CN109318188A - A kind of heavily loaded trolley docking platform of space five-freedom movement - Google Patents
A kind of heavily loaded trolley docking platform of space five-freedom movement Download PDFInfo
- Publication number
- CN109318188A CN109318188A CN201811233478.3A CN201811233478A CN109318188A CN 109318188 A CN109318188 A CN 109318188A CN 201811233478 A CN201811233478 A CN 201811233478A CN 109318188 A CN109318188 A CN 109318188A
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- axis
- rotation
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- module
- translation device
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Classifications
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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
-
- 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
- B25H5/00—Tool, instrument or work supports or storage means used in association with vehicles; Workers' supports, e.g. mechanics' creepers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The present invention provides a kind of space five-freedoms to move heavily loaded trolley docking platform, is related to Photomechanical equipment technical field, heavily loaded module frame space five-freedom motion requirement in docking operation may be implemented, merging precision can satisfy the demand of bolt.The docking platform includes: Z axis 360 degree rotation device, Y-axis translation device, X-axis translation device, Y-axis rotating device and X-axis rotating device and the support baseboard for being mounted on trolley bottom, support lower margin and support castor.Z axis 360 degree rotation device is located at the top of docking platform, and 360 degree of module rotations may be implemented, to adjust the gap to connection module two sides.Y-axis translation device and X-axis translation device are located at the lower section of Z axis 360 degree rotation device, and the front and back and side-to-side movement to connection module may be implemented.The swing to connection module along front and back and left and right directions rotation center may be implemented in Y-axis rotating device and X-axis rotating device, so as to adjust the difference of height to connection module.
Description
Technical field
Heavily loaded trolley docking is moved the present invention relates to Photomechanical equipment technical field more particularly to a kind of space five-freedom to put down
Platform.
Background technique
It is generally carried out by the way of bolt between heavily loaded module frame, uses hanging belt by heavily loaded module under conventional situation
Frame is sling, and then manually carries out rotating and mobile splicing, time and effort consuming and is had to the number and technical experience of operator
Very high requirement.In order to improve docking efficiency, meets the docking demand under different applying working conditions, design two moulds of completion
Block docking platform at least needs to meet the locomitivity of six-freedom degree, it is contemplated that docks the need of the module pose adjustment of completion
It wants, platform 1 is designed as to the translation platform of 3DOF in real process, benchmark heavy duty module is placed on above platform, docking is flat
Platform 2 is designed as 5DOF platform, and another heavily loaded module is placed on above platform 2, and platform 1 and platform 2 cooperate and complete heavy duty
Docking between module and base modules, to finally realize the bolt demand of module frame.
Summary of the invention
The technical problems to be solved by the present invention are: providing, one kind is structurally reasonable, space five-freedom easy to use is flat
Dynamic heavy duty trolley docking platform, meets the five degree of freedom motion requirement of heavily loaded module in heavily loaded module docking operation.
The present invention be solve the problems, such as it is set forth above used by technical solution be:
A kind of heavily loaded trolley docking platform of space five-freedom movement, including Z axis 360 degree rotation device, Y-axis translation dress
It sets, X-axis translation device, Y-axis rotating device and X-axis rotating device and be mounted on the support baseboard of trolley bottom, support lower margin
With support castor.Z axis 360 degree rotation device is located at the top of docking platform, 360 degree of module rotations may be implemented, to adjust
Save the gap to connection module two sides.Y-axis translation device and X-axis translation device are located at the lower section of Z axis 360 degree rotation device, can be with
Realize the front and back to connection module and side-to-side movement.Y-axis rotating device and X-axis rotating device may be implemented to connection module along front and back and
The swing of left and right directions rotation center, so as to adjust the difference of height to connection module.
The Z axis 360 degree rotation device, including Z axis table servo motor 1, turntable speed reducer 2, worm and gear precision turn
Platform 3, the module mounting plate 5 limited with precise rotating platform bolt top plate 4 and offer heavily loaded module installation front and back.Worm and gear turntable
3 are changed into the rotary motion of vertical direction the rotation of horizontal direction, realize the 360 degree rotation fortune of top plate 4 and heavily loaded module
Dynamic, vertical gripper shoe 7 is installed in module tilt in rotary course, the left and right sides of turntable bottom plate 8 in order to prevent, and passes through bolt and exist
Anti-attrition gasket 6 in vertical gripper shoe 7 realizes the effect of support and anti-attrition to top plate 4.
