CN112454245B - Installation space coincident 2-level stroke 6-degree-of-freedom parallel posture adjusting platform - Google Patents
Installation space coincident 2-level stroke 6-degree-of-freedom parallel posture adjusting platform Download PDFInfo
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- CN112454245B CN112454245B CN202011080501.7A CN202011080501A CN112454245B CN 112454245 B CN112454245 B CN 112454245B CN 202011080501 A CN202011080501 A CN 202011080501A CN 112454245 B CN112454245 B CN 112454245B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
Abstract
The invention discloses a parallel posture adjusting platform with 2-level travel and 6 degrees of freedom, which has a superposed installation space, and comprises a branched chain leg with 6 degrees of freedom, 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, wherein the branched chain leg with 6 degrees of freedom 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, the control system cabinet realizes six-degree-of-freedom posture adjustment of the posture adjusting 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, and the branched chain leg adopts 1-level Z-direction PZ1Secondary and 2-stage PZ2The auxiliary series-connection superposition stroke meets the requirement of an oversized posture adjusting space on the basis of not changing the height size of the branched chain leg, and realizes six-degree-of-freedom posture adjusting butt joint and assembly in an ultra-low space.
Description
Technical Field
The invention belongs to the technical field of butt joint assembly of large and heavy equipment, and particularly relates to a parallel posture adjusting platform with overlapped installation spaces and 2-level stroke and 6 degrees of freedom.
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 parallel posture adjusting platform with 2-level stroke and 6 degrees of freedom, which has overlapped installation space, can improve and recombine the existing platform technical equipment to increase the posture adjusting function through a modular structure and a space position combination, and can be used as an independent 6-degree-of-freedom posture adjusting platform.
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 2 level stroke 6 degrees of freedom of connecting in parallel transfers appearance platform, includes 6 degrees of freedom branch chain legs, moves the platform, control system cabinet that the parallelly connected appearance platform motion of transferring of control and the power battery that provides power for the control system cabinet, 6 degrees of freedom branch 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 in the middle of X to horizontal migration module and Y to 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 branch chain legs are provided with four and two bisymmetry set up in the front end of moving the platform and the edge of rear end and move 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 the removal and Z to the Z of horizontal migration module to horizontal migration module and Y to lift platform 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-degree-of-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-degree-of-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 clockwise 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 supporting leg base, a first Z-direction guide rail, a second Z-direction guide rail, a first Z-direction sliding block and a second Z-direction sliding block, wherein the Z-direction lead screw transmission system comprises a lifting motor, a lifting reducer, a first lead screw, a first screw nut, a first lead screw supporting seat, a lifting gear fixed-axis wheel system, a lead screw base, a second lead screw, a second screw nut and a second lead screw supporting seat;
the lifting motor is arranged on the first side surface of the screw rod base through a lifting reducer, and an output shaft of the lifting reducer and a lifting gear fixed-axis wheel trainThe first lead screw is arranged on the second side face of the lead screw base through a first lead screw supporting seat, the first end of the first lead screw is connected with a first driven gear of a lifting gear fixed-axis gear train, the driving gear of the lifting gear fixed-axis gear train is in transmission connection with the first driven gear through a transition driven gear, so that power is transmitted to the first lead screw, a first Z-direction guide rail is arranged on the fourth side face and the fifth side face of the lead screw base respectively, a first Z-direction sliding block is arranged on the first side face and the second side face of the Z-direction moving platform, a first nut is arranged on the third side face of the Z-direction moving platform, and the first Z-direction sliding block and the first Z-direction guide rail move 1P gradeZ1Secondary coupling, and third movement 1 stage PZ1The pair is in transmission connection with the first nut through a first lead screw; the second lead screw passes through the second lead screw supporting seat and installs in the third side of lead screw base, the first end and the lifting gear ordinary gear train second driven gear hookup of second lead screw, lifting gear ordinary gear train driving gear are linked through transition driven gear and second driven gear transmission to with power transmission to second lead screw, lead screw base sixth side and seventh side are located respectively to second Z to the guide rail, the first side and the second side of landing leg base are provided with second Z to the slider, landing leg base third side is provided with the second screw, second Z moves 2 grades of P to slider and second Z to the guide rail thirdZ2Secondary coupling, and third movement 2PZ2The pair is in transmission connection with a second nut through a second lead screw;
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 driving belt wheel of the first synchronous belt wheel setFirst driven pulley transmission hookup through hold-in range and first synchronous pulley group, first driven pulley and the first gear of first synchronous pulley group are coaxial, first gear is installed in Y to moving platform's first terminal surface through first gear supporting seat symmetry, X has interface structure to moving platform first terminal surface, X is provided with 2 and 2X to the guide rail symmetry and installs in X to moving platform's second terminal surface both sides, first rack symmetry is installed in X to moving platform's second terminal surface and with X to guide rail parallel adjacent arrangement, X sets up to 4 and 4X to the slider equipartition symmetry and locates Y to moving platform's first terminal surface both sides, 4X to the 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 second movement P is realizedYAuxiliary workEnergy is saved;
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 portion, wherein the first end of the ball pair upper connecting portion is arranged on the second end face of the supporting leg base through a flange, the second end of the ball pair upper connecting portion is provided with a 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, and the right side face of the supporting ball socket support is in contact with the ground to form S pair connection.
