Between frame 36 and workbench 37, rotary disk 34 is from translator and swing mechanism.
Claims (5)
1. six degree of freedom posture adjustment docking platform mainly includes that mobile base, bottom Three-degree-of-freedom motion platform and top layer three are free
Spend motion platform three parts composition, it is characterised in that: mobile base is by rack, slideway mounting rack, wheat wheel drive motor, Mike
Receive female wheel, branch leg support, supporting leg mounting plate, linear mould group, pedal disk composition, bottom Three-degree-of-freedom motion platform mainly include slide
A, slide block B, slide rail B, support frame A, support frame C, electric cylinder movable leg, electric cylinder, electric cylinder shaft, shaft base, top
Layer platform base lead screw driving motor, three sliding block of support frame, three slideway of support frame, support frame B, composite slider, feed screw nut, silk
Lever, lead screw spring bearing, slide rail A, top layer platform overturning limited block, endless glide and ring slider, top layer three is freely
Degree motion platform mainly includes shaft A, top layer platform base, rotation strut, rollover stand, rotary disk, rotary disk feed screw nut, returns
Pivoted frame, workbench, rotary disk slideway, rotary disk lead screw, rotary disk sliding block, shaft B and rotating shaft C, the support frame A of mobile base with
Support frame B is fixedly connected to form bracket assembly, by a pair along the slide rail in the direction V between bracket assembly and mobile base
A and a pair of slide rail B cross along the direction VI are staggeredly constituted, and wherein slide rail A is mounted in mobile base rack, sliding
Guide rail B is mounted on support frame B；On the top layer platform base of top layer Three-degree-of-freedom motion platform and the support frame C of mobile base
Feed screw nut connection.
2. six degree of freedom posture adjustment docking platform according to claim 1, it is characterised in that: rack is welded for steel profile
Rectangular frame, one group of slideway mounting rack being parallel to each other is fixed on surface on the rack, and portion is correspondingly provided with four wheats on the rack
Wheel drive motor, the output shaft of each wheat wheel drive motor and corresponding Mike receive female wheel and are connected, on the rack the quadrangle difference in portion
It is fixedly connected with branch leg support, branch leg support is by two sections in the support bar group of inverted L shape on the top of branch leg support
Equipped with supporting leg mounting plate, in the inside fixed linear mould group of branch leg support, pedal disk is equipped in the bottom of linear mould group.
3. six degree of freedom posture adjustment docking platform according to claim 1, it is characterised in that: bottom Three-degree-of-freedom motion platform
It is formed by three layers of rectangular frame lamination, three layers of rectangular frame are respectively support frame A, support frame B, support frame C, sliding from the bottom to top
It is made of between guide rail A and slide rail B sliding block A and the slide block assembly that slide block B is constituted, slide block B and support frame A same layer are distributed；
Bracket assembly passes through the cross that the is distributed up and down slide rail that interlocks and forms moving along the direction V, VI, and support frame C passes through annular
Sliding rail is connect with support frame A, and endless glide is fixed on support frame A, and ring slider is mounted on support frame C, endless glide with
The distribution of support frame B same layer realizes that top layer platform is rotated along IV axis by endless glide, and rectangular support frame C four corners are respectively equipped with
One electronic, and rectangle short side direction is respectively arranged two electric cylinders, and the push rod collective effect of two electric cylinders is in support frame C short side
It on the shaft base of midpoint, is connected by an electric cylinder shaft, each electronic cylinder seat is mounted on by electric cylinder movable leg
Supporting leg is installed, and the top layer platform overturning limited block for protrusion that there are two support frame B is symmetrical along support frame C long axis direction, is
The horizontal attitude of top layer platform provides support, and support frame C is turned over along the symmetrical two groups of thread lead screws of long axis direction for top layer platform
Support frame C sliding block is driven to provide driving force when turning, wherein thread lead screw is by feed screw nut, wire lever and lead screw spring bearing structure
At lead screw spring bearing is fixed on support frame C, and wire lever one end is plugged in lead screw spring bearing, the lead screw other end and top
The output shaft of layer platform base lead screw driving motor, the output shaft of top layer platform base lead screw driving motor are fixed on support frame C
On, be slidably connected feed screw nut on wire lever.
