CN112388608A - 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space - Google Patents
6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space Download PDFInfo
- Publication number
- CN112388608A CN112388608A CN202011079887.XA CN202011079887A CN112388608A CN 112388608 A CN112388608 A CN 112388608A CN 202011079887 A CN202011079887 A CN 202011079887A CN 112388608 A CN112388608 A CN 112388608A
- Authority
- CN
- China
- Prior art keywords
- platform
- freedom
- lifting
- module
- belt wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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 discloses a 6-freedom parallel posture adjusting platform with superposed single-stage stroke in installation space, which comprises 6-freedom branched chain legs, a movable platform, a control system cabinet for controlling the parallel posture adjusting platform to move and a power storage battery for providing power for the control system cabinet, the 6-degree-of-freedom branched-chain leg comprises an X-direction horizontal moving module, a Y-direction horizontal moving module, a Z-direction lifting module and a ball pair supporting leg module, the Z-direction lifting module is positioned between the X-direction horizontal moving module and the Y-direction horizontal moving module, and the control system cabinet realizes six-freedom-degree posture adjustment of the posture adjustment platform by controlling the movement of the X-direction horizontal moving module and the Y-direction horizontal moving module and the lifting of the Z-direction lifting module.
Description
Technical Field
The invention belongs to the technical field of butt joint assembly of large and heavy equipment, and particularly relates to a 6-degree-of-freedom parallel posture adjusting platform with overlapped installation spaces and single-stage stroke.
Background
In the field of aerospace, attitude adjusting butt joint assembly of large and heavy components and equipment is involved in large satellite parts, spacecraft cabin sections, carrier rockets and the like. The traditional posture-adjusting butt joint assembly is mainly carried out by manual operation with the help of auxiliary equipment, has low assembly efficiency and precision and becomes an industry development bottleneck.
The butt assembly of large aerospace components requires 6 degrees of freedom by adjusting the components. At present, most of the 6-degree-of-freedom posture adjusting platforms adopt a mode of combining a base and a plurality of sub-platforms to realize 6-degree-of-freedom movement of a posture adjusting component, namely 3-degree-of-freedom movement and 3-degree-of-freedom rotation in space. The structural characteristics of the existing posture adjusting device are analyzed, and most of the posture adjusting devices are in a series connection configuration or a series-parallel connection configuration, 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. The problem that the existing posture adjusting platform generally has is that the structural space is not compact enough, and particularly, the structural size in the height direction is large and is difficult to reduce. The large-scale aerospace component is mostly heavy-duty equipment, receives multiple restrictions such as place size, corollary equipment and interface height space during the assembly, therefore transfers appearance platform's structural dimension also by strict restriction. The limit to the width causes that the posture adjusting branched chain can not adopt a side structure, and can only adopt a front-back or bottom structure pattern, so that the space layout of the structure is reasonably designed, and particularly the low design of the structure is the core and the key for solving the practical problem of engineering.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a 6-freedom parallel posture adjusting platform with superposed single-stage stroke in installation space, which can be used as an independent 6-freedom posture adjusting platform by reforming and recombining the prior platform technical equipment to increase the posture adjusting function through a modular structure and a space position combination.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides an installation space coincidence single-stage stroke 6 degrees of freedom parallel posture adjustment platform, includes 6 degrees of freedom branched chain legs, moves the platform, control the control system cabinet of the parallel posture adjustment platform motion and provides the power battery of power for the control system cabinet, 6 degrees of freedom branched chain legs include X to horizontal migration module, Y to horizontal migration module, Z to lift module and ball pair landing leg module, Z is located X to horizontal migration module and Y to the middle of the horizontal migration module to lift module, Z passes through flange joint ball pair landing leg module to lift module's below, it is frame-type structure to move the platform, 6 degrees of freedom branched chain legs are provided with four and two bisymmetry sets up in the front end of moving the platform and the edge of rear end and with moving the platform fixed connection, control system cabinet and power battery set up respectively in the inside both ends of moving the platform, control system cabinet is through controlling X to the removal of horizontal migration module and Y to the horizontal migration module and Z to lift module to the lift module The lifting of the block realizes the six-freedom-degree posture adjustment of the posture adjustment platform.
The technical scheme of the invention is further improved as follows: the control system cabinet controls the X-direction horizontal moving module and the Y-direction horizontal moving module to synchronously move, so that the posture adjusting platform can translate along the X-axis direction and the Y-axis direction; the control system cabinet controls the Z-direction lifting module to lift synchronously, so that the lifting of the posture adjusting platform along the Z-axis direction is realized; the control system cabinet controls Z-direction lifting modules in 6-degree-of-freedom branched chain legs on the left side and the right side of the front end of the movable platform to descend at the same speed, and Z-direction lifting modules in 6-degree-of-freedom branched chain legs on the left side and the right side of the rear end of the movable platform to ascend at the same speed, so that the posture adjusting platform is turned over along the X-axis direction; the control system cabinet controls Z-direction lifting modules in two 6-degree-of-freedom branched chain legs on the left side of the front end and the left side of the rear end of the movable platform to descend at the same speed, and Z-direction lifting modules in two 6-degree-of-freedom branched chain legs on the right side of the front end and the right side of the rear end to ascend at the same speed, so that the posture adjusting platform is turned over along the Y-axis direction; the control system cabinet controls the 6-freedom branched chain legs on the two sides of the front end to synchronously translate along the positive direction of the Y axis, the 6-freedom branched chain legs on the two sides of the rear end to synchronously translate along the negative direction of the Y axis, and the posture adjusting platform can realize anticlockwise rotation along the Z axis; the control system cabinet controls the 6-freedom-degree branched chain legs on the two sides of the front end to synchronously translate along the Y-axis negative direction, the 6-freedom-degree branched chain legs on the two sides of the rear end to synchronously translate along the Y-axis positive direction, and the posture adjusting platform can realize anticlockwise rotation along the Z axis.
