CN109231065B - Six-degree-of-freedom posture adjusting system based on omnidirectional moving module - Google Patents
Six-degree-of-freedom posture adjusting system based on omnidirectional moving module Download PDFInfo
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- CN109231065B CN109231065B CN201811140350.2A CN201811140350A CN109231065B CN 109231065 B CN109231065 B CN 109231065B CN 201811140350 A CN201811140350 A CN 201811140350A CN 109231065 B CN109231065 B CN 109231065B
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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
- 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
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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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- B66F9/065—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
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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
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
- B66F9/07577—Propulsion arrangements not supported by wheels, e.g. tracks or air cushions
Abstract
A six-degree-of-freedom posture adjusting system based on an omnidirectional moving module relates to the technical field of transfer, assembly and butt joint of large equipment in a limited space; the device comprises an omnidirectional moving platform, a three-degree-of-freedom parallel posture adjusting device, an auxiliary supporting device and a load mounting platform; the omnidirectional mobile platform is a horizontally placed cuboid vehicle body structure; the load mounting platform is a horizontally placed rectangular plate-shaped structure; the load mounting platform is arranged vertically above the omnidirectional moving platform; the three-degree-of-freedom parallel posture adjusting device and the auxiliary supporting device are both arranged between the omnidirectional moving platform and the load mounting platform; the three-degree-of-freedom parallel posture adjusting device is arranged at the central position between the omnidirectional moving platform and the load mounting platform; the auxiliary supporting devices are arranged on four sides between the omnidirectional moving platform and the load mounting platform; the invention realizes the accurate adjustment of space 6 degrees of freedom of the load and meets the requirement of integration of long-distance transferring and assembling and adjusting in a load factory.
Description
Technical Field
The invention relates to the technical field of transfer, assembly and butt joint of large equipment in a limited space, in particular to a six-degree-of-freedom posture adjusting system based on an omnidirectional moving module.
Background
The omnidirectional moving module has the characteristics of in-situ steering, longitudinal and transverse translation or moving along any curve in a plane, and is particularly suitable for transferring, assembling and butting large products and equipment in the fields of rail transit, aviation, aerospace, ships, national defense and the like in a limited space. The production and assembly processes of the equipment need to carry out transportation, multi-degree-of-freedom posture adjustment and the like. The common scissor-type lifting module can meet the lifting requirement of equipment, and if the freedom degrees of pitching, rolling and the like are required to be adjusted, an additional rotation link is required. But the motion with a plurality of degrees of freedom is realized in a serial connection mode, and the executing tail end has poor rigidity and smaller bearing capacity; in addition, the multi-degree-of-freedom series mechanism is complex, so that the volume and the weight of the system are increased. The parallel mechanism has the characteristics of compact structure, strong bearing capacity and stable motion. The classical Stewart parallel mechanism is in a 6-branched chain form, can provide 6 degrees of freedom in space, and has mature control system but higher cost; the classical Stewart parallel mechanism is in a 6-branched chain form, can provide 6 degrees of freedom in space, and has the defects of relatively complex control system, relatively small movement stroke and high cost.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a six-degree-of-freedom posture adjusting system based on an omnidirectional moving module, realizes the accurate adjustment of the space 6 degrees of freedom of a load, and meets the requirement of integration of long-distance transferring and assembling and adjusting in a load factory.
The above purpose of the invention is realized by the following technical scheme:
a six-degree-of-freedom posture adjusting system based on an omnidirectional moving module comprises an omnidirectional moving platform, a three-degree-of-freedom parallel posture adjusting device, an auxiliary supporting device and a load mounting platform; the omnidirectional mobile platform is a horizontally placed cuboid vehicle body structure; the load mounting platform is a horizontally placed rectangular plate-shaped structure; the load mounting platform is arranged vertically above the omnidirectional moving platform; the three-degree-of-freedom parallel posture adjusting device and the auxiliary supporting device are both arranged between the omnidirectional moving platform and the load mounting platform; the three-degree-of-freedom parallel posture adjusting device is arranged at the central position between the omnidirectional moving platform and the load mounting platform; the auxiliary supporting devices are arranged on four sides between the omnidirectional moving platform and the load mounting platform; the external load is fixedly arranged at the central position of the upper surface of the load mounting platform.