The X-axis translation device is identical with Y-axis translation device structure, including translation device servo motor 10, shaft coupling peace
Full cover 11, worm screw mounting base 12, fine grinding worm screw 17 and nut bracket 16, translation device servo motor 10 provide rotation torque,
It moves precise worm 17 through shaft coupling transmission rear-drive to rotate, so that nut bracket 16 be driven to move forward and backward, translation device top plate 15 is pacified
Above nut bracket 16, after being oriented to using double sided slider bar 13 and Four-slider 14, as nut bracket 16 moves forward and backward, entirely
Device is installed on 9 top of translation bottom plate.
The X-axis rotating device is identical with Y-axis rotary device structure, including the installation of rotating mechanism servo motor 24, motor
Frame 23, spiral bevel gear bidirectional output decelerator 22, screw lifter 19, rotation pin 20 and the column pin hole with top plate bolt
Support 21.The output torque of rotating mechanism servo motor 24 is after 22 deceleration torque increase of spiral bevel gear bidirectional output decelerator through joining
Axis device is exported simultaneously to the screw lifter 19 of two sides, and the screw rod of screw lifter 19 passes through rotation pin 20 and rotation column pin hole
Support 21 is connected with rotating mechanism top plate 28, so as to realize the folding up and down of top plate single side, in the rotation of moving process
The heart is made of rotation center bracket 25, rotation center axis pin of column 26 and rotation center column pin hole support 27, all device peaces
Loaded on rotating device bottom plate 18.
The support baseboard uses No. 45 steel plate structures, guarantees that table top has enough rigidity.
The support lower margin and back-up roller wheel are mounted on four base angles of support baseboard, meet trolley respectively in docking operation
In support and the function that is moved easily.
Detailed description of the invention
Fig. 1 is structure chart of the invention；
Fig. 2 is Z axis 360 degree rotation device installation diagram of the present invention；
Fig. 3 is Y-axis translation device of the present invention and Y-axis translation device installation diagram；
Fig. 4 is X-axis rotating device of the present invention and Y-axis rotating device installation diagram；
Wherein, 1 Z axis table servo motor, 2 turntable speed reducers, 3 worm and gear precise rotating platforms, 4 precise rotating platforms bolt top
Plate, 5 module mounting plates, 6 anti-attrition gaskets, 7 vertical gripper shoes, 8 turntable bottom plates, 9 translation bottom plates, 10 translation device servo motors,
11 coupler safety covers, 12 worm screw mounting bases, 13 double sided slider bars, 14 Four-sliders, 15 translation device top plates, 16 nut brackets, 17 essences
Mill worm screw, 18 rotating device bottom plates, 19 screw lifters, 20 rotation pins, 21 column pin hole supports, 22 spiral bevel gears are two-way defeated
Retarder out, 23 motor mounting racks, 24 rotating mechanism servo motors, 25 rotation center brackets, 26 rotation center axis pin of column, 27 rotations
Turn center column pin hole support, 28 rotating mechanism top plates.
Specific embodiment
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
A kind of heavily loaded trolley docking platform of space five-freedom movement, as shown in Figure 1, including Z axis 360 degree rotation device, Y
Axis translation device, X-axis translation device, Y-axis rotating device and X-axis rotating device and be mounted on trolley bottom support baseboard,
Support lower margin and support castor.Z axis 360 degree rotation device is located at the top of docking platform, may be implemented 360 degree of module and turns
It is dynamic, to adjust the gap to connection module two sides.Y-axis translation device and X-axis translation device are located at Z axis 360 degree rotation device
Front and back and side-to-side movement to connection module may be implemented in lower section.Docking mould may be implemented in Y-axis rotating device and X-axis rotating device
Block along front and back and left and right directions rotation center swing, so as to adjust the difference of height to connection module.
The Z axis 360 degree rotation device, as shown in Fig. 2, including Z axis table servo motor 1, turntable speed reducer 2, worm gear
Worm screw precise rotating platform 3, the module mounting plate 5 limited with precise rotating platform bolt top plate 4 and offer heavily loaded module installation front and back.Snail
The rotary motion of vertical direction is changed into the rotation of horizontal direction by worm and gear precise rotating platform 3, realizes top plate 4 and heavily loaded module
360 degree rotation movement, vertical gripper shoe is installed in the left and right sides of module tilt in rotary course in order to prevent, turntable bottom plate 8
7, and effect of the realization of anti-attrition gasket 6 to support and the anti-attrition of top plate 4 by bolt in vertical gripper shoe 7.
The X-axis translation device is identical with Y-axis translation device structure, as shown in figure 3, including translation device servo motor
10, coupler safety cover 11, worm screw mounting base 12, fine grinding worm screw 17 and nut bracket 16, translation device servo motor 10 mention
For rotation torque, precise worm 17 is moved through shaft coupling transmission rear-drive and is rotated, so that nut bracket 16 is driven to move forward and backward, translation dress
Top set plate 15 is mounted on 16 top of nut bracket, after being oriented to using double sided slider bar 13 and Four-slider 14, before nut bracket 16
After move, whole device is installed on translation bottom plate 9 top.
