CN111716330B - Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof - Google Patents

Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof Download PDF

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Publication number
CN111716330B
CN111716330B CN202010549781.5A CN202010549781A CN111716330B CN 111716330 B CN111716330 B CN 111716330B CN 202010549781 A CN202010549781 A CN 202010549781A CN 111716330 B CN111716330 B CN 111716330B
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lead screw
pair
freedom
synchronous
leg
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CN111716330A (en
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周玉林
毕宫鑫琦
邱雪松
丰宗强
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Yanshan University
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Yanshan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • 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

Abstract

The invention relates to a synchronous parallel side 6-degree-of-freedom branched chain leg and a 6-degree-of-freedom parallel posture adjusting platform thereof, wherein the synchronous parallel side 6-degree-of-freedom branched chain leg comprises a supporting leg rack, a vertical lifting module, a horizontal X-direction moving module, a horizontal Y-direction moving module and a ball pair supporting leg module, wherein the first vertical lifting module and the second vertical lifting module are respectively arranged on a first side surface and a second side surface of the supporting leg rack, the horizontal X-direction moving module and the horizontal Y-direction moving module are respectively arranged on an upper floating platform and a middle floating platform, and the ball pair supporting leg module is arranged on a lower floating platform; the 6-freedom parallel posture adjusting platform with the synchronous parallel side 6-freedom branched chain legs comprises a movable platform, a control system cabinet, a power storage battery and four synchronous parallel side 6-freedom branched chain legs. The invention can reduce the overall height of the posture adjusting branched chain leg and the posture adjusting platform, and can meet the requirements of large bearing and 6-degree-of-freedom posture adjusting assembly.

Description

Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof
Technical Field
The invention belongs to the technical field of butt joint assembly of large and heavy equipment, and particularly relates to a synchronous parallel side-mounted ultra-low 6-degree-of-freedom branched chain leg and a 6-degree-of-freedom parallel posture adjusting platform thereof.
Background
With the continuous development of aerospace industry in China, the butt joint installation requirements of large-scale spacecraft components or equipment are continuously increased, such as attitude adjusting butt joint installation of large satellite components, aerospace cabin sections, carrier rockets and the like. The traditional butt joint method is generally operated manually and is provided with a corresponding auxiliary device, so that the technical level is low, the structure is large, and the butt joint method is particularly not favorable for operation and reasonable arrangement of short and narrow working spaces.
At present, most six-degree-of-freedom attitude adjusting platforms consist of a base and a plurality of sub-platforms, and can realize the rotation of an attitude adjusting component in three-degree-of-freedom linear motion and in pitching, rolling and rotating states, so that support is provided for the butt joint of large aerospace components. From the structural characteristics of the existing posture adjusting devices, most of the posture adjusting devices adopt a series configuration or a series-parallel connection, for example, Chinese patent CN201610280296.6 discloses a six-degree-of-freedom series-parallel posture adjusting platform for flexible assembly of a spacecraft cabin, which mainly comprises an upper platform, a middle front movable platform, a middle rear movable platform and a lower platform, wherein the platforms are connected in series, so that the six-degree-of-freedom posture adjusting function is completed. However, the general problems of such platforms are that the structural space is not compact enough, the size of the space in the height direction is large and difficult to reduce, and the spacecraft components are mostly large heavy-load equipment and are limited by the size of the field, the height space of the supporting equipment and the interface during assembly, so that the problems of low efficiency, poor adaptability and the like of butt joint installation operation of the large-scale space equipment are caused. Especially, the width of the posture adjusting platform is strictly limited, a side arrangement mode cannot be adopted, only a front-back or lower structure pattern can be arranged, and the low design is the core and the key for solving the practical engineering problem.
Aiming at the problems, the synchronous parallel side-arranged ultra-low 6-freedom branched chain leg and the 6-freedom parallel posture adjusting platform thereof are provided, and through modular combination, the transformation and recombination on the existing general platform technical equipment can be facilitated, so that the posture adjusting function is increased, and the synchronous parallel side-arranged ultra-low 6-freedom branched chain leg can be used as an independent 6-freedom posture adjusting platform.
Disclosure of Invention
Aiming at the situation, the invention provides a synchronous parallel side 6-degree-of-freedom branched chain leg and a 6-degree-of-freedom parallel posture adjusting platform thereof, which can reduce the space height of a posture adjusting branched chain leg mechanism to the maximum extent while realizing the functions of large bearing and 6-degree-of-freedom posture adjusting assembly, so that the branched chain leg is placed at the lower side of a movable platform and the position is not limited, and further, the limitation and the requirement of the butt joint assembly of large-scale spacecraft equipment and the limitation and the requirement of the interface of the existing corollary equipment on an ultra-low space are met on the basis of keeping the integral height of the parallel posture adjusting platform unchanged.