The technical scheme of the invention is further improved as follows: the Z-direction lifting module comprises a Z-direction lead screw transmission system, a Z-direction moving platform, a Z-direction guide rail, a Z-direction sliding block and a supporting leg base; the Z-direction lead screw transmission system comprises a lifting motor, a lifting reducer, a lifting synchronous belt wheel set, a Z-direction lead screw, a Z-direction nut and a Z-direction lead screw supporting seat; the lifting motor is installed on the rear side surface of the landing leg base through a lifting reducer, an output shaft of the lifting reducer is connected with a lifting driving belt wheel in a lifting synchronous belt wheel set, the Z-direction lead screw is installed on the front side surface of the landing leg base through a Z-direction lead screw supporting seat, the first end of the Z-direction lead screw is connected with a lifting driven belt wheel in the lifting synchronous belt wheel set, the lifting driving belt wheel is in transmission connection with the lifting driven belt wheel through a synchronous belt, power is transmitted to the Z-direction lead screw, the Z-direction guide rail is respectively arranged on the left side surface and the right side surface of the landing leg base, the Z-direction sliding block is arranged on the left side surface and the right side surface of the Z-direction moving platform, the Z-direction screw is arranged on the rearZSecondary coupling, and a third movement PZThe pair is in transmission connection with a Z-direction nut through a Z-direction lead screw, and the Z-direction lead screw transmission system is in transmission connection with a third moving pair PZRespectively connected with the Z-direction moving platform and the supporting leg base;
the X-direction horizontal moving module comprises a first motor, a first speed reducer, a first synchronous belt wheel set, a first gear, a first rack, a first gear supporting seat, an X-direction guide rail, an X-direction sliding block and an X-direction moving platform;
the Y-direction horizontal moving module comprises a second motor, a second speed reducer, a second synchronous pulley set, a second gear, a second rack, a second gear supporting seat, a Y-direction guide rail, a Y-direction sliding block and a Y-direction moving platform;
the first motor is installed on a first end face of the Y-direction moving platform through a first speed reducer, an output shaft of the first speed reducer is connected with a first driving belt wheel in a first synchronous belt wheel set, and the first synchronous belt wheel set is connected with a second driving belt wheel in a second synchronous belt wheel set through a second speed reducerThe first driving pulley of band pulley group passes through the synchronous belt and couples with the first driven pulley transmission of first synchronous band pulley group, the first driven pulley of first synchronous band pulley group is coaxial with first gear, first gear passes through first gear supporting seat symmetry and installs in Y to moving platform's first terminal surface, X has interface structure to moving platform's first terminal surface, X is provided with 2 and 2X to the guide rail and installs in X to moving platform's second terminal surface both sides to the guide rail symmetry, first rack symmetry is installed in X to moving platform's second terminal surface and X to guide rail parallel adjacent arrangement, X is to the slider setting for 4 and 4X to the first terminal surface both sides that Y located moving platform to slider equipartition symmetry, 4X is to slider and X to the first removal P of guide railXA secondary coupling, and a first movement PXThe pair is in transmission connection with the first rack through the first gear, when the first motor drives the first gear to rotate through the first speed reducer and the first synchronous belt wheel set, the first rack is driven to move, and then the X-direction moving platform is driven to move along the X direction, so that the first movement P is realizedXA secondary function;
the second motor is arranged on the second end surface of the Z-direction moving platform through a second speed reducer, the output shaft of the second speed reducer is connected with a second driving belt wheel in a second synchronous belt wheel set, a second driving belt wheel in the second synchronous belt wheel set is in transmission connection with a second driven belt wheel of the second synchronous belt wheel set through a synchronous belt, the second driven belt wheel is coaxial with a second gear, the second gear is symmetrically arranged on the first end surface of the Z-direction moving platform through a second gear supporting seat, the number of the Y-direction guide rails is 2, 2Y-direction guide rails are symmetrically arranged at two sides of the second end surface of the Y-direction moving platform, the second rack is symmetrically arranged at the second end surface of the Y-direction moving platform and is parallelly and adjacently arranged with the Y-direction guide rails, the Y is to the slider setting for 4 and 4Y to the slider equipartitions install in Z to moving platform's first terminal surface both sides and with Y to the second of guide rail remove P.YSecondary coupling, second movement PYThe pair is in transmission connection with a second rack through a second gear, when a second motor drives the second gear to rotate through a second speed reducer and a second synchronous pulley group, the second gear is driven to move, and then the Y-direction moving platform is driven to move along the Y direction, so that the effect of driving the Y-direction moving platform to move is achievedSecond movement PYA secondary function;
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, the first end of the ball pair upper connecting part is arranged on the second end face of the supporting leg base through a flange, the second end of the ball pair upper connecting part is provided with a ball pair ball head, the ball pair ball head is arranged in the supporting ball socket support, the ball pair end cover is arranged on the first end face of the supporting ball socket support, the right side face of the supporting ball socket support is in contact with the ground to form S pair connection, and the S pair supporting leg module and the X pair horizontal moving module, the Y pair horizontal moving module and the Z pair lifting module jointly form a P type structureXPYPZPZThe 6 degree of freedom of S branches into legs.