The technical scheme of the invention is further improved as follows: the first gear axis, the second gear axis and the first 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 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 PZ1Secondary and third movement PZ2The pairs being parallel to each other and each third movement PZ1Secondary and third movement PZ2The pairs are 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 movable platform is equivalent to an attitude adjusting platform, the ground is equivalent to a fixed platform, 4 branched chain legs with 6 degrees of freedom are equivalent to a movable branched chain for connecting the fixed platform and the attitude adjusting platform, so that the integral 6-degree-of-freedom parallel attitude adjusting platform based on the open ground is formed, and the mechanical structure is 4-PXPYPZ1PZ2S；
2. The X-direction and Y-direction horizontal moving modules of the branched chain leg with 6 degrees of freedom respectively adopt the design that two sides of four groups of guide rail sliding blocks are uniformly distributed, so that the capability of bearing offset bending moment caused by the movement in the direction of X, Y by the branched chain leg is improved, and meanwhile, the branched chain leg adopts the 1-level Z-direction PZ1Secondary and 2-stage PZ2The auxiliary series connection superposition stroke meets the requirement of an oversized posture adjusting space on the basis of not changing the height size of the branched chain leg, and realizes six-degree-of-freedom posture adjusting butt joint and assembly in an ultra-low space;
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-low space.
Drawings
FIG. 1 is a schematic view of the overall structure of a 2-level stroke 6-degree-of-freedom parallel posture adjustment platform of the present invention;
FIG. 2 is a front view of a 2-level stroke 6-degree-of-freedom parallel posture adjustment platform of the present invention;
FIG. 3 is a schematic diagram of the configuration of a 2-stage stroke 6-degree-of-freedom parallel posture adjustment platform of the invention;
FIG. 4 is a schematic diagram of the overall structure of a 2-stage 6 degree-of-freedom branched leg of the present invention;
FIG. 5 is a schematic diagram of the configuration of a 2-step stroke 6-degree-of-freedom branched leg of the present invention;
FIG. 6 is an exploded view of the Z-lift module of the 2-step 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 2-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 parts of Z-direction screw rod transmission system, 4-2 parts of Z-direction moving platform, 4-3 parts of Z-direction guide rail, 4-4 parts of first Z-direction guide rail, 4-5 parts of second Z-direction guide rail, 4-6 parts of first Z-direction sliding block, 4-7 parts of second Z-direction sliding block, 4-8 parts of lifting motor, 4-9 parts of lifting reducer, 4-11 parts of first screw rod, 4-12 parts of first screw nut, 4-13 parts of first screw rod supporting seat, 4-14 parts of lifting gear fixed-axis wheel train, 4-15 parts of lifting gear fixed-axis wheel train, 4-16 parts of screw rod base, 4-17 parts of second screw rod, 4-18 parts of second screw rod supporting seat, 5 parts of ball pair supporting leg module, 5-1 parts of ball pair ball head, 5-2 parts of ball pair end cover, 5-3 parts of supporting ball socket supporting seat, 5-4 parts of lifting motor, 4-9 parts of lifting reducer, 4-11 parts of lifting reducer, 4-12 parts of lifting support, 4-1 parts of lifting gear fixed-6 parts of lifting gear fixed-shaft gear, 4 parts of lifting motor, 4 parts of lifting gear, 4-2 parts of lifting gear, 4 parts of lifting gear, and lifting gear, 4-2 parts of lifting gear fixed-2 parts of lifting gear, 4-3 parts of lifting gear, 4-2 parts of lifting gear, 4-3 parts of lifting gear, 4-2 parts of lifting gear, 4-3 parts of lifting gear, 4-2 parts of lifting gear, 4, and the lifting gear, 4, and the lifting gear, and 4, and the lifting gear, 4, and second screw rod, and the lifting gear, 4, and the lifting gear, 4, the ball pair is connected with the portion, 6, the movable platform, 7, the control system cabinet, 8 and the 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: a parallel posture adjusting platform with 2-level stroke and 6 degrees of freedom in overlapped installation space comprises a branched chain leg 1 with 6 degrees of freedom, 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, and the control system cabinet 7 controls the X-direction horizontal moving module 2 and the Y-direction horizontal moving module 3 to move and controls the Z-direction lifting module 4 to lift so as to realize six-degree-of-freedom posture adjustment of the posture adjusting platform.