The technical scheme adopted by the invention is that the synchronous parallel side 6-degree-of-freedom branched-chain leg comprises a leg frame, a vertical lifting module, a horizontal X-direction moving module, a horizontal Y-direction moving module and a ball pair leg module, wherein the vertical lifting module comprises a first vertical lifting module, a second vertical lifting module and an upper floating platform, the first vertical lifting module and the second vertical lifting module are respectively arranged on a first side surface and a second side surface of the leg frame, the upper floating platform is arranged in the middle of the leg frame, and a first end and a second end of the upper floating platform are respectively connected with a first moving pair P of the leg frameZ1And a second sliding pair PZ2Connecting; the horizontal X-direction moving module comprises a third motor, a third speed reducer, a third synchronous pulley set, a third lead screw, a third nut, a third lead screw supporting seat, an X-direction guide rail, an X-direction sliding block and a middle floating platform, the third motor is arranged on the first end surface of the upper floating platform through the third speed reducer, an output shaft of the third speed reducer is connected with a third driving belt wheel in the third synchronous pulley set, the third lead screw is arranged on the second end surface of the upper floating platform through the third lead screw supporting seat, a first end of the third lead screw is connected with a third driven belt wheel in the third synchronous pulley set, the third driving belt wheel is in transmission connection with the third driven belt wheel through a synchronous belt, the X-direction guide rails are all arranged on the second end surface of the upper floating platform, and the third nut and the X-direction sliding block are all arranged on the first end surface of the middle floating platform, the X-direction slider and the third moving pair P of the X-direction guide railXConnected, and the third moving pair PXThe third screw rod is in transmission connection with the third nut; the horizontal Y-direction moving module comprises a fourth motor, a fourth speed reducer, a fourth synchronous pulley set, a fourth lead screw, a fourth nut, a fourth lead screw supporting seat, a Y-direction guide rail, a Y-direction sliding block and a lower-layer floating platform, the fourth motor is installed on the side surface of the middle floating platform through the fourth speed reducer, an output shaft of the fourth speed reducer is connected with a fourth driving belt wheel in the fourth synchronous pulley set, the fourth lead screw is installed on the second end surface of the middle floating platform through the fourth lead screw supporting seat, a first end of the fourth lead screw is connected with a fourth driven belt wheel in the fourth synchronous pulley set, the fourth driving belt wheel is in transmission connection with the fourth driven belt wheel through a synchronous belt, the Y-direction guide rail is respectively arranged at a first end and a second end of the second end surface of the middle floating platform, and the fourth nut and the Y-direction sliding block are both arranged at the first end surface of the lower-layer floating platform, the Y-direction sliding block and the fourth moving pair P of the Y-direction guide railYIs connected, and the fourth sliding pair PYThe fourth lead screw is in transmission connection with the fourth nut; and the ball pair supporting leg moduleIncluding ball pair bulb, ball pair end cover, support ball socket support and ball pair go up connecting portion, the first end of connecting portion is located through the flange on the ball pair the intermediate part of lower floor floating platform second terminal surface, just the second end of connecting portion is equipped with on the ball pair bulb, ball pair bulb is located support in the ball socket support, just the first terminal surface of supporting the ball socket support is equipped with ball pair end cover, the second side and the ground contact of supporting the ball socket support constitute S pair and connect, and with vertical lift module, horizontal X constitute the configuration jointly to removal module and horizontal Y to removal module and be (P) to removal moduleZ1+PZ2)PXPYAnd the six-degree-of-freedom serial branched chain leg of the S.
Further, the first vertical lifting module comprises a first motor, a first speed reducer, a first synchronous belt pulley set, a first lead screw, a first screw nut, a first lead screw support seat, a first lifting guide rail and a first lifting slide block, the first motor is mounted on the first side surface of the landing leg rack through the first speed reducer, an output shaft of the first speed reducer is connected with a first driving belt pulley in the first synchronous belt pulley set, the first lead screw is mounted on the first inner side surface of the landing leg rack through the first lead screw support seat, a first end of the first lead screw is connected with a first driven belt pulley in the first synchronous belt pulley set, the first driving belt pulley is in transmission connection with the first driven belt pulley through a synchronous belt, the first lifting guide rail is respectively arranged at a first end and a second end of the first inner side surface of the landing leg rack, and the first screw nut and the first lifting slide block are both arranged on the first side surface of the upper floating platform, the first lifting slide block and the first lifting guide rail are a first moving pair PZ1Is connected, and the first sliding pair PZ1The first lead screw is in transmission connection with the first nut.