4. six degree of freedom posture adjustment docking platform according to claim 1, it is characterised in that: rollover stand and top layer platform base
It is connected by fixed rotating shaft C, is fixedly connected with rotation strut in rectangle rollover stand long side, the one end and rectangle for rotating strut are overturn
Frame is connected, and the other end for rotating strut is connect with the fixed rotating shaft A on support frame C；Top layer motion platform provides four support frame C
Sliding block is connect with support frame C；Driving top layer motion platform support frame C is sliding indirectly by connection top layer platform base 31 for feed screw nut
Block rotates strut and is connected by shaft B with rollover stand, realize overturning to be rollover stand around fixed rotating shaft C powered rotation
Frame is turned over along III axis and is turn 90 degrees, and reversing frame is the frame of rectangle, is connect by four rotary disk sliding blocks with rotary disk slideway, is turned round
Disk sliding block is slidably connected with rotary disk slideway, and the rotary disk lead screw by a pair along the direction IV drives, reversing frame and rotary disk lead screw
It is connected by rotary disk feed screw nut, realizes that the position in loaded vertical direction is adjusted, workbench is disk, passes through translator
The driving of rotary disk lead screw, is mounted on reversing frame, by the rotation realization workbench of rotary disk along II axis 360 degree rotation, wherein
Rotary disk is built between reversing frame and workbench, and rotary disk is from translator and swing mechanism.
5. six degree of freedom posture adjustment docking platform according to claim 1, it is characterised in that: being realized by differential principle will move
Dynamic driving becomes the mechanism of rotation, is provided simultaneously with two mobile combined type driving principles, can be realized Three Degree Of Freedom mechanism
Same layer arrangement.
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| CN201811093136.6A CN109129349A (en) | 2018-09-19 | 2018-09-19 | Six degree of freedom posture adjustment docking platform |
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| CN201811093136.6A CN109129349A (en) | 2018-09-19 | 2018-09-19 | Six degree of freedom posture adjustment docking platform |
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| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
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| CN112555643A (en) * | 2020-12-17 | 2021-03-26 | 中国航空工业集团公司北京航空精密机械研究所 | Satellite posture adjusting device |
| CN112720391A (en) * | 2020-12-21 | 2021-04-30 | 中国航空工业集团公司北京航空精密机械研究所 | Attitude adjustment three-axis turntable for large-scale space satellite product test |
| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN114700728A (en) * | 2022-03-31 | 2022-07-05 | 上海交大智邦科技有限公司 | Six-degree-of-freedom attitude adjusting platform for satellite solar wing assembly |
| CN115230524A (en) * | 2022-08-18 | 2022-10-25 | 奥莱特汽车科技有限公司 | Five-degree-of-freedom motion platform |
| CN115519507A (en) * | 2022-10-21 | 2022-12-27 | 哈尔滨工业大学 | Multi-degree-of-freedom clamp for insertion type ultra-precise assembly |
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| CN112555643A (en) * | 2020-12-17 | 2021-03-26 | 中国航空工业集团公司北京航空精密机械研究所 | Satellite posture adjusting device |
| CN112720391A (en) * | 2020-12-21 | 2021-04-30 | 中国航空工业集团公司北京航空精密机械研究所 | Attitude adjustment three-axis turntable for large-scale space satellite product test |
| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN113929020B (en) * | 2021-09-17 | 2023-02-10 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN114700728A (en) * | 2022-03-31 | 2022-07-05 | 上海交大智邦科技有限公司 | Six-degree-of-freedom attitude adjusting platform for satellite solar wing assembly |
| CN115230524A (en) * | 2022-08-18 | 2022-10-25 | 奥莱特汽车科技有限公司 | Five-degree-of-freedom motion platform |
| CN115230524B (en) * | 2022-08-18 | 2023-06-20 | 奥莱特汽车科技有限公司 | Five-degree-of-freedom motion platform |
| CN115519507A (en) * | 2022-10-21 | 2022-12-27 | 哈尔滨工业大学 | Multi-degree-of-freedom clamp for insertion type ultra-precise assembly |
| CN117697370A (en) * | 2024-02-05 | 2024-03-15 | 四川凌空天行科技有限公司 | High-automation cabin butt joint device |
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Application publication date: 20190104 |