In the above six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the omnidirectional moving platform comprises a vehicle body, 4 rotating hoisting rings, a mecanum wheel set and 4 ground support legs; the vehicle body is a shell structure of the omnidirectional mobile platform; the 4 rotary lifting rings are symmetrically arranged on two opposite side walls of the vehicle body in pairs; the omnidirectional mobile platform realizes the hanging lifting by external hanging equipment through a rotary hanging ring; the Mecanum wheel set is fixedly arranged at the bottom of the vehicle body to drive the vehicle body to move horizontally; the 4 ground support legs are respectively arranged inside four corners of the vehicle body; when the vehicle body moves to a designated position; the ground support legs extend downwards from the inside of the vehicle body to support the ground, so that the vehicle body is limited.
In the above six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the omnidirectional moving platform realizes 3-degree-of-freedom movement, including horizontal translation along the x direction, horizontal translation along the y direction, and horizontal rotation with the z axis as a central axis under the moving platform coordinate system oxyz.
In the above six-degree-of-freedom attitude adjustment system based on the omnidirectional moving module, the method for establishing the mobile platform coordinate system oxyz is as follows: taking the central point of the bottom plane of the omnidirectional mobile platform as an origin o; the direction parallel to the axis of the Mecanum wheel set is the y direction; the vertical up direction is the z direction, and the x direction is determined by the right hand rule.
In the six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the three-degree-of-freedom parallel posture adjustment device comprises 3 posture adjustment support rods and a configuration retainer; wherein, the configuration retainer is an equilateral triangle frame structure; the configuration retainer is horizontally and fixedly arranged in the middle of the lower surface of the load mounting platform; one axial end of each of the 3 posture-adjusting supporting rods is butted with three vertexes of the triangular-configuration retainer respectively; the other axial ends of the 3 posture adjusting supporting rods are fixedly arranged on the upper surface of the omnidirectional moving platform.
In the above six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the posture adjustment supporting rod comprises a base, a rotating shaft and a hydraulic rod; the base is fixedly arranged on the upper surface of the omnidirectional mobile platform; one axial end of the hydraulic rod is connected with the base through a rotating shaft; the other axial end of the hydraulic rod is connected with the configuration retainer; the hydraulic rod realizes the axial extension and retraction; and the hydraulic rod realizes the rotation around the rotating shaft.
In the above six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the auxiliary support device comprises 8 auxiliary support rods; every two of 8 auxiliary stay bars are respectively and symmetrically and fixedly arranged at the four sides of the omnidirectional mobile platform.
In the above six-degree-of-freedom posture adjustment system based on the omnidirectional movement module, the auxiliary stay bar comprises an upper ball socket, a ball head support bar, a lower ball socket, a slide block and a guide rail; the guide rail is fixedly arranged on the upper surface of the omnidirectional moving platform, and is parallel to the side edge of the omnidirectional moving platform; the sliding block is sleeved on the guide rail to horizontally move along the guide rail; the lower ball socket is fixedly arranged on the upper surface of the sliding block; one axial end of the ball head support rod is butted with the lower ball socket; the upper ball socket is fixedly arranged at the other axial end of the ball head support rod; the upper ball socket is fixedly arranged on the lower surface of the load mounting platform; the ball head support rod rotates around the upper ball socket; and the ball head support rod rotates around the lower ball socket.
In the six-degree-of-freedom posture adjustment system based on the omnidirectional moving module, the load mounting platform is driven by the three-degree-of-freedom parallel posture adjustment device and the auxiliary support device to realize vertical translation along the z axis and lateral overturning by taking the x axis as an axis; and the pitching turnover takes the y axis as an axis.
In the six-degree-of-freedom attitude adjusting system based on the omnidirectional moving module, the vertical translation distance of the load mounting platform along the z axis is 0-1 m; the lateral overturning angle of the load mounting platform is-5 degrees; the pitching turnover angle of the load mounting platform is-5 degrees.
Compared with the prior art, the invention has the following advantages:
(1) the six-degree-of-freedom transferring and posture adjusting system based on the omnidirectional moving module has the capabilities of large bearing, large range and high precision adjustment, and can realize automation and intellectualization of the testing and adjusting processes and integration of transferring and posture adjusting;
(2) the invention adopts the omnidirectional mobile platform, and realizes 3-degree-of-freedom motion of horizontal translation along the x direction, horizontal translation along the y direction and horizontal rotation by taking the z axis as a central axis under a mobile platform coordinate system oxyz;
(3) the three-freedom-degree parallel posture adjusting device adopts the load mounting platform, so that the load mounting platform is driven by the three-freedom-degree parallel posture adjusting device and the auxiliary supporting device to realize vertical translation along a z-axis and lateral overturning by taking an x-axis as an axis; and the pitching turnover takes the y axis as an axis.