Further, the second vertical lifting module comprises a second motor, a second speed reducer, a second synchronous pulley set, a second lead screw, a second nut, a second lead screw supporting seat, a second lifting guide rail and a second lifting slide block, the second motor is arranged on the second side surface of the supporting leg rack through the second speed reducer,the output shaft of the second speed reducer is connected with a second driving pulley in a second synchronous pulley set, the second lead screw passes through a second lead screw supporting seat, the second lead screw supporting seat is installed on a second inner side face of the supporting leg rack, the first end of the second lead screw is connected with a second driven pulley in the second synchronous pulley set, the second driving pulley is in transmission connection with the second driven pulley through a synchronous belt, the second lifting guide rail is respectively arranged at the first end and the second end of the second inner side face of the supporting leg rack, the second nut and the second lifting slide block are both arranged on the second side face of the upper floating platform, and the second lifting slide block is in second movable pair P of the second lifting guide railZ2Is connected, and the second sliding pair PZ2And the second lead screw is in transmission connection with the second nut.
Preferably, the X-directional guide rails include 4X-directional guide rails, and the 4X-directional guide rails are all disposed on the second end surface of the upper floating platform.
Preferably, the X is to the slider including 8X to the slider, just 8X are to the slider equipartition locate the first terminal surface of middle floating platform.
Preferably, first lifting slide block, second lifting slide block and Y are all including 4 sliders to the slider, and respectively the equipartition locate the first side of upper floating platform, second side and the first terminal surface of lower floor floating platform.
Preferably, the first lead screw axis is parallel to the second lead screw axis, the third lead screw axis is perpendicular to the first lead screw axis and the second lead screw axis, and the fourth lead screw axis is perpendicular to the first lead screw axis, the second lead screw axis and the third lead screw axis.
The technical scheme adopted by the second aspect of the invention is that the 6-degree-of-freedom parallel posture adjusting platform of the synchronous parallel side-arranged 6-degree-of-freedom branched chain legs comprises a movable platform, a control system cabinet, a power storage battery and four synchronous parallel side-arranged 6-degree-of-freedom branched chain legs, wherein the movable platform is of a frame structure, the control system cabinet and the power storage battery are respectively arranged at a first end and a second end in the movable platform, and the four synchronous parallel side-arranged 6-degree-of-freedom branched chain legs are arranged at four sidesThe freedom degree branched chain legs are symmetrically arranged at the corners of the movable platform and are fixedly connected with the movable platform through the supporting leg rack, and each synchronous parallel side first moving pair P in the 6 freedom degree branched chain legsZ1A second moving pair PZ2And the third moving pair PXAnd a fourth sliding pair PYParallel to each other, and each of said first kinematic pairs PZ1And a second sliding pair PZ2Are all vertical to the movable platform.
Preferably, the corner of the movable platform is also provided with an anti-collision sensor, a laser range finder and an environment measuring sensor.
The invention has the characteristics and beneficial effects that:
1. the invention provides a synchronous parallel side 6-degree-of-freedom branched-chain leg and a 6-degree-of-freedom parallel posture adjusting platform thereof, from the mechanical point of view, a movable platform is equivalent to a posture adjusting platform, the ground is equivalent to a fixed platform, four 6-degree-of-freedom branched-chain legs are equivalent to moving branched chains for connecting the fixed platform and the posture adjusting platform, so that the integral 6-degree-of-freedom parallel posture adjusting platform based on the open ground is formed, and the mechanical structure is 4- (P)Z1+PZ2)PXPYS。
2. According to the synchronous parallel side 6-freedom branched-chain leg and the 6-freedom parallel posture adjusting platform thereof, the horizontal X-direction moving module of the 6-freedom branched-chain leg is designed by four groups of guide rail sliding blocks, so that the offset bending moment caused by the movement of the mechanism in the Y direction is avoided, in addition, the vertical lifting module is arranged beside two sides of the supporting leg rack, the asymmetric bending moment of the original branched-chain leg mechanism is eliminated, the bearing capacity of the branched-chain leg is improved, the crawling influence is reduced, the reliability of the posture adjusting platform is ensured, and the stability and the motion precision of the posture adjusting platform are improved.
