CN109231065A - A kind of six degree of freedom posture adjusting system based on Omni-mobile module - Google Patents
A kind of six degree of freedom posture adjusting system based on Omni-mobile module Download PDFInfo
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- CN109231065A CN109231065A CN201811140350.2A CN201811140350A CN109231065A CN 109231065 A CN109231065 A CN 109231065A CN 201811140350 A CN201811140350 A CN 201811140350A CN 109231065 A CN109231065 A CN 109231065A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
- B66F9/07577—Propulsion arrangements not supported by wheels, e.g. tracks or air cushions
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Jib Cranes (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
A kind of six degree of freedom posture adjusting system based on Omni-mobile module is related to large scale equipment transhipment in a limited space and assembly docking technology field；Including Omni-mobile platform, freedom degree parallel connection posture adjusting device, auxiliary support apparatus and load mounting platform；Wherein, Omni-mobile platform is horizontal positioned cuboid body construction；Load mounting platform is horizontal positioned rectangular plate-like structure；The vertical top of Omni-mobile platform is arranged in load mounting platform；Freedom degree parallel connection posture adjusting device and auxiliary support apparatus are installed between Omni-mobile platform and load mounting platform；Wherein, the center between Omni-mobile platform and load mounting platform is arranged in freedom degree parallel connection posture adjusting device；Four side positions between Omni-mobile platform and load mounting platform are arranged in auxiliary support apparatus；The space 6DOF that the present invention realizes load accurately adjusts, and meets long range transhipment and the integrated demand of adjustment in load workshop.
Description
Technical field
The present invention relates to the transhipment and assembly docking technology field, especially one kind of a kind of large scale equipment in a limited space
Six degree of freedom posture adjusting system based on Omni-mobile module.
Background technique
Omni-mobile module has pivot stud, longitudinally, laterally translates, or the feature that arbitrary curve moves along plane,
Especially suitable for the transhipment of the fields large product such as rail traffic, Aeronautics and Astronautics, ship, national defence and equipment in a limited space
It is docked with assembly.The production of such equipment, assembling process needs are transported through, multi-freedom posture adjusts etc..Common scissor
Formula lifting module can meet equipment lifting demand, such as require adjustment pitching, rolling freedom degree, need to additionally increase rocking link.
But realize that multiple freedom degrees move by series system, execution end poing rigidity is poor, bearing capacity is smaller；Additionally due to multiple degrees of freedom
Serial mechanism is complicated, and system bulk, weight is caused to increase.Parallel institution is compact-sized, bearing capacity is strong, movement is smoothly special
Point.Classical Stewart parallel institution is 6 branched forms, it is possible to provide space 6DOF, control system is mature, but cost compared with
It is high；Classical Stewart parallel institution is 6 branched forms, it is possible to provide space 6DOF, the disadvantage is that control system it is relative complex,
Movement travel is relatively small, and higher cost.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, provide a kind of six based on Omni-mobile module from
By degree posture adjusting system, the space 6DOF for realizing load is accurately adjusted, and meets transhipment and adjustment one over long distances in load workshop
The demand of body.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of six degree of freedom posture adjusting system based on Omni-mobile module, including Omni-mobile platform, freedom degree parallel connection
Posture adjusting device, auxiliary support apparatus and load mounting platform；Wherein, Omni-mobile platform is horizontal positioned cuboid car body knot
Structure；Load mounting platform is horizontal positioned rectangular plate-like structure；The vertical of Omni-mobile platform is arranged in load mounting platform
Top；Freedom degree parallel connection posture adjusting device and auxiliary support apparatus be installed in Omni-mobile platform and load mounting platform it
Between；Wherein, the center between Omni-mobile platform and load mounting platform is arranged in freedom degree parallel connection posture adjusting device；It is auxiliary
Help the four side positions that support device is arranged between Omni-mobile platform and load mounting platform；External load is fixedly mounted on load
The center of lotus mounting platform upper surface.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the Omni-mobile platform includes
Car body, 4 rotating hoisting rings, Mecanum wheel wheel group and 4 ground support supporting legs；Wherein, car body is the shell knot of Omni-mobile platform
Structure；4 rotating hoisting rings are symmetricly set on two-by-two in the opposite two side walls of car body；Omni-mobile platform is realized by rotating hoisting ring
Hanging lift lifting/lowering is carried out by outside hanging equipment；Mecanum wheel wheel group is fixedly mounted on the bottom of car body, realizes band motor vehicles bodies water