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 clockwise 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 2-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 includes a Z-direction lead screw transmission system 4-1, a Z-direction moving platform 4-2, a leg base 4-3, a first Z-direction guide rail 4-4, a second Z-direction guide rail 4-5, a first Z-direction slider 4-6 and a second Z-direction slider 4-7, the Z-direction lead screw transmission system is a 2-stage stroke lead screw transmission system, the Z-direction lead screw transmission system 4-1 includes a lifting motor 4-8, a lifting reducer 4-9, a first lead screw 4-11, a first nut 4-12, a first lead screw support seat 4-13, a lifting gear fixed-axis wheel train 4-14, a lead screw base 4-15, a second lead screw 4-16, a second nut 4-17 and a second lead screw support seat 4-18;
the lifting motor 4-8 is arranged on the first side surface of the screw rod base 4-15 through the lifting reducer 4-9, the output shaft of the lifting reducer 4-9 is connected with the driving gear of the lifting gear fixed shaft gear train 4-14, the first screw rod 4-11 is mounted to a second side of the screw base 4-15 via a first screw support 4-13, the first end of the first lead screw 4-11 is connected with the first driven gear of the lifting gear fixed-axis gear train 4-14, the driving gear of the lifting gear fixed-axis gear train 4-14 is connected with the first driven gear through the transition driven gear in a transmission way, thereby transmitting the power to the first lead screw 4-11, the fourth side and the fifth side of the lead screw base 4-15 are respectively provided with a first Z-direction guide rail 4-4, the first Z-direction sliding block 4-6 is arranged on the first side surface and the second side surface of the Z-direction moving platform 4-2, the first screw nut 4-12 is arranged on the third side surface of the Z-direction moving platform 4-2, the first Z-slide 4-6 and the first Z-guide 4-4 move third by 1 step P.Z1Secondary coupling, and third movement 1 stage PZ1The pair is in transmission connection with a first nut 4-12 through a first lead screw 4-11; the second lead screw 4-16 is arranged on the third side surface of the lead screw base 4-15 through a second lead screw supporting seat 4-18, the first end of the second screw rod 4-16 is connected with the second driven gear of the lifting gear fixed shaft gear train 4-14, the driving gear of the lifting gear fixed shaft gear train 4-14 is connected with the second driven gear through the transition driven gear in a transmission way, thereby transmitting the power to the second lead screw 4-16, the second Z-direction guide rail 4-5 is respectively arranged on the sixth side surface and the seventh side surface of the lead screw base 4-15, the first side surface and the second side surface of the supporting leg base 4-3 are provided with second Z-direction sliding blocks 4-7, and a second nut 4-17 is arranged on the third side surface of the support leg base 4-3, and the second Z-direction sliding block 4-7 and the second Z-direction guide rail 4-5 move for 2 levels P in a third way.Z2Secondary coupling, and third movement 2PZ2The pair is in transmission connection with a second nut 4-17 through a second lead screw 4-16.
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 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, and the first synchronous belt wheel set 2-3The first driven belt wheel is coaxial with a first gear 2-4, the first gear 2-4 is symmetrically arranged on the first end surface 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 rails 2-7 are provided with 2X-direction guide rails 2-7 which are symmetrically arranged at the two sides of the second end face of the X-direction moving platform 2-9, the first racks 2-5 are symmetrically arranged on the second end surface of the X-direction moving platform 2-9 and are parallelly and adjacently arranged with the X-direction guide rails 2-7, the X is to 2-8 setting for 4 and 4X to 2-8 equipartitions of slider symmetry locate Y to the first terminal surface both sides of moving platform 3-9, 4X is to slider 2-8 and X to the first removal P of guide rail 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 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, and second movement P is achievedYAnd in the secondary function, the axes of the first gear 2-4, the second gear 3-4 and the first lead screw 4-11 are all 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 4-3 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, the right side face of the supporting ball socket support 5-3 is in contact with the ground to form an S pair connection, and the S pair connection forms a 4-P configuration together with the X-direction horizontal moving module 2, the Y-direction horizontal moving module 3 and the Z-direction lifting module 4XPYPZ1PZ2The 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 2 grades of strokes of installation space coincidence accent appearance platform that connects 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 and are symmetrically arranged at the corners of 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 parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in 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, 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, and 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 and 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, so that the posture adjusting platform rotates clockwise 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, and the 6-freedom branched chain legs (1) on the two sides of the rear end to synchronously translate along the Y-axis positive direction, so that the posture adjusting platform rotates anticlockwise along the Z axis.
3. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in claim 1, is 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 supporting leg base (4-3), a first Z-direction guide rail (4-4), a second Z-direction guide rail (4-5), a first Z-direction sliding block (4-6) and a second Z-direction sliding block (4-7), the Z-direction lead screw transmission system (4-1) comprises a lifting motor (4-8), a lifting reducer (4-9), a first lead screw (4-11), a first screw nut (4-12), a first lead screw supporting seat (4-13), a lifting gear fixed shaft gear train (4-14), a lead screw base (4-15), a second lead screw (4-16), a second screw nut (4-17) and a second lead screw supporting seat (4-18);
the lifting motor (4-8) is arranged on a first side surface of the screw rod base (4-15) through a lifting reducer (4-9), an output shaft of the lifting reducer (4-9) is connected with a driving gear of a lifting gear fixed-axis gear train (4-14), the first screw rod (4-11) is arranged on a second side surface of the screw rod base (4-15) through a first screw rod supporting seat (4-13), a first end of the first screw rod (4-11) is connected with a first driven gear of the lifting gear fixed-axis gear train (4-14), the driving gear of the lifting gear fixed-axis gear train (4-14) is in transmission connection with the first driven gear through a transition driven gear, so that power is transmitted to the first screw rod (4-11), a first Z-direction guide rail (4-4) is respectively arranged on a fourth side surface and a fifth side surface of the screw rod base (4-15), the first Z-direction sliding block (4-6) is arranged on a first side surface and a second side surface of the Z-direction moving platform (4-2), the first nut (4-12) is arranged on a third side surface of the Z-direction moving platform (4-2), and the first Z-direction sliding block (4-6) and the first Z-direction guide rail (4-4) move 1P level in a third movement modeZ1Secondary coupling, and third movement 1 stage PZ1The pair is in transmission connection with a first nut (4-12) through a first lead screw (4-11); a second screw rod (4-16) is arranged on the third side surface of the screw rod base (4-15) through a second screw rod supporting seat (4-18), the first end of the second screw rod (4-16) is connected with a second driven gear of the lifting gear fixed shaft gear train (4-14), and a driving gear of the lifting gear fixed shaft gear train (4-14) is in transmission with the second driven gear through a transition driven gearThe second Z-direction guide rails (4-5) are respectively arranged on the sixth side and the seventh side of the screw rod base (4-15), the first side and the second side of the leg base (4-3) are provided with second Z-direction sliding blocks (4-7), the third side of the leg base (4-3) is provided with second nuts (4-17), and the second Z-direction sliding blocks (4-7) and the second Z-direction guide rails (4-5) move for 2P levels in a third moving modeZ2Secondary coupling, and third movement 2PZ2The pair is in transmission connection with a second nut (4-17) through a second lead screw (4-16);
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 rails (2-7) are 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), and the first racks (2-5) are symmetrically arranged at the second end surface of the X-direction moving platform (2-9) and are parallel to the X-direction guide rails (2-7)Adjacently arranged, the X-direction sliding blocks (2-8) are arranged into 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 (2-8) and X-direction guide rails (2-7) are moved in the first direction PXA 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 (4-3) 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. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in claim 3, is characterized in that: the axes of the first gear (2-4), the second gear (3-4) and the Z-direction first lead screw (4-11) are all perpendicular to each other.
5. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in 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 surface of the X-direction movable platform (2-9).
6. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in claim 1, is characterized in that: the movable platform (6) is of a rectangular or rhombic frame structure.
7. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in 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 PZ1Secondary and third movement PZ2The pairs being parallel to each other and each third movement PZ1Secondary and third movement PZ2The pairs are all vertical to the movable platform (6).
8. The parallel posture adjusting platform with the overlapped installation space and 2-level stroke and 6 degrees of freedom as claimed in 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).
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