The technical scheme of the invention is further improved as follows: the first gear axis, the second gear axis and the Z-direction lead screw axis are all perpendicular to each other.
The technical scheme of the invention is further improved as follows: and the corners of the movable platform are provided with an anti-collision sensor, a laser range finder and an environment measuring sensor, and are fixedly connected with the movable platform 6 through an interface structure of the first end surface of the X-direction movable platform.
The technical scheme of the invention is further improved as follows: the movable platform is of a rectangular or rhombic frame structure.
The technical scheme of the invention is further improved as follows: first movement P in each of the 6 degree-of-freedom branched legsXSecondary and secondary movement PYSecondary and third movement PZThe pairs being parallel to each other and each third movement PZAre all vertical to the movable platform.
The technical scheme of the invention is further improved as follows: the four branched chain legs with 6 degrees of freedom are fixedly connected with the movable platform through an interface structure of the first end face of the X-direction movable platform.
Due to the adoption of the technical scheme, the invention has the technical progress that:
1. from the mechanical point of view, the invention has the advantages that the movable platform is equivalent to an attitude adjusting platform, the ground is equivalent to a fixed platform, and 4 branched chain legs with 6 degrees of freedom are equivalent to the movable branched chain for connecting the fixed platform and the attitude adjusting platform, thereby forming a baseAn integral 6-degree-of-freedom parallel posture adjusting platform on the open ground, and the mechanical configuration is 4-PXPYPZS；
2. The X-direction and Y-direction horizontal moving modules of the branched chain leg with 6 degrees of freedom are uniformly distributed on two sides of four groups of guide rail sliding blocks, so that the capability of the branched chain leg for bearing offset bending moment caused by the movement in the direction of X, Y is improved;
3. according to the invention, the Z-direction lifting module of the 6-degree-of-freedom branched chain leg is arranged between the X-direction horizontal moving module and the Y-direction horizontal moving module, so that the installation spaces of the Z-direction lifting module and the Y-direction horizontal moving module are overlapped along the Z direction, the problem of overlarge height caused by the series connection of the original three-direction moving structures 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-.
Drawings
FIG. 1 is a schematic view of the overall structure of a single-stage stroke 6-degree-of-freedom parallel posture adjustment platform of the present invention;
FIG. 2 is a front view of a single stage stroke 6 degree of freedom parallel attitude adjustment platform of the present invention;
FIG. 3 is a schematic diagram of a single-stage stroke 6-degree-of-freedom parallel posture adjustment platform configuration of the present invention;
FIG. 4 is a schematic diagram of the overall structure of a single stage stroke 6 degree of freedom branched leg of the present invention;
FIG. 5 is a schematic diagram of the configuration of a single stage stroke 6 degree-of-freedom branched leg of the present invention;
FIG. 6 is an exploded view of the Z-lift module of the single stage travel 6 degree of freedom branched leg of the present invention;
FIG. 7 is an exploded view of the X and Y horizontal motion modules of the single stage stroke 6 degree of freedom branched leg of the present invention;
wherein, the device comprises 1, 6 degree-of-freedom branched chain legs, 2, X-direction horizontal moving modules, 2-1, a first motor, 2-2, a first reducer, 2-3, a first synchronous belt wheel set, 2-4, a first gear, 2-5, a first rack, 2-6, a first gear support seat, 2-7, an X-direction guide rail, 2-8, an X-direction sliding block, 2-9, an X-direction moving platform, 3, Y-direction horizontal moving modules, 3-1, a second motor, 3-2, a second reducer, 3-3, a second synchronous belt wheel set, 3-4, a second gear, 3-5, a second rack, 3-6, a second gear support seat, 3-7, a Y-direction guide rail, 3-8, a Y-direction sliding block, 3-9, a Y-direction moving platform, 4, a Z-direction lifting module, 4-1 of a Z-direction screw rod transmission system, 4-1-1 of a lifting motor, 4-1-2 of a lifting speed reducer, 4-1-3 of a lifting synchronous belt wheel set, 4-1-4 of a Z-direction screw rod, 4-1-5 of a Z-direction screw nut, 4-1-6 of a Z-direction screw rod supporting seat, 4-2 of a Z-direction moving platform, 4-3 of a Z-direction guide rail, 4-4 of a Z-direction sliding block, 4-5 of a supporting leg base, 5 of a ball pair supporting leg module, 5-1 of a ball pair ball head, 5-2 of a ball pair end cover, 5-3 of a supporting ball socket supporting seat, 5-4 of a ball pair upper connecting part, 6 of a movable platform, 7 of a control system cabinet, 8 of a power storage battery.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
the technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3: a6-freedom parallel posture adjusting platform with a single-stage stroke overlapped in installation space comprises 6-freedom branched chain legs 1, a movable platform 6, a control system cabinet 7 for controlling the parallel posture adjusting platform to move and a power storage battery 8 for providing power for the control system cabinet 7, wherein the movable platform 6 is of a rectangular or rhombic frame structure, the 6-freedom branched chain legs 1 are provided with four and are arranged at the corners of the front end and the rear end of the movable platform 6 in a pairwise symmetry mode, the corners of the movable platform 6 are further provided with an anti-collision sensor, a laser range finder and an environment measuring sensor, the movable platform 6 is fixedly connected with an interface structure of first end faces of the movable platforms 2-9 through X, and a first moving P in each 6-freedom branched chain leg 1 is fixedly connected with the movable platform 6XSecondary and secondary movement PYSecondary and third movement PZThe pairs being parallel to each other and each third movement PZAre all vertical to the movable platform 6. The control system cabinet 7 and the power storage battery 8 are respectively arranged at two ends inside the movable platform 6, and the control system cabinet 7 realizes six-degree-of-freedom posture adjustment of the posture adjustment platform by controlling the movement of the X-direction horizontal movement module 2 and the Y-direction horizontal movement module 3 and the lifting of the Z-direction lifting module 4.