Drawings
FIG. 1 is a schematic view of an overall six-degree-of-freedom attitude adjustment system according to the present invention;
FIG. 2 is a side view of an omni-directional mobile platform according to the present invention;
FIG. 3 is a schematic diagram of a three-degree-of-freedom parallel posture adjustment apparatus according to the present invention;
FIG. 4 is a schematic view of an auxiliary supporting device according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention provides a six-degree-of-freedom transfer posture adjustment system based on an omnidirectional moving module. The omnidirectional moving module is used for realizing translation and rotation in a load plane area, the lifting and posture adjusting functions are completed by combining the 3 branched chain parallel mechanism, and finally the space 6-degree-of-freedom motion of the load is realized, so that the integrated requirements of load transferring and assembling and adjusting are met.
As shown in fig. 1, which is a schematic overall view of a six-degree-of-freedom posture adjustment system, it can be known that a six-degree-of-freedom posture adjustment system based on an omnidirectional moving module includes an omnidirectional moving platform 100, a three-degree-of-freedom parallel posture adjustment device 200, an auxiliary support device 300, and a load mounting platform 400; wherein, the omnidirectional mobile platform 100 is a horizontally placed cuboid vehicle body structure; the load mounting platform 400 is a horizontally disposed rectangular plate-like structure; the load mounting platform 400 is disposed vertically above the omni-directional mobile platform 100; the three-degree-of-freedom parallel posture adjusting device 200 and the auxiliary supporting device 300 are both arranged between the omnidirectional moving platform 100 and the load mounting platform 400; the three-degree-of-freedom parallel posture adjusting device 200 is arranged at the central position between the omnidirectional moving platform 100 and the load mounting platform 400; the auxiliary supporting means 300 is disposed at a four-sided position between the omni-directional moving platform 100 and the load installation platform 400; the external load is fixedly installed at the center of the upper surface of the load mounting platform 400.
As shown in fig. 2, which is a side view of the omnidirectional mobile platform, it can be seen that the omnidirectional mobile platform 100 includes a vehicle body 101, 4 rotating lifting rings 102, a mecanum wheel set 103, and 4 ground support legs 104; the vehicle body 101 is a shell structure of the omnidirectional mobile platform 100; the 4 rotary lifting rings 102 are symmetrically arranged on two opposite side walls of the vehicle body 101 in pairs; the omnidirectional moving platform 100 is hung and lifted by external hanging equipment through a rotary hanging ring 102; the Mecanum wheel set 103 is fixedly arranged at the bottom of the vehicle body 101 to drive the vehicle body 101 to horizontally move; the 4 ground support legs 104 are respectively arranged inside four corners of the vehicle body 101; after the vehicle body 101 moves to a designated position; the ground support legs 104 extend downwards from the interior of the vehicle body 101 to support the ground, so that the vehicle body 101 is limited. The omni-directional mobile platform 100 implements 3-degree-of-freedom movement including horizontal translation in the x-direction, horizontal translation in the y-direction, and horizontal rotation around the z-axis under the mobile platform coordinate system oxyz.
The method for establishing the mobile platform coordinate system oxyz comprises the following steps: taking the central point of the bottom plane of the omnidirectional mobile platform 100 as an origin o; the direction parallel to the axis of the Mecanum wheel set 103 is the y direction; the vertical up direction is the z direction, and the x direction is determined by the right hand rule.
As shown in fig. 3, which is a schematic diagram of a three-degree-of-freedom parallel posture adjustment device, it can be seen that the three-degree-of-freedom parallel posture adjustment device 200 includes 3 posture adjustment support rods 204 and a configuration retainer 205; wherein, the configuration holder 205 is an equilateral triangle frame structure; the configuration retainer 205 is horizontally and fixedly arranged in the middle of the lower surface of the load mounting platform 400; one axial end of each of the 3 posture-adjusting support rods 204 is butted with three vertexes of a triangular-configuration retainer 205 respectively; the other axial ends of the 3 posture-adjusting support rods 204 are all fixedly arranged on the upper surface of the omnidirectional moving platform 100.
