CN110307452B - Four-linkage six-degree-of-freedom fine adjustment mechanism - Google Patents
Four-linkage six-degree-of-freedom fine adjustment mechanism Download PDFInfo
- Publication number
- CN110307452B CN110307452B CN201811638579.9A CN201811638579A CN110307452B CN 110307452 B CN110307452 B CN 110307452B CN 201811638579 A CN201811638579 A CN 201811638579A CN 110307452 B CN110307452 B CN 110307452B
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- transverse
- lifting
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- longitudinal
- moving
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000010586 diagram Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/048—Allowing translations adapted to forward-backward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
Abstract
The invention provides a four-linkage six-degree-of-freedom fine adjustment mechanism, which comprises: the lifting device comprises a main body beam, a longitudinal moving beam, a transverse moving beam and a lifting appliance beam, wherein the main body beam, the longitudinal moving beam, the transverse moving beam and the lifting appliance beam are horizontally arranged; a longitudinal moving oil cylinder is fixed on the main body beam, and a telescopic rod of the longitudinal moving oil cylinder is fixedly connected with the longitudinal moving beam; the transverse moving beam is rotatably connected with the longitudinal moving beam through a slewing bearing, the axis of the slewing bearing is along the vertical direction, two transverse moving oil cylinders are fixed on the longitudinal moving beam, and the two transverse moving oil cylinders are positioned on two sides of the slewing bearing; the lifting appliance beam is positioned below the transverse beam, four lifting cylinders are fixed on the transverse beam, and telescopic rods of the lifting cylinders are hinged with the lifting appliance beam. The four-linkage six-degree-of-freedom fine adjustment mechanism has the advantages that the structure is simple, the adjustment of six degrees of freedom can be realized, and the working efficiency is high.
Description
Technical Field
The invention relates to a degree-of-freedom adjusting mechanism, in particular to a four-linkage six-degree-of-freedom fine adjusting mechanism.
Background
The conventional five-mechanism needs to perform space coordinate transformation after receiving total station data, has low efficiency and large error after the transformation, and can meet certain precision requirements by performing multiple times of convergence. Therefore, the research on a novel six-degree-of-freedom fine tuning mechanism is an urgent problem to be solved in the field.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the problems that the structure of the traditional five-link precision adjusting mechanism is complex and the adjusting efficiency is low. The invention provides a four-linkage six-degree-of-freedom fine adjustment mechanism for solving the problems.
The technical scheme adopted for solving the technical problems is as follows: a four-linked six degree-of-freedom fine tuning mechanism comprising:
the lifting device comprises a main body beam, a longitudinal moving beam, a transverse moving beam and a lifting appliance beam, wherein the main body beam, the longitudinal moving beam, the transverse moving beam and the lifting appliance beam are horizontally arranged;
a longitudinal moving oil cylinder is fixed on the main body beam, and a telescopic rod of the longitudinal moving oil cylinder is fixedly connected with the longitudinal moving beam;
the transverse beam is rotatably connected with the longitudinal beam through a slewing bearing, the axis of the slewing bearing is in the vertical direction, two transverse moving cylinders are fixed on the longitudinal beam and are positioned on two sides of the slewing bearing, the telescopic directions of telescopic rods of the two transverse moving cylinders are in the horizontal direction and are the same, and the telescopic rods of the transverse moving cylinders are hinged with the transverse beam;
the lifting appliance beam is positioned below the transverse beam, four lifting cylinders are fixed on the transverse beam, the telescopic direction of the telescopic rods of the lifting cylinders is in a vertical direction, and the telescopic rods of the lifting cylinders are hinged with the lifting appliance beam.
Preferably, the main body beam is further provided with a plurality of supporting legs, and the bottom ends of the supporting legs are rotatably fixed with rollers.
Preferably, the lifting oil cylinders are fixed at the bottom of the transverse beam, and the fixing points of the four lifting oil cylinders and the transverse beam are distributed on four vertexes of a rectangle.
The four-linkage six-degree-of-freedom fine adjustment mechanism has the advantages that the structure is simple, the adjustment of six degrees of freedom can be realized, and the working efficiency is high.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a four-link six-degree-of-freedom fine tuning mechanism according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a four-link six-degree-of-freedom fine tuning mechanism according to an embodiment of the present invention.
FIG. 3 is a schematic view of the connection between a transverse beam and a longitudinal beam in a preferred embodiment of a four-link six-degree-of-freedom fine tuning mechanism of the present invention.
In the figure, 1, a main body beam, 2, a longitudinal moving beam, 3, a transverse moving beam, 4, a lifting appliance beam, 5, a transverse moving oil cylinder, 6, a lifting oil cylinder, 7, a longitudinal moving oil cylinder, 8, a slewing bearing, 9, supporting legs, 10 and idler wheels.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
As shown in fig. 1 to 3, the invention provides a four-linkage six-degree-of-freedom fine adjustment mechanism:
comprises a main body beam 1, a longitudinal moving beam 2, a transverse moving beam 3 and a lifting appliance beam 4 which are horizontally arranged. The main body beam 1 is fixedly provided with a longitudinal moving oil cylinder 7, and a telescopic rod of the longitudinal moving oil cylinder 7 is fixedly connected with the longitudinal moving beam 2.
The transverse beam 3 is rotatably connected with the longitudinal beam 2 through a slewing bearing 8, the axis of the slewing bearing 8 is along the vertical direction, two transverse oil cylinders 5 are fixed on the longitudinal beam 2, the two transverse oil cylinders 5 are positioned on two sides of the slewing bearing 8, the telescopic directions of telescopic rods of the two transverse oil cylinders 5 are along the horizontal direction and are the same in direction, and the telescopic rods of the transverse oil cylinders 5 are hinged with the transverse beam 3.