The control system cabinet 7 controls the X-direction horizontal moving module 2 and the Y-direction horizontal moving module 3 to synchronously move, so that the posture adjusting platform can translate along the X-axis direction and the Y-axis direction; the control system cabinet 7 controls the Z-direction lifting module 4 to lift synchronously, so that the lifting of the posture adjusting platform along the Z-axis direction is realized; the control system cabinet 7 controls the Z-direction lifting modules 4 in the 6-freedom branched chain legs 1 on the left side and the right side of the front end of the movable platform 6 to descend at the same speed, and controls the Z-direction lifting modules 4 in the 6-freedom branched chain legs 1 on the left side and the right side of the rear end to ascend at the same speed, so that the posture adjusting platform is turned over along the X-axis direction; the control system cabinet 7 controls the Z-direction lifting modules 4 in the two 6-degree-of-freedom branched chain legs 1 on the left side of the front end and the left side of the rear end of the movable platform 6 to descend at the same speed, and controls the Z-direction lifting modules 4 in the two 6-degree-of-freedom branched chain legs 1 on the right side of the front end and the right side of the rear end to ascend at the same speed, so that the posture-adjusting platform is turned over along the Y-axis direction; the control system cabinet 7 controls the 6-degree-of-freedom branched chain legs 1 on the two sides of the front end to synchronously translate along the positive direction of the Y axis, the 6-degree-of-freedom branched chain legs 1 on the two sides of the rear end to synchronously translate along the negative direction of the Y axis, and the posture adjusting platform can realize anticlockwise rotation along the Z axis; the control system cabinet 7 controls the 6-freedom-degree branched chain legs 1 on the two sides of the front end to synchronously translate along the Y-axis negative direction, the 6-freedom-degree branched chain legs 1 on the two sides of the rear end to synchronously translate along the Y-axis positive direction, and the posture adjusting platform can realize anticlockwise rotation along the Z axis.
As shown in fig. 4 to 5, an installation space superposition single-stage stroke 6-degree-of-freedom branched leg 1 comprises an X-direction horizontal moving module 2, a Y-direction horizontal moving module 3, a Z-direction lifting module 4 and a ball pair leg module 5, wherein the Z-direction lifting module 4 is positioned between the X-direction horizontal moving module 2 and the Y-direction horizontal moving module 3, and the lower part of the Z-direction lifting module 4 is connected with the ball pair leg module 5 through a flange;
as shown in fig. 6, the Z-direction lifting module 4 comprises a Z-direction lead screw transmission system 4-1, a Z-direction moving platform 4-2, a Z-direction guide rail 4-3, a Z-direction slider 4-4 and a leg base 4-5; the Z-direction lead screw transmission system 4-1 comprises a lifting motor 4-1-1, a lifting reducer 4-1-2, a lifting synchronous belt wheel set 4-1-3, a Z-direction lead screw 4-1-4, a Z-direction nut 4-1-5 and a Z-direction lead screw supporting seat 4-1-6; the lifting motor 4-1-1 is arranged on the rear side surface of the supporting leg base 4-5 through a lifting speed reducer 4-1-2, and the lifting speed reducer 4-1-2An output shaft is connected with a lifting driving belt wheel in a lifting synchronous belt wheel set 4-1-3, a Z-direction lead screw 4-1-4 is arranged on the front side surface of a supporting leg base 4-5 through a Z-direction lead screw supporting seat 4-1-6, the first end of the Z-direction lead screw 4-1-4 is connected with a lifting driven belt wheel in the lifting synchronous belt wheel set 4-1-3, the lifting driving belt wheel is in transmission connection with the lifting driven belt wheel through a synchronous belt so as to transmit power to the Z-direction lead screw 4-1-4, Z-direction guide rails 4-3 are respectively arranged on the left side surface and the right side surface of the supporting leg base 4-5, Z-direction sliding blocks 4-4 are arranged on the left side surface and the right side surface of a Z-direction moving platform 4-2, and Z-direction screw nuts 4-1-5 are arranged on, third movement P of Z-slide 4-4 and Z-guide rail 4-3ZSecondary coupling, and a third movement PZThe pair is in transmission connection with a Z-direction screw 4-1-5 through a Z-direction screw 4-1-4, and the Z-direction screw transmission system 4-1 is connected with a third moving pair PZRespectively connected with the Z-direction moving platform 4-2 and the supporting leg base 4-5.