Translation is dynamic；Inside 4 ground support supporting legs are separately positioned at four angles of car body；After car body is moved to designated position；Support supporting leg in ground
Support ground is extended downwardly from vehicle body, realizes the limit to car body.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the Omni-mobile platform realizes 3
Freedom degree is mobile, be included under mobile platform coordinate system oxyz in the x-direction horizontal translation, horizontal translation and with z-axis be in the y-direction
Central axis rotates horizontally.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, mobile platform coordinate system oxyz's is built
Cube method are as follows: using Omni-mobile platform baseplane central point as origin o；Being parallel to Mecanum wheel wheel group axis direction is the side y
To；Direction is the direction z straight up, determines the direction x by the right-hand rule.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the freedom degree parallel connection posture adjustment dress
It sets including 3 posture adjustment struts and Formation keeping frame；Wherein, Formation keeping frame is equilateral triangle frame structure；Formation keeping frame
Level is fixedly mounted on the middle part of load mounting platform lower surface；Axial one end of 3 posture adjustment struts respectively with triangle configuration
It docks on three vertex of retainer；The axial other end of 3 posture adjustment struts is fixedly mounted on the upper surface of Omni-mobile platform.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the posture adjustment strut include pedestal,
Shaft and hydraulic stem；Wherein, pedestal is fixedly mounted on the upper surface of Omni-mobile platform；Axial one end of hydraulic stem passes through shaft
It is connect with pedestal；The axial other end of hydraulic stem is connect with Formation keeping frame；Hydraulic stem is realized to be stretched along axial；And hydraulic stem
Realize rotation around the shaft.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the auxiliary support apparatus includes 8
Root jury strut；8 jury struts are respectively symmetrically fixedly mounted in pairs at four sides of Omni-mobile platform.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the jury strut includes upper ball
Nest, bulb support rod, lower ball-and-socket, sliding block and guide rail；Wherein, guide rail is fixedly mounted on the upper surface of Omni-mobile platform, and leads
Rail is parallel with the side of Omni-mobile platform；On guide rail, realization moves horizontally slide block set along guide rail；Lower ball-and-socket is fixedly mounted
In the upper surface of sliding block；It is docked with lower ball-and-socket axial one end of bulb support rod；Upper ball-and-socket is fixedly mounted on bulb support rod
The axial other end；Upper ball-and-socket is fixedly mounted on the lower surface of load mounting platform；Bulb support rod is realized to be rotated around upper ball-and-socket；And
Bulb support rod is realized to be rotated around lower ball-and-socket.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the load mounting platform three from
By spending under the drive of posture adjusting device and auxiliary support apparatus in parallel, the vertical translation along z-axis is realized, using x-axis as the lateral of axis
Overturning；It is overturn by the pitching of axis of y-axis.
In a kind of above-mentioned six degree of freedom posture adjusting system based on Omni-mobile module, the load mounting platform is along z-axis
Vertical translation distance is 0-1m；Load mounting platform lateral turnover angle is -5 °~5 °；Load mounting platform pitching flip angle
It is -5 °~5 °.
The invention has the following advantages over the prior art:
(1) six degree of freedom provided by the invention based on Omni-mobile module transports posture adjusting system, has big carrying, big model
It encloses, high-precision adjustment capability, and can be realized test, adjustment process automation, intelligence, and transhipment posture adjustment integration；
(2) it present invention employs Omni-mobile platform, realizes horizontal flat in the x-direction under mobile platform coordinate system oxyz
It moves, horizontal translation and the 3DOF movement rotated horizontally using z-axis as center axis in the y-direction；
(3) present invention employs load mounting platforms, realize load mounting platform in freedom degree parallel connection posture adjusting device
Under the drive of auxiliary support apparatus, the vertical translation along z-axis is realized, using x-axis as the lateral turnover of axis；Using y-axis as axis
Pitching overturning.
Detailed description of the invention
Fig. 1 is six degree of freedom posture adjusting system overall schematic of the present invention；
Fig. 2 is Omni-mobile platform side view of the present invention；
Fig. 3 is freedom degree parallel connection posture adjusting device schematic diagram of the present invention；
Fig. 4 is auxiliary support apparatus schematic diagram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The present invention provides a kind of six degree of freedom transhipment posture adjusting system based on Omni-mobile module.It is real with Omni-mobile module
Translation and rotation in existing plane of load region complete lifting and pose adjustment function in conjunction with 3 branch parallel institutions, final to realize
The space 6DOF of load moves, and meets load transhipment and the integrated demand of adjustment.