3. According to the synchronous parallel side 6-degree-of-freedom branched-chain leg and the 6-degree-of-freedom parallel posture adjusting platform thereof, provided by the invention, in the vertical lifting module of the 6-degree-of-freedom branched-chain leg, the first vertical lifting module and the second vertical lifting module are symmetrically arranged on two sides of the supporting leg rack, so that the problem of overlarge height caused by the series connection of the original three-way moving structure is solved, and meanwhile, the traditional driving arrangement space is optimized, so that the posture adjusting platform is compact in structure in the height direction, the overall height of the posture adjusting platform is effectively reduced, and the six-degree-of-freedom posture adjusting butt joint and assembly can still be realized in an ultra-low space.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a synchronous parallel-mounted 6-degree-of-freedom branched leg of the present invention;
FIG. 2 is a schematic diagram of the configuration of a synchronous parallel-side 6-degree-of-freedom branched leg of the present invention;
FIG. 3 is an exploded view of the vertical lift module of the present invention with simultaneous parallel side 6 degree of freedom branched legs;
FIG. 4 is an exploded view of the horizontal motion module of the present invention with simultaneous parallel side 6 degree of freedom branched legs;
FIG. 5 is a schematic diagram of an overall structure of a 6-DOF parallel posture adjustment platform according to an embodiment of the present invention;
FIG. 6 is a front view of a 6-DOF parallel pose adjustment platform according to an embodiment of the present invention; and
fig. 7 is a schematic configuration diagram of a 6-degree-of-freedom parallel posture adjustment platform according to an embodiment of the present invention.
The main reference numbers:
1-6 degrees of freedom posture adjustment branched chain legs, 11-leg frames, 12-vertical lifting modules, 13-horizontal X-direction moving modules, 14-horizontal Y-direction moving modules, 15-ball pair leg modules, 121-first vertical lifting modules, 122-second vertical lifting modules, 123-upper floating platforms, 1211-first motors, 1212-first reducers, 1213-first synchronous pulley sets, 1214-first lead screws, 1215-first screw nuts, 1216-first lead screw supporting seats, 1217-first guide rails, 1218-first sliding blocks, 1221-second motors, 1222-second reducers, 1223-second synchronous pulley sets, 1224-second lead screws, 1225-second screw nuts, 1226-second lead screw supporting seats, 1227-second guide rails, 1228-second sliding blocks, 131-a third motor, 132-a third speed reducer, 133-a third synchronous pulley set, 134-a third lead screw, 135-a third screw nut, 136-a third lead screw support seat, 137-X guide rails, 138-X sliding blocks, 139-a middle floating platform, 141-a fourth motor, 142-a fourth speed reducer, 143-a fourth synchronous pulley set, 144-a fourth lead screw, 145-a fourth screw nut, 146-a fourth lead screw support seat, 147-Y guide rails, 148-Y sliding blocks, 149-a lower floating platform, 151-a ball pair ball head, 152-a ball end cover, 153-a support ball socket support, 154-a ball pair upper connecting part, a 2-movable platform, a 3-control system cabinet and a 4-power storage battery.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a synchronous parallel side 6-degree-of-freedom branched-chain leg, which comprises a leg frame 11, a vertical lifting module 12, a horizontal X-direction moving module 13, a horizontal Y-direction moving module 14 and a ball pair leg module 15, wherein the vertical lifting module 12 comprises a first vertical lifting module 121, a second vertical lifting module 122 and an upper floating platform 123, the first vertical lifting module 121 and the second vertical lifting module 122 are respectively arranged on a first side surface and a second side surface of the leg frame 11, the upper floating platform 123 is arranged in the middle of the leg frame 11, and a first end and a second end of the upper floating platform 123 are respectively connected with a first moving pair P of the leg frame 11Z1And a second sliding pair PZ2And (4) connecting.
As shown in fig. 3, the first vertical lifting module 121 includes a first motor 1211, a first speed reducer 1212, a first synchronous pulley set 1213, a first lead screw 1214, a first nut 1215, a first lead screw support base 1216, a first lifting rail 1217 and a first lifting slider 1218, the first motor 1211 is mounted on a first lateral surface of the leg frame 11 through the first speed reducer 1212, an output shaft of the first speed reducer 1212 is connected to a first driving pulley of the first synchronous pulley set 1213, the first lead screw 1214 is mounted on a first inner lateral surface of the leg frame 11 through the first lead screw support base 1216, a first end of the first lead screw 1214 is connected to a first driven pulley of the first synchronous pulley set 1213, the first driving pulley is in transmission connection with the first driven pulley through a synchronous belt, so that power is transmitted to the first lead screw 1214 through the first synchronous pulley set 1213, the first lifting rail 1217 is respectively disposed at a first end and a second end of the first inner lateral surface of the leg frame 11, and the first nut 1215 and the first liftingThe sliders 1218 are disposed on a first side surface of the upper floating platform 123, and the first lifting slider 1218 and the first lifting guide rail 1217 are a first sliding pair PZ1Connected and the first sliding pair PZ1Is in transmission connection with a first nut 1215 through a first lead screw 1214.