The X-axis rotating device is identical with Y-axis rotary device structure, as shown in figure 4, including rotating mechanism servo motor
24, motor mounting rack 23, spiral bevel gear bidirectional output decelerator 22, screw lifter 19, rotation pin 20 and and top plate
The column pin hole support 21 of bolt.The output torque of rotating mechanism servo motor 24 subtracts through spiral bevel gear bidirectional output decelerator 22
It is exported simultaneously through shaft coupling to the screw lifter 19 of two sides after fast torque increase, the screw rod of screw lifter 19 passes through rotation pin 20
It is connected with rotation column pin hole support 21 with rotating mechanism top plate 28, so as to realize the folding up and down of top plate single side, folding
The rotation center of process is by 27 groups of rotation center bracket 25, rotation center axis pin of column 26 and rotation center column pin hole support
At all devices are installed on rotating device bottom plate 18.
The support baseboard uses No. 45 steel plate structures, guarantees that table top has enough rigidity.
The support lower margin and back-up roller wheel are mounted on four base angles of support baseboard, meet trolley respectively in docking operation
In support and the function that is moved easily.
The beneficial effects of the present invention are: 1 space five-freedom of the invention moves heavily loaded trolley docking platform can be real
Existing heavy duty module frame space five-freedom motion requirement in docking operation, merging precision can satisfy the demand of bolt.2
The X-axis rotating device and Y-axis rotating device of apparatus of the present invention most top surface rotate plug structures using Bilateral Symmetry, therefore can be real
Device spreads the rotation of the small range both forward and reverse directions on direction in X-axis and Y direction under existing heavy load condition.
Claims (5)
1. a kind of space five-freedom moves heavily loaded trolley docking platform, which is characterized in that including Z axis 360 degree rotation device, Y
Axis translation device, X-axis translation device, Y-axis rotating device and X-axis rotating device and be mounted on trolley bottom support baseboard,
Support lower margin and the support baseboard, support lower margin and support leg for supporting castor and X-axis rotating device and being mounted on trolley bottom
Wheel, Z axis 360 degree rotation device are located at the top of docking platform, 360 degree of module rotations may be implemented, to adjust docking mould
The gap of block two sides, Y-axis translation device and X-axis translation device are located at the lower section of Z axis 360 degree rotation device, may be implemented to dock
The front and back of module and side-to-side movement, Y-axis rotating device and X-axis rotating device may be implemented to connection module along front and back and left and right directions
The swing of rotation center, so as to adjust the difference of height to connection module.
2. docking platform as described in claim 1, which is characterized in that the Z axis 360 degree rotation device, including Z axis turntable are watched
Motor (1) is taken, turntable speed reducer (2), worm and gear precise rotating platform (3), top plate (4) is bolted with precise rotating platform and provides heavily loaded
The rotary motion of vertical direction is changed into level by the module mounting plate (5) that module installation front and back limits, worm and gear turntable (3)
The rotation in direction realizes the 360 degree rotation movement of top plate (4) and heavily loaded module, in order to prevent module tilt in rotary course,
Vertical gripper shoe (7) are installed in the left and right sides of turntable bottom plate (8), and the anti-attrition gasket by bolt on vertical gripper shoe (7)
(6) effect of support and the anti-attrition to top plate (4) is realized.
3. docking platform as described in claim 1, which is characterized in that the X-axis translation device and Y-axis translation device structure phase
Together, including translation device servo motor (10), coupler safety cover (11), worm screw mounting base (12), fine grinding worm screw (17) and
Nut bracket (16), translation device servo motor (10) provide rotation torque, move precise worm (17) through shaft coupling transmission rear-drive
Rotation, so that nut bracket (16) be driven to move forward and backward, translation device top plate (15) is mounted on above nut bracket (16), is used
After double sided slider bar (13) and Four-slider (14) guiding, as nut bracket (16) moves forward and backward, whole device is installed on translation bottom
Above plate (9).