It is as shown in Figure 1 six degree of freedom posture adjusting system overall schematic, it is as seen from the figure, a kind of based on Omni-mobile module
Six degree of freedom posture adjusting system, including Omni-mobile platform 100, freedom degree parallel connection posture adjusting device 200, auxiliary support apparatus 300
With load mounting platform 400；Wherein, Omni-mobile platform 100 is horizontal positioned cuboid body construction；Load mounting platform
400 be horizontal positioned rectangular plate-like structure；The vertical top of Omni-mobile platform 100 is arranged in load mounting platform 400；Three
Freedom degree parallel connection posture adjusting device 200 and auxiliary support apparatus 300 are installed in Omni-mobile platform 100 and load mounting platform
Between 400；Wherein, the setting of freedom degree parallel connection posture adjusting device 200 Omni-mobile platform 100 and load mounting platform 400 it
Between center；Four sides between Omni-mobile platform 100 and load mounting platform 400 are arranged in auxiliary support apparatus 300
Position；External load is fixedly mounted on the center of 400 upper surface of load mounting platform.
It is illustrated in figure 2 Omni-mobile platform side view, as seen from the figure, Omni-mobile platform 100 includes car body 101,4
Rotating hoisting ring 102, Mecanum wheel wheel group 103 and 4 ground support supporting legs 104；Wherein, car body 101 is Omni-mobile platform 100
Shell structure；4 rotating hoisting rings 102 are symmetricly set on two-by-two in the opposite two side walls of car body 101；Omni-mobile platform 100
It is realized by rotating hoisting ring 102 and hanging lift lifting/lowering is carried out by outside hanging equipment；Mecanum wheel wheel group 103 is fixedly mounted on car body
101 bottom realizes that band motor vehicles bodies 101 move horizontally；In 4 ground support supporting legs 104 are separately positioned at 101 4 angles of car body
Portion；After car body 101 is moved to designated position；Ground support supporting leg 104 extends downwardly support ground, realization pair inside car body 101
The limit of car body 101.Omni-mobile platform 100 realizes that 3DOF is mobile, is included under mobile platform coordinate system oxyz along the side x
To horizontal translation, in the y-direction horizontal translation and using z-axis as center axis rotate horizontally.
Wherein, the method for building up of mobile platform coordinate system oxyz are as follows: with 100 baseplane central point of Omni-mobile platform be original
Point o；Being parallel to 103 axis direction of Mecanum wheel wheel group is the direction y；Direction is the direction z straight up, is determined by the right-hand rule
The direction x.
It is illustrated in figure 3 freedom degree parallel connection posture adjusting device schematic diagram, as seen from the figure, freedom degree parallel connection posture adjusting device
200 include 3 posture adjustment struts 204 and Formation keeping frame 205；Wherein, Formation keeping frame 205 is equilateral triangle frame structure；
205 level of Formation keeping frame is fixedly mounted on the middle part of 400 lower surface of load mounting platform；Axial the one of 3 posture adjustment struts 204
It is docked respectively with three vertex of triangle configuration retainer 205 at end；The fixed peace of the axial other end of 3 posture adjustment struts 204
Mounted in the upper surface of Omni-mobile platform 100.