As shown in fig. 7, the X-direction horizontal moving module 2 includes a first motor 2-1, a first reducer 2-2, a first synchronous pulley set 2-3, a first gear 2-4, a first rack 2-5, a first gear support base 2-6, an X-direction guide rail 2-7, an X-direction slider 2-8, and an X-direction moving platform 2-9; the first motor 2-1 is installed on a first end face of the Y-direction moving platform 3-9 through a first speed reducer 2-2, an output shaft of the first speed reducer 2-2 is connected with a first driving belt wheel in a first synchronous belt wheel set 2-3, a first driving belt wheel of the first synchronous belt wheel set 2-3 is in transmission connection with a first driven belt wheel of the first synchronous belt wheel set 2-3 through a synchronous belt, the first driven belt wheel of the first synchronous belt wheel set 2-3 is coaxial with a first gear 2-4, the first gear 2-4 is symmetrically installed on the first end face of the Y-direction moving platform 3-9 through a first gear supporting seat 2-6, the first end face of the X-direction moving platform 2-9 is provided with an interface structure, the X-direction guide rail 2-7 is provided with 2X-direction guide rails 2-7, and the X-direction guide rails 2-7 are symmetrically installed on the second end face of the X-direction moving platform 2-9 The first racks 2-5 are symmetrically arranged on the second end face of the X-direction moving platform 2-9 and are parallelly and adjacently arranged with the X-direction guide rails 2-7, the X-direction sliding blocks 2-8 are set to be 4, 4X-direction sliding blocks 2-8 are uniformly distributed and symmetrically arranged on two sides of the first end face of the Y-direction moving platform 3-9, and 4X-direction sliding blocks 28 and the first movement P of the X-direction guide rails 2-7XA secondary coupling, and a first movement PXThe pair is in transmission connection with a first rack 2-5 through a first gear 2-4, when a first motor 2-1 drives the first gear 2-4 to rotate through a first speed reducer 2-2 and a first synchronous belt wheel group 2-3, the first rack 2-5 is driven to move, and then the X-direction moving platform 2-9 is driven to move along the X direction, so that a first movement P is realizedXAnd (4) a secondary function.
The Y-direction horizontal moving module 3 comprises a second motor 3-1, a second speed reducer 3-2, a second synchronous pulley group 3-3, a second gear 3-4, a second rack 3-5, a second gear supporting seat 3-6, a Y-direction guide rail 3-7, a Y-direction sliding block 3-8 and a Y-direction moving platform 3-9; the second motor 3-1 is installed on a second end face of the Z-direction moving platform 4-2 through a second speed reducer 3-2, an output shaft of the second speed reducer 3-2 is connected with a second driving belt wheel in a second synchronous belt wheel set 3-3, a second driving belt wheel in the second synchronous belt wheel set 3-3 is in transmission connection with a second driven belt wheel of the second synchronous belt wheel set 3-3 through a synchronous belt, the second driven belt wheel is coaxial with the second gear 3-4, the second gear 3-4 is symmetrically installed on a first end face of the Z-direction moving platform 4-2 through a second gear supporting seat 3-6, the Y-direction guide rails 3-7 are set to be 2, 2Y-direction guide rails 3-7 are symmetrically installed on two sides of a second end face of the Y-direction moving platform 3-9, the second gear 3-5 is symmetrically installed on the second end face of the Y-direction moving platform 3-9 and is guided to the Y-direction guide rails 3 7 are arranged adjacently in parallel, the Y-direction sliding blocks 3-8 are 4, and 4Y-direction sliding blocks 3-8 are uniformly arranged at two sides of the first end surface of the Z-direction moving platform 4-2 and are in second movement P with the Y-direction guide rails 3-7YSecondary coupling, second movement PYThe pair is in transmission connection with a second gear 3-5 through a second gear 3-4, when a second motor 3-1 drives the second gear 3-4 to rotate through a second speed reducer 3-2 and a second synchronous pulley group 3-3, the second gear 3-5 is driven to move, and then the Y-direction moving platform 3-9 is driven to move along the Y direction, so that the second PY pair moving function is realized, and the axis of the first gear 2-4, the axis of the second gear 3-4 and the axis of the Z-direction lead screw 4-1-4 are perpendicular to each other.
The ball pair supporting leg module 5 comprises a ball pair ball head 5-1, a ball pair end cover 5-2, a supporting ball socket support 5-3 and a ball pair upper connecting part 5-4, wherein the first end of the ball pair upper connecting part 5-4 is arranged on the second end face of the supporting leg base 4-5 through a flangeA ball pair ball head 5-1 is arranged at the second end of the ball pair upper connecting part 5-4, the ball pair ball head 5-1 is arranged in a supporting ball socket support 5-3, a ball pair end cover 5-2 is arranged at the first end face of the supporting ball socket support 5-3, the right side face of the supporting ball socket support 5-3 is in contact with the ground to form S pair connection, and the S pair connection, the X direction horizontal moving module 2, the Y direction horizontal moving module 3 and the Z direction lifting module 4 jointly form a P pair structureXPYPZPZThe 6 degrees of freedom of S branches to leg 1. When the supporting legs are inclined relative to the ground in the moving process of the X-direction horizontal moving module 2 and the Y-direction horizontal moving module 3, the influence caused by the bending moment on the supporting legs can be reduced by sliding the ball joint 5-1 of the ball pair in the supporting ball socket support 5-3, and the auxiliary bending moment can be passively adapted to the change of the ground and eliminated.