4. docking platform as described in claim 1, which is characterized in that the X-axis rotating device and Y-axis rotary device structure phase
Together, including rotating mechanism servo motor (24), motor mounting rack (23), spiral bevel gear bidirectional output decelerator (22), spiral
Lifter (19), rotation pin (20) and the column pin hole support (21) with top plate bolt.Rotating mechanism servo motor (24)
Output torque is exported simultaneously through shaft coupling to the spiral of two sides after spiral bevel gear bidirectional output decelerator (22) deceleration torque increase
The screw rod of lifter (19), screw lifter (19) passes through rotation pin (20) and rotation column pin hole support (21) and rotating mechanism
Top plate (28) is connected, and so as to realize the folding up and down of top plate single side, the rotation center of moving process is by rotation center
Bracket (25), rotation center axis pin of column (26) and rotation center column pin hole support (27) composition, all devices are installed on rotation
On device bottom plate (18).
5. docking platform as described in claim 1, which is characterized in that the support baseboard uses No. 45 steel plate structures, guarantees
Table top has enough rigidity, and the support lower margin and back-up roller wheel are mounted on four base angles of support baseboard, meet trolley respectively
Support in docking operation and the function being moved easily.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233478.3A CN109318188A (en) | 2018-10-23 | 2018-10-23 | A kind of heavily loaded trolley docking platform of space five-freedom movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233478.3A CN109318188A (en) | 2018-10-23 | 2018-10-23 | A kind of heavily loaded trolley docking platform of space five-freedom movement |
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| Publication Number | Publication Date |
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| CN109318188A true CN109318188A (en) | 2019-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811233478.3A Pending CN109318188A (en) | 2018-10-23 | 2018-10-23 | A kind of heavily loaded trolley docking platform of space five-freedom movement |
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Cited By (7)
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|---|---|---|---|---|
| CN110450112A (en) * | 2019-08-28 | 2019-11-15 | 上海理工大学 | The mechanical micromotion platform of five degree of freedom |
| CN110954400A (en) * | 2019-12-24 | 2020-04-03 | 吉林大学 | Four-degree-of-freedom platform clamp for nano indentation experiment of cartilage material |
| CN111515909A (en) * | 2020-04-29 | 2020-08-11 | 南宁学院 | Quick overhaul device of electrical control equipment |
| CN111986822A (en) * | 2020-07-27 | 2020-11-24 | 哈尔滨工业大学 | X-ray characterization detector precision adjustment carrying mechanism |
| CN112309493A (en) * | 2020-10-29 | 2021-02-02 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN112357488A (en) * | 2020-11-16 | 2021-02-12 | 哈尔滨工程大学 | Universal support device for butt joint of auxiliary platform and transfer system with same |
| CN112692798A (en) * | 2020-12-14 | 2021-04-23 | 武汉红星杨科技有限公司 | High-precision 13-degree-of-freedom automatic butt joint device and method |
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| CN106826179A (en) * | 2017-04-01 | 2017-06-13 | 哈尔滨工业大学 | A kind of air-flotation type flexible drawing Butt Assembling platform |
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| CN104833506A (en) * | 2015-04-16 | 2015-08-12 | 吉林大学 | Machine tool electrical spindle reliability testing stand centering adjusting device |
| CN105522548A (en) * | 2015-11-27 | 2016-04-27 | 北京卫星制造厂 | Tandem type six-degree-of-freedom accurate adjustment device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450112A (en) * | 2019-08-28 | 2019-11-15 | 上海理工大学 | The mechanical micromotion platform of five degree of freedom |
| CN110450112B (en) * | 2019-08-28 | 2022-11-04 | 上海理工大学 | Five-freedom-degree mechanical micro-motion platform |
| CN110954400A (en) * | 2019-12-24 | 2020-04-03 | 吉林大学 | Four-degree-of-freedom platform clamp for nano indentation experiment of cartilage material |
| CN111515909A (en) * | 2020-04-29 | 2020-08-11 | 南宁学院 | Quick overhaul device of electrical control equipment |
| CN111986822A (en) * | 2020-07-27 | 2020-11-24 | 哈尔滨工业大学 | X-ray characterization detector precision adjustment carrying mechanism |
| CN111986822B (en) * | 2020-07-27 | 2022-11-29 | 哈尔滨工业大学 | X-ray characterization detector precision adjustment carrying mechanism |
| CN112309493A (en) * | 2020-10-29 | 2021-02-02 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN112309493B (en) * | 2020-10-29 | 2022-06-03 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN112357488A (en) * | 2020-11-16 | 2021-02-12 | 哈尔滨工程大学 | Universal support device for butt joint of auxiliary platform and transfer system with same |
| CN112357488B (en) * | 2020-11-16 | 2021-10-19 | 哈尔滨工程大学 | Universal support device for butt joint of auxiliary platform and transfer system with same |
| CN112692798A (en) * | 2020-12-14 | 2021-04-23 | 武汉红星杨科技有限公司 | High-precision 13-degree-of-freedom automatic butt joint device and method |
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