Posture adjustment strut 204 includes pedestal 201, shaft 202 and hydraulic stem 203；Wherein, pedestal 201 is fixedly mounted on omnidirectional
The upper surface of mobile platform 100；Axial one end of hydraulic stem 203 is connect by shaft 202 with pedestal 201；The axis of hydraulic stem 203
It is connect to the other end with Formation keeping frame 205；Hydraulic stem 203 is realized to be stretched along axial；And hydraulic stem 203 is realized around the shaft
202 rotation.Hydraulic stem 203 itself has 1 freedom degree of one-way expansion；203 bottom kinematic pair of hydraulic stem is revolute pair, top
Kinematic pair is ball pair；
It is illustrated in figure 4 auxiliary support apparatus schematic diagram, as seen from the figure, auxiliary support apparatus 300 includes 8 jury struts
306；8 jury struts 306 are respectively symmetrically fixedly mounted in pairs at four sides of Omni-mobile platform 100.Wherein, it assists
Strut 306 includes upper ball-and-socket 301, bulb support rod 302, lower ball-and-socket 303, sliding block 304 and guide rail 305；Wherein, guide rail 305 is solid
Dingan County is mounted in the upper surface of Omni-mobile platform 100, and guide rail 305 is parallel with the side of Omni-mobile platform 100；Sliding block 304
It is sleeved on guide rail 305, realization is moved horizontally along guide rail 305；Lower ball-and-socket 303 is fixedly mounted on the upper surface of sliding block 304；Bulb
It is docked with lower ball-and-socket 303 axial one end of support rod 302；The axial direction that upper ball-and-socket 301 is fixedly mounted on bulb support rod 302 is another
End；Upper ball-and-socket 301 is fixedly mounted on the lower surface of load mounting platform 400；Bulb support rod 302 is realized to be revolved around upper ball-and-socket 301
Turn；And bulb support rod 302 is realized and is rotated around lower ball-and-socket 303.The length of bulb support rod 302 and the stroke range of guide rail 305
It can guarantee that link mechanism adapts to the holding of pose_adjuster position under arbitrary height, posture
Load mounting platform 400 is real under the drive of freedom degree parallel connection posture adjusting device 200 and auxiliary support apparatus 300
Now along the vertical translation of z-axis, using x-axis as the lateral turnover of axis；It is overturn by the pitching of axis of y-axis.Load mounting platform 400
It is 0-1m along the vertical translation distance of z-axis；400 lateral turnover angle of load mounting platform is -5 °~5 °；Load mounting platform 400
Pitching flip angle is -5 °~5 °.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of six degree of freedom posture adjusting system based on Omni-mobile module, it is characterised in that: including Omni-mobile platform
(100), freedom degree parallel connection posture adjusting device (200), auxiliary support apparatus (300) and load mounting platform (400)；Wherein, entirely
It is horizontal positioned cuboid body construction to mobile platform (100)；Load mounting platform (400) is horizontal positioned rectangular slab
Shape structure；Load mounting platform (400) is arranged in the vertical top of Omni-mobile platform (100)；Freedom degree parallel connection posture adjustment dress
It sets (200) and auxiliary support apparatus (300) is installed between Omni-mobile platform (100) and load mounting platform (400)；Its
In, freedom degree parallel connection posture adjusting device (200) is arranged between Omni-mobile platform (100) and load mounting platform (400)
Center；Auxiliary support apparatus (300) be arranged between Omni-mobile platform (100) and load mounting platform (400) four
Side position；External load is fixedly mounted on the center of load mounting platform (400) upper surface.
2. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 1, it is characterised in that: institute
The Omni-mobile platform (100) stated includes car body (101), 4 rotating hoisting rings (102), Mecanum wheel wheel group (103) and 4
Support supporting leg (104) in ground；Wherein, car body (101) is the shell structure of Omni-mobile platform (100)；4 rotating hoisting rings (102) two
Two are symmetricly set in the opposite two side walls of car body (101)；Omni-mobile platform (100) is realized by rotating hoisting ring (102)
Hanging lift lifting/lowering is carried out by outside hanging equipment；Mecanum wheel wheel group (103) is fixedly mounted on the bottom of car body (101), realizes
Band motor vehicles bodies (101) moves horizontally；Inside 4 ground supports supporting leg (104) are separately positioned at (101) four angles of car body；Work as car body
(101) after being moved to designated position；Ground supports supporting leg (104) and extends downwardly support ground inside car body (101), realizes to car body
(101) limit.
3. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 2, it is characterised in that: institute
State Omni-mobile platform (100) and realize that 3DOF is mobile, be included under mobile platform coordinate system oxyz in the x-direction horizontal translation,
In the y-direction horizontal translation and using z-axis as center axis rotate horizontally.
4. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 3, it is characterised in that: move
The method for building up of moving platform coordinate system oxyz are as follows: using Omni-mobile platform (100) baseplane central point as origin o；It is parallel to wheat
It is the direction y that Ke Namu, which takes turns wheel group (103) axis direction,；Direction is the direction z straight up, determines the direction x by the right-hand rule.
5. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 4, it is characterised in that: institute
Stating freedom degree parallel connection posture adjusting device (200) includes 3 posture adjustment struts (204) and Formation keeping frame (205)；Wherein, configuration is protected
Holding frame (205) is equilateral triangle frame structure；Formation keeping frame (205) level is fixedly mounted on load mounting platform (400)
The middle part of lower surface；Axial one end of 3 posture adjustment struts (204) respectively with three vertex of triangle configuration retainer (205)
Docking；The axial other end of 3 posture adjustment struts (204) is fixedly mounted on the upper surface of Omni-mobile platform (100).
6. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 5, it is characterised in that: institute
Stating posture adjustment strut (204) includes pedestal (201), shaft (202) and hydraulic stem (203)；Wherein, pedestal (201) is fixedly mounted on
The upper surface of Omni-mobile platform (100)；Axial one end of hydraulic stem (203) is connect by shaft (202) with pedestal (201)；
The axial other end of hydraulic stem (203) is connect with Formation keeping frame (205)；Hydraulic stem (203) is realized to be stretched along axial；And liquid
Compression bar (203) realizes the rotation of (202) around the shaft.
7. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 6, it is characterised in that: institute
Stating auxiliary support apparatus (300) includes 8 jury struts (306)；8 jury struts (306) are respectively symmetrically fixed in pairs
It is mounted at four sides of Omni-mobile platform (100).
8. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 7, it is characterised in that: institute
Stating jury strut (306) includes upper ball-and-socket (301), bulb support rod (302), lower ball-and-socket (303), sliding block (304) and guide rail
(305)；Wherein, guide rail (305) is fixedly mounted on the upper surface of Omni-mobile platform (100), and guide rail (305) and Omni-mobile
The side of platform (100) is parallel；Sliding block (304) is sleeved on guide rail (305), and realization is moved horizontally along guide rail (305)；Lower ball-and-socket
(303) it is fixedly mounted on the upper surface of sliding block (304)；It is docked with lower ball-and-socket (303) axial one end of bulb support rod (302)；
Upper ball-and-socket (301) is fixedly mounted on the axial other end of bulb support rod (302)；Upper ball-and-socket (301) is fixedly mounted on load peace
The lower surface of assembling platform (400)；Bulb support rod (302) is realized to be rotated around upper ball-and-socket (301)；And bulb support rod (302) is real
Now rotated around lower ball-and-socket (303).
9. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 8, it is characterised in that: institute
Load mounting platform (400) is stated under the drive of freedom degree parallel connection posture adjusting device (200) and auxiliary support apparatus (300), it is real
Now along the vertical translation of z-axis, using x-axis as the lateral turnover of axis；It is overturn by the pitching of axis of y-axis.
10. a kind of six degree of freedom posture adjusting system based on Omni-mobile module according to claim 9, it is characterised in that:
The load mounting platform (400) is 0-1m along the vertical translation distance of z-axis；Load mounting platform (400) lateral turnover angle be-
5 °~5 °；Load mounting platform (400) pitching flip angle is -5 °~5 °.
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| CN201811140350.2A CN109231065B (en) | 2018-09-28 | 2018-09-28 | Six-degree-of-freedom posture adjusting system based on omnidirectional moving module |
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| CN201811140350.2A CN109231065B (en) | 2018-09-28 | 2018-09-28 | Six-degree-of-freedom posture adjusting system based on omnidirectional moving module |
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| CN109231065B CN109231065B (en) | 2021-04-13 |
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Cited By (11)
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| CN110202342A (en) * | 2019-05-09 | 2019-09-06 | 长春理工大学 | A kind of big component Butt Assembling analog platform |
| CN110371090A (en) * | 2019-06-26 | 2019-10-25 | 四川嘉泰莅坤智能科技有限公司 | A kind of vehicle pose adjustment platform |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN110653803A (en) * | 2019-08-15 | 2020-01-07 | 燕山大学 | Six-freedom-degree parallel posture adjusting platform suitable for low space |
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| CN111024310B (en) * | 2019-12-24 | 2021-11-16 | 北京卫星制造厂有限公司 | Multi-dimensional air flotation follow-up system for satellite high-precision quality measurement |
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| CN113668360A (en) * | 2021-09-09 | 2021-11-19 | 江苏科技大学 | Rapid trestle building device suitable for near-shore soft-foundation mudflat transfer operation |
| CN113668360B (en) * | 2021-09-09 | 2023-04-07 | 江苏科技大学 | Rapid trestle building device suitable for near-shore soft-foundation mudflat transfer operation |
| CN114161386A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Photovoltaic module cleaning device intelligent movement robot |
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