The second vertical lifting module 122 includes a second motor 1221, a second speed reducer 1222, a second synchronous pulley set 1223, a second lead screw 1224, a second nut 1225, a second lead screw support 1226, a second lifting rail 1227 and a second lifting slider 1228, the second motor 1221 is mounted on the second side of the leg frame 11 through the second speed reducer 1222, an output shaft of the second speed reducer 1222 is connected to a second driving pulley of the second synchronous pulley set 1223, the second lead screw 1224 is mounted on the second inner side of the leg frame 11 through the second lead screw support 1226, a first end of the second lead screw 1224 is connected to a second driven pulley of the second synchronous pulley set 1223, the second driving pulley is in transmission connection with the second driven pulley through a synchronous belt, so that power is transmitted to the second lead screw 1224 through the second synchronous pulley set 1223, the second lifting rail 1227 is respectively disposed at a first end and a second end of the second inner side of the leg frame 11, a second screw 1225 and a second lifting slider 1228 are arranged on a second side surface of the upper floating platform 123, and the second lifting slider 1228 and a second lifting guide rail 1227 are arranged on a second sliding pair PZ2Connected and a second sliding pair PZ2Is in transmission connection with a second screw 1224 through a second lead screw 1224. When the first motor 1211 and the second motor 1221 are driven in parallel synchronously, the first lead screw 1214 and the second lead screw 1224 are driven to rotate by the motors, the speed reducer and the synchronous pulley set, so that the first nut 1215 and the second nut 1225 synchronously drive the upper floating platform 123 to move up and down, and the mechanism (P) drives the upper floating platform 123 to move up and downZ1+PZ2) Equivalent substitution of PZMoving pair and realizing PZThe lifting function of (2). And the axis of the first lead screw 1214 is parallel to the axis of the second lead screw 1224.
As shown in fig. 4, the horizontal X-direction moving module 13 includes a third motor 131, a third reducer 132, a third timing pulley set 133, a third lead screw 134, a third nut 135, a third lead screw support 136, an X-direction guide rail 137, an X-direction slider 138, and an intermediate floating table 139, and the third motor 131 is turned onThe third reducer 132 is installed on the first end surface of the upper floating platform 123, an output shaft of the third reducer 132 is connected with a third driving pulley in a third synchronous pulley set 133, a third lead screw 134 is installed on the second end surface of the upper floating platform 123 through a third lead screw support seat 136, a first end of the third lead screw 134 is connected with a third driven pulley in the third synchronous pulley set 133, the third driving pulley is in transmission connection with the third driven pulley through a synchronous belt, the X-direction guide rails 137 are uniformly arranged on the second end surface of the upper floating platform 123, a third nut 135 and an X-direction slider 138 are arranged on the first end surface of the middle floating platform 139, the X-direction slider 138 and the X-direction guide rails 137 form a third moving pair PXConnected and a third moving pair PXIs in transmission connection with a third screw nut 135 through a third lead screw 134. When the third motor 131 drives the third lead screw 134 to rotate through the third speed reducer 132 and the third synchronous pulley set 133, the third lead screw 135 is driven to move, and then the middle floating platform 139 is driven to move along the X direction, so that the X direction third moving pair P is realizedXFunction, and the third lead screw 134 axis is perpendicular to the first lead screw 1214 and second lead screw 1224 axes.
Specifically, the X-direction guide rails 137 include 4X-direction guide rails 137, the 4X-direction guide rails 137 are uniformly arranged on the second end surface of the upper floating platform 123, the X-direction sliders 138 include 8X-direction sliders 138, and the 8X-direction sliders 138 are uniformly arranged on the first end surface of the middle floating platform 139.