Claims (8)
1. The utility model provides a 6 degrees of freedom of installation space coincidence single-stage stroke adjust appearance platform in parallel which characterized in that: the automatic posture adjusting device comprises 6-freedom-degree branched chain legs (1), a movable platform (6), a control system cabinet (7) for controlling the parallel posture adjusting platform to move and a power storage battery (8) for providing power for the control system cabinet (7), wherein the 6-freedom-degree branched chain legs (1) comprise an X-direction horizontal moving module (2), a Y-direction horizontal moving module (3), a Z-direction lifting module (4) and a ball pair supporting leg module (5), the Z-direction lifting module (4) is positioned between the X-direction horizontal moving module (2) and the Y-direction horizontal moving module (3), the lower part of the Z-direction lifting module (4) is connected with the ball pair supporting leg module (5) through a flange, the movable platform (6) is of a frame type structure, the 6-freedom-degree branched chain legs (1) are provided with four corners which are symmetrically arranged at the front end and the rear end of the movable platform (6) in pairs and fixedly connected with the movable platform (6), the control system cabinet (7) and the power storage battery (8) are respectively arranged at two ends inside the movable platform (6), and the control system cabinet (7) realizes six-degree-of-freedom posture adjustment of the posture adjustment platform by controlling the movement of the X-direction horizontal movement module (2) and the Y-direction horizontal movement module (3) and the lifting of the Z-direction lifting module (4).
2. The attitude adjusting platform with a superposed single-stage stroke and branched chain legs with 6 degrees of freedom in installation space according to claim 1, is characterized in that: the control system cabinet (7) controls the X-direction horizontal moving module (2) and the Y-direction horizontal moving module (3) to synchronously move, so that the posture adjusting platform can translate along the X-axis direction and the Y-axis direction; the control system cabinet (7) controls the Z-direction lifting module (4) to synchronously lift, so that the lifting of the posture adjusting platform along the Z-axis direction is realized; the control system cabinet (7) controls the Z-direction lifting modules (4) in the 6-degree-of-freedom branched chain legs (1) on the left side and the right side of the front end of the movable platform (6) to descend at the same speed, and the Z-direction lifting modules (4) in the 6-degree-of-freedom branched chain legs (1) on the left side and the right side of the rear end of the movable platform to ascend at the same speed, so that the posture-adjusting platform is turned over along the X-axis direction; the control system cabinet (7) controls the Z-direction lifting modules (4) in the two 6-degree-of-freedom branched chain legs (1) on the left side of the front end and the left side of the rear end of the movable platform (6) to descend at the same speed, and the Z-direction lifting modules (4) in the two 6-degree-of-freedom branched chain legs (1) on the right side of the front end and the right side of the rear end to ascend at the same speed, so that the posture-adjusting platform is turned over along the Y-axis direction; the control system cabinet (7) controls the 6-degree-of-freedom branched chain legs (1) on the two sides of the front end to synchronously translate along the positive direction of the Y axis, the 6-degree-of-freedom branched chain legs (1) on the two sides of the rear end to synchronously translate along the negative direction of the Y axis, and the posture adjusting platform realizes anticlockwise rotation along the Z axis; the control system cabinet (7) controls the 6-freedom branched chain legs (1) on the two sides of the front end to synchronously translate along the Y-axis negative direction, the 6-freedom branched chain legs (1) on the two sides of the rear end to synchronously translate along the Y-axis positive direction, and the posture adjusting platform realizes anticlockwise rotation along the Z axis.
3. The installation space superposition single-stage stroke 6-degree-of-freedom parallel posture adjustment platform according to claim 1, characterized in that: the Z-direction lifting module (4) comprises a Z-direction lead screw transmission system (4-1), a Z-direction moving platform (4-2), a Z-direction guide rail (4-3), a Z-direction sliding block (4-4) and a supporting leg base (4-5); the Z-direction lead screw transmission system (4-1) comprises a lifting motor (4-1-1), a lifting reducer (4-1-2), a lifting synchronous belt wheel set (4-1-3), a Z-direction lead screw (4-1-4), a Z-direction lead screw (4-1-5) and a Z-direction lead screw supporting seat (4-1-6); the lifting motor (4-1-1) is arranged on the rear side surface of the landing leg base (4-5) through a lifting reducer (4-1-2), an output shaft of the lifting reducer (4-1-2) is connected with a lifting driving belt wheel in a lifting synchronous belt wheel set (4-1-3), the Z-direction lead screw (4-1-4) is arranged on the front side surface of the landing leg base (4-5) through a Z-direction lead screw supporting seat (4-1-6), and the first end of the Z-direction lead screw (4-1-4) is connected with the lifting synchronous belt wheel set (4-1-4)A lifting driven belt wheel in the step-3) is connected, a lifting driving belt wheel is in transmission connection with the lifting driven belt wheel through a synchronous belt, so that power is transmitted to a Z-direction lead screw (4-1-4), Z-direction guide rails (4-3) are respectively arranged on the left side surface and the right side surface of a support leg base (4-5), Z-direction sliding blocks 4-4 are arranged on the left side surface and the right side surface of the Z-direction moving platform 4-2, Z-direction screw nuts 4-1-5 are arranged on the rear side surface of the Z-direction moving platform 4-2, and a third movement P of the Z-direction sliding blocks (4-4) and the Z-direction guide rails (4-3)ZSecondary coupling, and a third movement PZThe pair is in transmission connection with a Z-direction screw nut (4-1-5) through a Z-direction screw rod (4-1-4), and the Z-direction screw rod transmission system (4-1) is connected with a third moving pair PZRespectively connected with a Z-direction moving platform (4-2) and a supporting leg base (4-5);