The lifting beam 4 is positioned below the transverse beam 3, four lifting cylinders 6 are fixed at the bottom of the transverse beam 3, the telescopic rod of each lifting cylinder 6 stretches in the vertical direction, and the telescopic rod of each lifting cylinder 6 is hinged with the lifting beam 4. The fixed points of the four lifting cylinders 6 and the transverse beam 3 are distributed on four vertexes of the rectangle.
The working principle of the whole fine adjustment mechanism is as follows: the horizontal longitudinal direction is set as the X direction, the horizontal transverse direction is set as the Y direction, and the vertical direction is set as the Z direction. An object to be regulated is placed on the lifting beam 4, and the longitudinal moving beam 2 can be driven to move in the X direction through the expansion and contraction of the telescopic rod of the longitudinal moving oil cylinder 7, so that the transverse moving beam 3 and the lifting beam 4 are driven to move in the X direction. When the telescopic rods of the two transverse moving oil cylinders 5 synchronously stretch out and draw back, the transverse moving beam 3 and the lifting appliance beam 4 can move in the Y direction, and when the telescopic rod of one transverse moving oil cylinder 5 stretches out of the telescopic rod of one transverse moving oil cylinder 5 to retract, the transverse moving beam 3 can be driven to rotate around the slewing bearing 8, and then the lifting appliance beam 4 is driven to rotate along the Z direction. When the four lifting cylinders 6 are synchronously telescopic, the lifting beam 4 can move along the Z direction. When the telescopic rods of the two lifting oil cylinders 6 on the same side are retracted, and the telescopic rods of the two lifting oil cylinders 6 on the other side are extended, the lifting beam 4 can be driven to swing in the horizontal direction, namely, the lifting beam 4 can rotate along the X-axis direction and rotate along the Y-axis direction. Therefore, the whole fine adjustment mechanism can realize six-degree-of-freedom adjustment of objects loaded on the lifting beam.
According to a further embodiment, the main body beam 1 is further provided with four support legs 9, and the bottom ends of the support legs 9 are rotatably fixed with rollers 10. This facilitates movement and handling of the entire mechanism.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (3)
1. A four-linkage six-degree-of-freedom fine adjustment mechanism is characterized in that:
the lifting device comprises a main body beam, a longitudinal moving beam, a transverse moving beam and a lifting appliance beam, wherein the main body beam, the longitudinal moving beam, the transverse moving beam and the lifting appliance beam are horizontally arranged;
a longitudinal moving oil cylinder is fixed on the main body beam, and a telescopic rod of the longitudinal moving oil cylinder is fixedly connected with the longitudinal moving beam;
the transverse beam is rotatably connected with the longitudinal beam through a slewing bearing, the axis of the slewing bearing is in the vertical direction, two transverse moving cylinders are fixed on the longitudinal beam and are positioned on two sides of the slewing bearing, the telescopic directions of telescopic rods of the two transverse moving cylinders are in the horizontal direction and are the same, and the telescopic rods of the transverse moving cylinders are hinged with the transverse beam;
the lifting appliance beam is positioned below the transverse beam, four lifting cylinders are fixed on the transverse beam, the telescopic direction of the telescopic rods of the lifting cylinders is in a vertical direction, and the telescopic rods of the lifting cylinders are hinged with the lifting appliance beam.
2. The four-in-six degree-of-freedom fine adjustment mechanism of claim 1, wherein:
the main body beam is also provided with a plurality of supporting legs, and the bottom ends of the supporting legs are rotatably fixed with idler wheels.
3. The four-in-six degree-of-freedom fine adjustment mechanism of claim 1, wherein:
the lifting oil cylinders are fixed at the bottom of the transverse beam, and the fixing points of the four lifting oil cylinders and the transverse beam are distributed on four vertexes of a rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638579.9A CN110307452B (en) | 2018-12-29 | 2018-12-29 | Four-linkage six-degree-of-freedom fine adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638579.9A CN110307452B (en) | 2018-12-29 | 2018-12-29 | Four-linkage six-degree-of-freedom fine adjustment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110307452A CN110307452A (en) | 2019-10-08 |
| CN110307452B true CN110307452B (en) | 2024-03-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811638579.9A Active CN110307452B (en) | 2018-12-29 | 2018-12-29 | Four-linkage six-degree-of-freedom fine adjustment mechanism |
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| Country | Link |
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| CN (1) | CN110307452B (en) |
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| JP2002130586A (en) * | 2000-10-23 | 2002-05-09 | Nifco Inc | Adjustable leg device |
| KR20060091016A (en) * | 2005-02-12 | 2006-08-17 | 김중삼 | Device for supporting temporary beam of slab form |
| CN202220041U (en) * | 2011-08-03 | 2012-05-16 | 秦皇岛天业通联重工股份有限公司 | Sling used for concrete box girder |
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| CN202220041U (en) * | 2011-08-03 | 2012-05-16 | 秦皇岛天业通联重工股份有限公司 | Sling used for concrete box girder |
| DE202012008443U1 (en) * | 2012-09-04 | 2012-10-11 | Krinner Innovation Gmbh | Alignable foundation system for solar panels |
| CN202972397U (en) * | 2012-12-17 | 2013-06-05 | 东旭集团有限公司 | Real-time automatic abrasion compensation type rotation center in A-shaped frame rotation device |
| CN204454465U (en) * | 2015-01-05 | 2015-07-08 | 湖南三一港口设备有限公司 | A kind of revolution suspender and telescopic arm forklift |
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| Publication number | Publication date |
|---|---|
| CN110307452A (en) | 2019-10-08 |
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