As shown in fig. 4, the horizontal Y-direction moving module 14 includes a fourth motor 141, a fourth speed reducer 142, a fourth timing pulley set 143, a fourth lead screw 144, a fourth nut 145, a fourth lead screw support base 146, a Y-direction guide rail 147, a Y-direction slider 148 and a lower floating platform 149, the fourth motor 141 is installed on a side surface of the middle floating platform 139 through the fourth speed reducer 142, an output shaft of the fourth speed reducer 142 is connected to a fourth driving pulley of the fourth timing pulley set 143, the fourth lead screw 144 is installed on a second end surface of the middle floating platform 139 through the fourth lead screw support base 146, a first end of the fourth lead screw 144 is connected to a fourth driven pulley of the fourth timing pulley set 143, the fourth driving pulley is in transmission connection with the fourth driven pulley through a timing belt, the Y-direction guide rails 147 are respectively installed at a first end and a second end of the second end surface of the middle floating platform 139, and the fourth nut is installed on the145 and a Y-direction slider 148 are provided on a first end surface of the lower floating stage 149, and the Y-direction slider 148 and the Y-direction rail 147 form a fourth transfer pair PYConnected and a fourth sliding pair PYIs in transmission connection with a fourth screw 145 through a fourth lead screw 144. When the fourth motor 141 drives the fourth lead screw 144 to rotate through the fourth speed reducer 142 and the fourth synchronous pulley set 143, the fourth lead screw 145 is driven to move, and then the lower floating platform 149 is driven to move along the Y direction, so that the Y direction fourth sliding pair P is realizedYFunctional, and the fourth lead screw 144 axis is perpendicular to the first lead screw 1214 axis, the second lead screw 1224 axis, and the third lead screw 134 axis.
The ball pair support leg module 15 comprises a ball pair ball head 151, a ball pair end cover 152, a support ball socket support 153 and a ball pair upper connecting part 154, wherein the first end of the ball pair upper connecting part 154 is arranged in the middle of the second end face of the lower floating platform 149 through a flange, the second end of the ball pair upper connecting part 154 is provided with the ball pair ball head 151, the ball pair ball head 151 is arranged in the support ball socket support 153, the first end face of the support ball socket support 153 is provided with the ball pair end cover 152, the second side face of the support ball socket support 153 is in contact with the ground to form S pair connection, and the S pair connection is formed by the ball pair support leg module 15, the vertical lifting module 12, the horizontal X-direction moving module 13 andZ1+PZ2)PXPYand the six-degree-of-freedom serial branched chain leg of the S. When the support leg is inclined relative to the ground in the moving process of the horizontal X-direction moving module 13 and the horizontal Y-direction moving module 14, the influence caused by the bending moment on the support leg can be reduced by the sliding of the ball joint ball 151 in the support ball socket support 153, and the support leg can also passively adapt to the change of the ground and eliminate the additional bending moment.
The second aspect of the invention adopts the technical scheme that the 6-freedom parallel posture adjusting platform comprises a movable platform 2, a control system cabinet 3, a power storage battery 4 and four synchronous parallel side ultra-low 6-freedom branched chain legs 1, as shown in fig. 5 and 7, the movable platform 2 is of a frame type structure and can be of a rectangular, rhombic or triangular frame structure, the control system cabinet 3 and the power storage battery 4 are respectively arranged at a first end and a second end in the movable platform 2 and are used for controlling the parallel posture adjusting platform to move and providing power, and the side of the movable platform 2 is provided with a side edge, a side edge and a side edge, the side edge and the side edge of the movable platform 2 are respectively provided with the ultra-low 6-freedom branched chain legs 1The angle position is also provided with an anti-collision sensor, a laser range finder and an environment measuring sensor, four synchronous parallel side ultra-low 6-freedom branched chain legs 1 are symmetrically arranged at the edge position of the movable platform 2 and are fixedly connected with the movable platform 2 through a supporting leg rack 11, the four synchronous parallel side ultra-low 6-freedom branched chain legs 1 can also be positioned on the peripheral side surface of the movable platform 2 and are fixedly connected with the movable platform 2 through a side interface of the supporting leg rack 11, meanwhile, the four synchronous parallel side ultra-low 6-freedom branched chain legs 1 can also adopt a rectangular, rhombic or triangular symmetrical layout, and a first moving pair P in each synchronous parallel side ultra-low 6-freedom branched chain leg 1 is symmetrically arrangedZ1A second moving pair PZ2And the third moving pair PXAnd a fourth sliding pair PYParallel to each other and each first sliding pair PZ1And a second sliding pair PZ2Are all perpendicular to the movable platform 2.
The invention relates to a 6-freedom parallel posture adjusting platform, which comprises the following specific posture adjusting processes:
the horizontal X-direction moving module 13 and the horizontal Y-direction moving module 14 in the four branched chain legs at the corners of the movable platform 2 are controlled to synchronously move by operating the control system cabinet 3, so that the translation of the posture adjusting platform along the X-axis direction and the Y-axis direction can be realized; the vertical lifting modules 12 in the four branched chain legs are controlled to lift synchronously, so that the lifting of the posture adjusting platform along the Z-axis direction can be realized; controlling the vertical lifting modules 12 in the two branched chain legs at the front end of the movable platform 2 to descend at the same speed, and controlling the vertical lifting modules 12 in the two branched chain legs at the rear end of the movable platform 2 to ascend at the same speed, so that the posture-adjusting platform can be turned over along the X-axis direction; controlling the vertical lifting modules 12 in the two branched chain legs at the left side of the movable platform 2 to descend at the same speed, and controlling the vertical lifting modules 12 in the two branched chain legs at the right side of the movable platform 2 to ascend at the same speed, so that the posture-adjusting platform can be turned over along the Y-axis direction; and controlling the horizontal X-direction moving module 13 and the horizontal Y-direction moving module 14 in the four branched chain legs to horizontally move in different coupling relations, so that the posture adjusting platform can rotate clockwise or anticlockwise along the Z axis.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims (9)

1. A synchronous parallel side-mounted 6-degree-of-freedom branched leg is characterized by comprising a leg frame, a vertical lifting module, a horizontal X-direction moving module, a horizontal Y-direction moving module and a ball pair leg module,
the vertical lifting module comprises a first vertical lifting module, a second vertical lifting module and an upper floating platform, the first vertical lifting module and the second vertical lifting module are respectively arranged on the first side surface and the second side surface of the supporting leg rack, the upper floating platform is arranged at the middle part of the supporting leg rack, and the first end and the second end of the upper floating platform are respectively in contact with the first moving pair P of the supporting leg rackZ1And a second sliding pair PZ2Connecting;
the horizontal X-direction moving module comprises a third motor, a third speed reducer, a third synchronous pulley set, a third lead screw, a third nut, a third lead screw supporting seat, an X-direction guide rail, an X-direction sliding block and a middle floating platform, the third motor is arranged on the first end surface of the upper floating platform through the third speed reducer, an output shaft of the third speed reducer is connected with a third driving belt wheel in the third synchronous pulley set, the third lead screw is arranged on the second end surface of the upper floating platform through the third lead screw supporting seat, a first end of the third lead screw is connected with a third driven belt wheel in the third synchronous pulley set, the third driving belt wheel is in transmission connection with the third driven belt wheel through a synchronous belt, the X-direction guide rails are all arranged on the second end surface of the upper floating platform, and the third nut and the X-direction sliding block are all arranged on the first end surface of the middle floating platform, the X-direction slider and the third moving pair P of the X-direction guide railXConnected, and the third moving pair PXThe third screw rod is in transmission connection with the third nut;
the horizontal Y-direction moving module comprises a fourth motor, a fourth speed reducer, a fourth synchronous pulley group, a fourth lead screw and a fourth synchronous pulley groupA screw nut, a fourth screw rod supporting seat, a Y-direction guide rail, a Y-direction sliding block and a lower floating platform, wherein the fourth motor is arranged on the side surface of the middle floating platform through a fourth speed reducer, and the output shaft of the fourth speed reducer is connected with a fourth driving belt wheel in the fourth synchronous belt wheel set, the fourth lead screw is arranged on the second end surface of the middle floating platform through the fourth lead screw supporting seat, and the first end of the fourth screw rod is connected with a fourth driven belt wheel in the fourth synchronous belt wheel set, the fourth driving belt wheel is in transmission connection with the fourth driven belt wheel through a synchronous belt, the Y-direction guide rails are respectively arranged at the first end and the second end of the second end surface of the middle floating platform, and the fourth screw and the Y-direction slider are arranged on the first end surface of the lower floating platform, and the Y-direction slider and the Y-direction guide rail fourth sliding pair P.YIs connected, and the fourth sliding pair PYThe fourth lead screw is in transmission connection with the fourth nut; and
the ball pair supporting leg module comprises a ball pair ball head, a ball pair end cover, a supporting ball socket support and a ball pair upper connecting part, wherein the first end of the ball pair upper connecting part is arranged in the middle of the second end face of the lower floating platform through a flange, the second end of the ball pair upper connecting part is provided with the ball pair ball head, the ball pair ball head is arranged in the supporting ball socket support, the first end face of the supporting ball socket support is provided with the ball pair end cover, the second side face of the supporting ball socket support is in contact with the ground to form an S pair connection, and the S pair connection and the vertical lifting module, the horizontal X direction moving module and the horizontal Y direction moving module jointly form a configuration (P pair) to the vertical lifting moduleZ1+PZ2)PXPYAnd the six-degree-of-freedom serial branched chain leg of the S.
2. The synchronous parallel side 6-degree-of-freedom branched leg according to claim 1, wherein the first vertical lifting module comprises a first motor, a first speed reducer, a first synchronous pulley set, a first lead screw, a first nut, a first lead screw support seat, a first lifting guide rail and a first lifting slider, the first motor is mounted on a first side surface of the leg frame through the first speed reducer, and the first motor is mounted on the first side surface of the leg frame through the first speed reducerThe output shaft of reduction gear with first driving pulley in the first synchronous pulley group is connected, first lead screw passes through first lead screw supporting seat install in the first medial surface of landing leg frame, just the first end of first lead screw with first driven pulleys in the first synchronous pulley group is connected, first driving pulley pass through the hold-in range with first driven pulleys transmission is connected, first lift guide rail is located respectively the first end and the second end of the first medial surface of landing leg frame, just first screw and first lifting slide all locate the first side of upper floating platform, first lifting slide with the first vice P that removes of first lift guide railZ1Is connected, and the first sliding pair PZ1The first lead screw is in transmission connection with the first nut.
3. The synchronous parallel side 6-degree-of-freedom branched leg according to claim 2, wherein the second vertical lifting module comprises a second motor, a second reducer, a second synchronous pulley set, a second lead screw, a second nut, a second lead screw support seat, a second lifting guide rail and a second lifting slider, the second motor is mounted on the second side surface of the leg frame through the second reducer, an output shaft of the second reducer is connected with a second driving pulley in the second synchronous pulley set, the second lead screw is mounted on the second inner side surface of the leg frame through the second lead screw support seat, a first end of the second lead screw is connected with a second driven pulley in the second synchronous pulley set, the second driving pulley is in transmission connection with the second driven pulley through a synchronous belt, and the second lifting guide rail is respectively disposed at a first end and a second end of the second inner side surface of the leg frame, and the second screw and the second lifting slide block are arranged on the second side surface of the upper floating platform, and the second lifting slide block and the second lifting guide rail are arranged in a second sliding pair PZ2Is connected, and the second sliding pair PZ2And the second lead screw is in transmission connection with the second nut.
4. The simultaneous parallel-sided 6-degree-of-freedom branched leg of claim 1, wherein the X-guide rails comprise 4X-guide rails, and the 4X-guide rails are all disposed on the second end face of the upper floating stage.
5. The synchronous parallel-side 6-degree-of-freedom branched-chain leg according to claim 4, wherein the X-direction sliders comprise 8X-direction sliders, and the 8X-direction sliders are uniformly distributed on the first end face of the intermediate floating platform.
6. The synchronous parallel-connection side 6-degree-of-freedom branched-chain leg according to claim 3, wherein the first lifting slider, the second lifting slider and the Y-direction slider comprise 4 sliders, and are respectively and uniformly distributed on the first side surface and the second side surface of the upper floating platform and the first end surface of the lower floating platform.
7. The synchronous parallel side 6 degree-of-freedom branched leg of claim 3, wherein the first lead screw axis is parallel to the second lead screw axis, the third lead screw axis is perpendicular to the first lead screw axis and the second lead screw axis, and the fourth lead screw axis is perpendicular to the first lead screw axis, the second lead screw axis, and the third lead screw axis.
8. A6-degree-of-freedom parallel posture adjustment platform comprising the synchronous parallel side 6-degree-of-freedom branched chain legs as claimed in any one of claims 1 to 7, wherein the platform comprises a movable platform, a control system cabinet, a power storage battery and four synchronous parallel side 6-degree-of-freedom branched chain legs, the movable platform is of a frame structure, the control system cabinet and the power storage battery are respectively arranged at a first end and a second end inside the movable platform, the four synchronous parallel side 6-degree-of-freedom branched chain legs are symmetrically arranged at the corners of the movable platform and are fixedly connected with the movable platform through the leg rack, and a first moving pair P in each synchronous parallel side 6-degree-of-freedom branched chain leg is fixedly connected with the movable platformZ1A second moving pair PZ2And the third moving pair PXAnd a fourth sliding pair PYParallel to each other, and each of said first kinematic pairs PZ1And a second sliding pair PZ2Are all vertical to the movable platform.
9. The 6-degree-of-freedom parallel posture adjustment platform according to claim 8, wherein corners of the movable platform are further provided with an anti-collision sensor, a laser range finder and an environment measurement sensor.
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CN112388608B (en) * 2020-10-10 2021-09-14 燕山大学 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space
CN112454245B (en) * 2020-10-10 2021-09-14 燕山大学 Installation space coincident 2-level stroke 6-degree-of-freedom parallel posture adjusting platform
CN114700965B (en) * 2022-03-29 2024-04-12 燕山大学 Multi-degree-of-freedom mixed posture adjustment assembly robot

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