the X-direction horizontal moving module (2) comprises a first motor (2-1), a first speed reducer (2-2), a first synchronous belt wheel set (2-3), a first gear (2-4), a first rack (2-5), a first gear supporting seat (2-6), an X-direction guide rail (2-7), an X-direction sliding block (2-8) and an X-direction moving platform (2-9);
the Y-direction horizontal moving module (3) comprises a second motor (3-1), a second speed reducer (3-2), a second synchronous pulley group (3-3), a second gear (3-4), a second rack (3-5), a second gear supporting seat (3-6), a Y-direction guide rail (3-7), a Y-direction sliding block (3-8) and a Y-direction moving platform (3-9);
the first motor (2-1) is arranged on a first end face of the Y-direction moving platform (3-9) through a first speed reducer (2-2), an output shaft of the first speed reducer (2-2) is connected with a first driving belt wheel in a first synchronous belt wheel set (2-3), the first driving belt wheel of the first synchronous belt wheel set (2-3) is in transmission connection with a first driven belt wheel of the first synchronous belt wheel set (2-3) through a synchronous belt, the first driven belt wheel of the first synchronous belt wheel set (2-3) is coaxial with a first gear (2-4), the first gear (2-4) is symmetrically arranged on the first end face of the Y-direction moving platform (3-9) through a first gear supporting seat (2-6), the first end face of the X-direction moving platform (2-9) is provided with an interface structure, the X-direction guide rail (2-7) is provided with 2X-direction guide rails (2-7) which are symmetrically arranged at two sides of the second end surface of the X-direction moving platform (2-9), the first rack (2-5) is symmetrically arranged at the second end surface of the X-direction moving platform (2-9) and is parallelly and adjacently arranged with the X-direction guide rail (2-7), and the X-direction sliding block (2-7)2-8) are arranged to be 4 and 4X-direction sliding blocks (2-8) which are uniformly distributed and symmetrically arranged at two sides of the first end surface of the Y-direction moving platform (3-9), 4X-direction sliding blocks (28) and first movement P of the X-direction guide rails (2-7)XA secondary coupling, and a first movement PXThe pair is in transmission connection with a first rack (2-5) through a first gear (2-4), when a first motor (2-1) drives the first gear (2-4) to rotate through a first speed reducer (2-2) and a first synchronous belt wheel set (2-3), the first rack (2-5) is driven to move, and then an X-direction moving platform (2-9) is driven to move along the X direction, so that a first movement P is realizedXA secondary function;
the second motor (3-1) is arranged on the second end face of the Z-direction moving platform (4-2) through a second speed reducer (3-2), an output shaft of the second speed reducer (3-2) is connected with a second driving pulley in a second synchronous pulley set (3-3), a second driving pulley in the second synchronous pulley set (3-3) is in transmission connection with a second driven pulley of the second synchronous pulley set (3-3) through a synchronous belt, the second driven pulley is coaxial with a second gear (3-4), the second gear (3-4) is symmetrically arranged on the first end face of the Z-direction moving platform (4-2) through a second gear supporting seat (3-6), the Y-direction guide rails (3-7) are arranged into 2 and 2Y-direction guide rails (3-7) are symmetrically arranged on two sides of the second end face of the Y-direction moving platform (3-9), the second racks (3-5) are symmetrically arranged on the second end surface of the Y-direction moving platform (3-9) and are arranged in parallel and adjacent to the Y-direction guide rail (3-7), the Y-direction sliding blocks (3-8) are set to be 4, 4Y-direction sliding blocks (3-8) are uniformly arranged on two sides of the first end surface of the Z-direction moving platform (4-2) and move P towards the second end surface of the Y-direction guide rail (3-7)YSecondary coupling, second movement PYThe pair is in transmission connection with a second rack (3-5) through a second gear (3-4), when a second motor (3-1) drives the second gear (3-4) to rotate through a second speed reducer (3-2) and a second synchronous belt wheel set (3-3), the second rack (3-5) is driven to move, and then the Y-direction moving platform (3-9) is driven to move along the Y direction, and second movement P is achievedYA secondary function;
the ball pair supporting leg module (5) comprises a ball pair ball head (5-1), a ball pair end cover (5-2), a supporting ball socket support (5-3) and a ball pair upper connecting part (5-4), wherein the first end of the ball pair upper connecting part (5-4) is arranged on the second end face of the supporting leg base (4-5) through a flange, the second end of the ball pair upper connecting part (5-4) is provided with the ball pair ball head (5-1), the ball pair ball head (5-1) is arranged in the supporting ball socket support (5-3), the first end face of the supporting ball socket support (5-3) is provided with the ball pair end cover (5-2), and the right side face of the supporting ball socket support (5-3) is in contact with the ground to form an S pair connection.
4. An installation space coincident single stage stroke 6 degree of freedom branched leg as recited in claim 3 wherein: the axes of the first gear (2-4), the second gear (3-4) and the Z-direction lead screw (4-1-4) are all perpendicular to each other.
5. The attitude adjusting platform with a superposed single-stage stroke and branched chain legs with 6 degrees of freedom in installation space according to claim 3, is characterized in that: and the corners of the movable platform (6) are provided with an anti-collision sensor, a laser range finder and an environment measuring sensor, and are fixedly connected with the movable platform (6) through an interface structure of the first end surfaces of the X-direction movable platforms 2-9.