The posture adjusting support rod 204 comprises a base 201, a rotating shaft 202 and a hydraulic rod 203; wherein, the base 201 is fixedly installed on the upper surface of the omnidirectional mobile platform 100; one axial end of the hydraulic rod 203 is connected with the base 201 through the rotating shaft 202; the other axial end of the hydraulic rod 203 is connected with a configuration retainer 205; the hydraulic rod 203 realizes the expansion and contraction along the axial direction; and the hydraulic rod 203 effects rotation about the rotary shaft 202. The hydraulic rod 203 has 1 degree of freedom of unidirectional expansion; the bottom kinematic pair of the hydraulic rod 203 is a revolute pair, and the top kinematic pair is a ball pair;
as shown in fig. 4, the auxiliary supporting device 300 includes 8 auxiliary supporting rods 306; every two of the 8 auxiliary supporting rods 306 are symmetrically and fixedly arranged at the four sides of the omnidirectional moving platform 100 in a group. The auxiliary stay bar 306 comprises an upper ball socket 301, a ball head support bar 302, a lower ball socket 303, a sliding block 304 and a guide rail 305; the guide rail 305 is fixedly installed on the upper surface of the omnidirectional mobile platform 100, and the guide rail 305 is parallel to the side of the omnidirectional mobile platform 100; the sliding block 304 is sleeved on the guide rail 305 to horizontally move along the guide rail 305; the lower ball socket 303 is fixedly arranged on the upper surface of the sliding block 304; one axial end of the ball head support rod 302 is butted with a lower ball socket 303; the upper ball socket 301 is fixedly arranged at the other axial end of the ball head support rod 302; the upper ball socket 301 is fixedly mounted on the lower surface of the load mounting platform 400; the ball head support rod 302 rotates around the upper ball socket 301; and the ball head support rod 302 rotates around the lower ball socket 303. The length of the ball head support rod 302 and the travel range of the guide rail 305 can ensure that the connecting rod mechanism is suitable for maintaining the position of the posture adjusting mechanism at any height and posture
The load mounting platform 400 is driven by the three-degree-of-freedom parallel posture adjusting device 200 and the auxiliary supporting device 300 to realize vertical translation along the z axis and lateral overturning with the x axis as the axis; and the pitching turnover takes the y axis as an axis. The vertical translation distance of the load mounting platform 400 along the z-axis is 0-1 m; the lateral overturning angle of the load mounting platform 400 is-5 to 5 degrees; the load mounting platform 400 has a tilt angle of-5 to 5 degrees.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (4)
1. A six-degree-of-freedom posture adjusting system based on an omnidirectional moving module is characterized in that: the device comprises an omnidirectional moving platform (100), a three-degree-of-freedom parallel posture adjusting device (200), an auxiliary supporting device (300) and a load mounting platform (400); wherein, the omnidirectional moving platform (100) is a cuboid vehicle body structure which is horizontally arranged; the load mounting platform (400) is a horizontally placed rectangular plate-shaped structure; the load mounting platform (400) is arranged vertically above the omnidirectional moving platform (100); the three-degree-of-freedom parallel posture adjusting device (200) and the auxiliary supporting device (300) are both arranged between the omnidirectional moving platform (100) and the load mounting platform (400); the three-degree-of-freedom parallel posture adjusting device (200) is arranged at the central position between the omnidirectional moving platform (100) and the load mounting platform (400); the auxiliary supporting device (300) is arranged at a four-side position between the omnidirectional moving platform (100) and the load mounting platform (400); the external load is fixedly arranged at the central position of the upper surface of the load mounting platform (400);
the omnidirectional mobile platform (100) comprises a vehicle body (101), 4 rotary lifting rings (102), a Mecanum wheel set (103) and 4 ground support legs (104); the vehicle body (101) is a shell structure of the omnidirectional mobile platform (100); the 4 rotary lifting rings (102) are symmetrically arranged on two opposite side walls of the vehicle body (101) in pairs; the omnidirectional mobile platform (100) is hung and lifted by external hanging equipment through a rotary hanging ring (102); the Mecanum wheel set (103) is fixedly arranged at the bottom of the vehicle body (101) to drive the vehicle body (101) to horizontally move; the 4 ground support legs (104) are respectively arranged inside four corners of the vehicle body (101); when the vehicle body (101) moves to a designated position; the ground support legs (104) extend downwards from the interior of the vehicle body (101) to support the ground, so that the vehicle body (101) is limited;
the three-degree-of-freedom parallel posture adjusting device (200) comprises 3 posture adjusting support rods (204) and a configuration retainer (205); wherein the configuration retainer (205) is an equilateral triangle frame structure; the configuration retainer (205) is horizontally and fixedly arranged in the middle of the lower surface of the load mounting platform (400); one axial end of each of the 3 posture-adjusting support rods (204) is butted with three vertexes of a triangular configuration retainer (205) respectively; the other axial ends of the 3 posture-adjusting support rods (204) are fixedly arranged on the upper surface of the omnidirectional moving platform (100);
the posture adjusting support rod (204) comprises a base (201), a rotating shaft (202) and a hydraulic rod (203); wherein, the base (201) is fixedly arranged on the upper surface of the omnidirectional moving platform (100); one axial end of the hydraulic rod (203) is connected with the base (201) through a rotating shaft (202); the other axial end of the hydraulic rod (203) is connected with a configuration retainer (205); the hydraulic rod (203) realizes the expansion along the axial direction; and the hydraulic rod (203) realizes the rotation around the rotating shaft (202);
the auxiliary supporting device (300) comprises 8 auxiliary supporting rods (306); every two of 8 auxiliary supporting rods (306) are symmetrically and fixedly arranged on the four sides of the omnidirectional moving platform (100) in a group;
the auxiliary stay bar (306) comprises an upper ball socket (301), a ball head support bar (302), a lower ball socket (303), a sliding block (304) and a guide rail (305); the guide rail (305) is fixedly arranged on the upper surface of the omnidirectional moving platform (100), and the guide rail (305) is parallel to the side edge of the omnidirectional moving platform (100); the sliding block (304) is sleeved on the guide rail (305) to horizontally move along the guide rail (305); the lower ball socket (303) is fixedly arranged on the upper surface of the sliding block (304); one axial end of the ball head support rod (302) is butted with the lower ball socket (303); the upper ball socket (301) is fixedly arranged at the other axial end of the ball head support rod (302); the upper ball socket (301) is fixedly arranged on the lower surface of the load mounting platform (400); the ball head support rod (302) rotates around the upper ball socket (301); the ball head support rod (302) rotates around the lower ball socket (303);
the load mounting platform (400) is driven by the three-degree-of-freedom parallel posture adjusting device (200) and the auxiliary supporting device (300) to realize vertical translation along a z axis and lateral overturning with an x axis as an axis; and the pitching turnover takes the y axis as an axis.
2. The system of claim 1, wherein the system comprises: the omnidirectional moving platform (100) realizes 3-degree-of-freedom movement, including horizontal translation along the x direction, horizontal translation along the y direction and horizontal rotation by taking the z axis as a central axis under a moving platform coordinate system oxyz.
3. The system of claim 2, wherein the system comprises: the method for establishing the mobile platform coordinate system oxyz comprises the following steps: taking the central point of the bottom plane of the omnidirectional mobile platform (100) as an origin o; the direction parallel to the axis of the Mecanum wheel set (103) is the y direction; the vertical up direction is the z direction, and the x direction is determined by the right hand rule.
4. The system of claim 3, wherein the system comprises: the vertical translation distance of the load mounting platform (400) along the z axis is 0-1 m; the lateral overturning angle of the load mounting platform (400) is-5 degrees; the pitching turnover angle of the load mounting platform (400) is-5 degrees.
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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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| CN102079369A (en) * | 2010-12-31 | 2011-06-01 | 大连理工大学 | Three-degree of freedom (TDOF) adjustable pier for ship |
| CN102631275B (en) * | 2011-12-14 | 2013-10-02 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| CN103144100A (en) * | 2013-03-21 | 2013-06-12 | 万新光学集团有限公司 | Moving parallel robot mechanism with three freedom degrees |
| CN103350758B (en) * | 2013-06-24 | 2015-06-10 | 北京航空航天大学 | Attitude-adjustable moon soft lander |
| CN104679003B (en) * | 2015-02-02 | 2017-06-13 | 东北大学 | A kind of all-around mobile head robot |
| CN104891332B (en) * | 2015-06-11 | 2017-02-08 | 江苏凯欣电气设备有限公司 | Three degree-of-freedom self-stabilizing box body grab bucket based on parallel mechanism |
| CN205068863U (en) * | 2015-10-22 | 2016-03-02 | 燕山大学 | Motion that structural parameters is adjustable parallelly connected platform with cluster spring bears branch |
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN105563464B (en) * | 2015-12-29 | 2017-10-31 | 北京灏核鑫京科技有限公司 | Electronic equipment clamps robot |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN106904555A (en) * | 2017-03-25 | 2017-06-30 | 山东交通学院 | A kind of electro-hydraulic spiral servo drives scissor-type heavy lift platform |
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