6. The attitude adjusting platform with a superposed single-stage stroke and branched chain legs with 6 degrees of freedom in installation space according to claim 1, is characterized in that: the movable platform (6) is of a rectangular or rhombic frame structure.
7. The attitude adjusting platform with a superposed single-stage stroke and branched chain legs with 6 degrees of freedom in installation space according to claim 3, is characterized in that: a first movement P in each of said 6-degree-of-freedom branched legs (1)XSecondary and secondary movement PYSecondary and third movement PZThe pairs being parallel to each other and each third movement PZAre all vertical to the movable platform (6).
8. The attitude adjusting platform with a superposed single-stage stroke and branched chain legs with 6 degrees of freedom in installation space according to claim 1, is characterized in that: the four branched chain legs (1) with 6 degrees of freedom are fixedly connected with the movable platform (6) through an interface structure of the first end face of the X-direction movable platform (2-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011079887.XA CN112388608B (en) | 2020-10-10 | 2020-10-10 | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011079887.XA CN112388608B (en) | 2020-10-10 | 2020-10-10 | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112388608A true CN112388608A (en) | 2021-02-23 |
| CN112388608B CN112388608B (en) | 2021-09-14 |
Family
ID=74596375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011079887.XA Active CN112388608B (en) | 2020-10-10 | 2020-10-10 | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112388608B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022198587A1 (en) * | 2021-03-25 | 2022-09-29 | 苏州迈澜医疗科技有限公司 | Six-degree-of-freedom motion mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522080A (en) * | 2013-10-14 | 2014-01-22 | 吴江市博众精工科技有限公司 | XY axis adjusting mechanism |
| US20150048564A1 (en) * | 2012-03-12 | 2015-02-19 | Societe D'applications Electriques Et Mecaniques - Sapem | Method for turning over a large-sized or heavy part |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN110481673A (en) * | 2019-08-15 | 2019-11-22 | 燕山大学 | Main passive differential mixed connection supporting leg and six degree of freedom posture adjustment platform |
| CN110666471A (en) * | 2019-08-15 | 2020-01-10 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN111716330A (en) * | 2020-06-16 | 2020-09-29 | 燕山大学 | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof |
-
2020
- 2020-10-10 CN CN202011079887.XA patent/CN112388608B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150048564A1 (en) * | 2012-03-12 | 2015-02-19 | Societe D'applications Electriques Et Mecaniques - Sapem | Method for turning over a large-sized or heavy part |
| CN103522080A (en) * | 2013-10-14 | 2014-01-22 | 吴江市博众精工科技有限公司 | XY axis adjusting mechanism |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN110481673A (en) * | 2019-08-15 | 2019-11-22 | 燕山大学 | Main passive differential mixed connection supporting leg and six degree of freedom posture adjustment platform |
| CN110666471A (en) * | 2019-08-15 | 2020-01-10 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN111716330A (en) * | 2020-06-16 | 2020-09-29 | 燕山大学 | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022198587A1 (en) * | 2021-03-25 | 2022-09-29 | 苏州迈澜医疗科技有限公司 | Six-degree-of-freedom motion mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112388608B (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11945271B2 (en) | Rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit and hybrid robot platform thereof | |
| CN110469758B (en) | Super-large-bearing omnidirectional carrying attitude-adjusting platform and ground self-adaptive omnidirectional mobile unit | |
| CN104816761B (en) | Walking mechanism and walking method of crawling robot | |
| CN111716330B (en) | Synchronous parallel side 6-freedom branched chain leg and 6-freedom parallel posture adjusting platform thereof | |
| CN110712770B (en) | 9-freedom hybrid attitude adjusting platform for horizontal butt joint assembly of solar wings in low space | |
| CN109129349A (en) | Six degree of freedom posture adjustment docking platform | |
| CN107984216B (en) | Automatic production line for mixed line production of multiple varieties of low-voltage switch equipment and operation method | |
| CN107139165A (en) | The Six-freedom-degree space docking mechanism of series-parallel connection | |
| CN107008602A (en) | Series-parallel spray robot | |
| CN206924938U (en) | Series-parallel spray robot | |
| CN112388608B (en) | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space | |
| CN110510029A (en) | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform | |
| CN107443173A (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN112454245B (en) | Installation space coincident 2-level stroke 6-degree-of-freedom parallel posture adjusting platform | |
| CN114193432A (en) | Unloading clamping jaw mechanism and electric core assembly production line on electric core | |
| CN110498060B (en) | Mecanum wheel series branched chain leg and omnidirectional moving posture adjusting platform thereof | |
| CN112937907A (en) | Movable posture adjusting bracket for rear body of airplane | |
| CN110510143A (en) | Omnidirectional moving large aircraft level assembly 13 freedom degree mixed connection posture adjustment platforms of docking | |
| CN114700965B (en) | Multi-degree-of-freedom mixed posture adjustment assembly robot | |
| CN213319942U (en) | Six-axis automatic rack system | |
| CN106903495A (en) | A kind of robot mechanism that assembly manipulation is directed at for heavy parts | |
| CN116276936A (en) | Width-variable operation and movement integrated module mechanical arm in narrow environment | |
| CN110712694B (en) | Six-freedom-degree parallel posture adjusting platform assembled based on four-leg low horizontal butt joint | |
| CN212918380U (en) | Multidirectional intelligent regulation mechanical assembly mechanism | |
| CN209774641U (en) | four-axis robot for stamping feeding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |