CN115139284B - Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking - Google Patents
Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking Download PDFInfo
- Publication number
- CN115139284B CN115139284B CN202210874419.4A CN202210874419A CN115139284B CN 115139284 B CN115139284 B CN 115139284B CN 202210874419 A CN202210874419 A CN 202210874419A CN 115139284 B CN115139284 B CN 115139284B
- Authority
- CN
- China
- Prior art keywords
- pair
- parallelogram
- connecting rod
- platform
- parallelogram mechanism
- 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.)
- Active
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 175
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking, and relates to the field of tools for spacecraft docking. The device comprises a touch floor, a gesture adjusting table and n branched chains connected between the gesture adjusting table and the touch floor, wherein the gesture adjusting table is of a cuboid structure and is correspondingly arranged on the n touch floors through the n branched chains; n rectangular positioning holes are reserved on the lower surface of the posture adjusting table plate; the touch panel comprises a touch panel upper platform and a touch panel lower platform which are connected into a whole through a vertical connecting frame, and the touch panel upper platform is provided with an arc-shaped groove for installing a branched chain; the parallelogram amplifying mechanism in the n branched chains forms an executing unit, and a plurality of moving pairs and corresponding structures form a driving unit; the invention also comprises a mobile system which is composed of four Mecanum wheels. The invention realizes the adjustment of six degrees of freedom of the machine body, and the redundant driving mode can improve the bearing capacity and meet the precision requirement.
Description
Technical Field
The invention relates to the field of tools for spacecraft docking, in particular to a gesture adjusting platform for large-working-space redundant driving six-degree-of-freedom spacecraft docking.
Background
In the spacecraft assembly process, there is a high-precision butt joint process of key components such as solar wing installation, camera installation, antenna installation and the like. In the process of installing the solar wing, the precision requirements of the solar wing and the sailboard driving mechanism on six degrees of freedom are required, in the process of adjusting the attitude of the traditional spacecraft, three indexes of pitching, yawing and rolling are mutually coupled because of a trolley or a two-axis turntable and a theodolite which are manually adjusted in the process of the abutting process, after one index is adjusted, retesting is required to be carried out on the other two indexes, further adjustment is carried out according to the result, the requirements on the operation skills of operators are high, the operation of the whole process is complex, the time consumption is huge, and the reliability and the precision of the assembly of the spacecraft are seriously influenced.
The spacecraft docking and posture adjustment device gradually develops towards an intelligent direction, and the intelligent premise is enough automation equipment, and at present, a six-degree-of-freedom parallel mechanism is often used as a posture adjustment device of the automation equipment in the field of spacecraft docking and posture adjustment. In the application scene, the six-degree-of-freedom parallel mechanism has high requirements on pose precision and higher requirements on load capacity. Currently, a large-load six-degree-of-freedom parallel mechanism is generally hydraulically driven, however, the positioning precision of the hydraulically driven six-degree-of-freedom parallel mechanism cannot meet the requirements of special applications. The electrically driven six-degree-of-freedom parallel mechanism can achieve very high positioning accuracy. However, high precision electrically driven six degree of freedom parallel mechanisms have limited load capacity and cannot meet the requirements of heavy load applications. The overall load capacity of the six-degree-of-freedom parallel mechanism is improved under the condition that the load capacity of the electric drive unit is unchanged, and the six-degree-of-freedom parallel mechanism has important significance for solving the problem of high precision and heavy load of the six-degree-of-freedom parallel mechanism.
The six-degree-of-freedom parallel mechanism not only has the characteristics of high rigidity, strong bearing capacity, no accumulation of position errors and the like, but also is more flexible and higher in precision compared with other degrees-of-freedom parallel mechanisms, so that the six-degree-of-freedom parallel mechanism can be used for spacecraft docking and attitude adjustment automatic equipment. On the premise of ensuring the advantages of the six-degree-of-freedom parallel mechanism, how to further improve the configuration and the structure has become a research hot spot, and although various parallel mechanisms are derived at present, most of the mechanisms still have the following technical problems: ① The six degrees of freedom are realized by adopting more branched chains, so that the mechanism is complicated, and the simplification of the whole structure, high movement precision and good stability are difficult to ensure; ② Because of more branched chains, the branched chains are easy to interfere with each other, and the movement range of certain degrees of freedom of the mechanism is affected. Therefore, in order to meet the requirements of high precision and heavy load in the pose adjustment of the spacecraft, the existing six-degree-of-freedom parallel mechanism needs to be improved.
Disclosure of Invention
The invention provides a gesture adjusting platform for docking a spacecraft with large working space redundancy driving six degrees of freedom, which aims to solve the problems that in the prior art, the spacecraft docking technology is rough, the load capacity of an electrically driven six degrees of freedom parallel mechanism is limited, high precision and large load cannot be considered, and too many branched chains are needed.
The invention is realized by the following technical scheme: the gesture adjusting platform for the large-working-space redundant drive six-degree-of-freedom spacecraft docking comprises a touch panel, gesture adjusting platforms and n branched chains connected between the gesture adjusting platforms and the touch panel, wherein n is more than or equal to 3, the gesture adjusting platforms are of cuboid structures, and the gesture adjusting platforms are correspondingly arranged on the n touch panels through the n branched chains; the gesture adjusting table comprises a gesture adjusting table plate, and n positioning holes are reserved on the lower surface of the gesture adjusting table plate; the touch panel comprises a touch panel upper platform and a touch panel lower platform, wherein the touch panel upper platform and the touch panel lower platform are connected into a whole through a vertical connecting frame, an arc-shaped groove is formed in the touch panel upper platform, and a passing space is reserved for installing branched chains by the arc-shaped groove; the structure of n branched chains is the same, each branched chain is a series-parallel mechanism formed by connecting a three-degree-of-freedom parallel driving mechanism and a ball pair in series, each branched chain comprises a parallelogram amplifying mechanism, and the parallelogram amplifying mechanism forms an executing unit and comprises a parallelogram mechanism first connecting rod, a parallelogram mechanism second connecting rod, a parallelogram mechanism third connecting rod and a parallelogram mechanism fourth connecting rod; the first connecting rod of the parallelogram mechanism is connected with the fourth connecting rod of the parallelogram mechanism through a first rotating pair R 1 of the parallelogram mechanism, the first connecting rod of the parallelogram mechanism is connected with the second connecting rod of the parallelogram mechanism through a second rotating pair R 2 of the parallelogram mechanism, and the second connecting rod of the parallelogram mechanism is connected with the third connecting rod of the parallelogram mechanism through a third rotating pair R 3 of the parallelogram mechanism; the third connecting rod of the parallelogram mechanism is connected with the fourth connecting rod of the parallelogram mechanism through a fourth revolute pair R 4 of the parallelogram mechanism; the first rotating pair R 1 of the parallelogram mechanism is connected with a first spherical hinge S 1 through a branched chain first connecting rod, a first spherical pair outer spherical shell is arranged on the underfloor platform, and the first spherical hinge S 1 is correspondingly connected with the first spherical pair outer spherical shell; the third revolute pair R 3 of the parallelogram mechanism is perpendicular to the other revolute pair R 5, the third revolute pair R 3 and the other revolute pair R 5 are integrally formed into a U-shaped pair U 1, the parallelogram amplifying mechanism is connected with the flange plate module A through the revolute pair R 5, the flange plate module is formed by fixedly connecting a flange plate with two connecting plates perpendicular to the flange plate, and the revolute pair R 5 is connected to the connecting plates of the flange plate module; the flange plate is connected with a positioning hole on the lower surface of the posture adjustment table plate through a matching bolt; the lower surface of the upper floor contact platform is provided with a driving unit which comprises a first moving pair P 1, a second moving pair P 2 and a third moving pair P 3; the first moving pair P 1, the second moving pair P 2 and the third moving pair P 3 all adopt drivers capable of realizing linear telescopic movement as active drivers, the first moving pair P 1 is connected with a second connecting rod of the parallelogram mechanism through ball pairs S 2 and S 3 at two ends of a first straight rod piece, the second moving pair P 2 is connected with a third rotating pair R 3 of the parallelogram mechanism through ball pairs S 5 and S 4 at two ends of a second straight rod piece, the third moving pair P 3 is connected to a third connecting rod of the parallelogram mechanism through ball pairs S 6 and S 7 at two ends of a third straight rod piece, and the first moving pair P 1 and the third moving pair P 3 are positioned on the same plane with the parallelogram amplifying mechanism; the second moving pair P 2 is perpendicular to the plane of the parallelogram amplifying mechanism.
The invention relates to a gesture adjusting platform for docking a large-working-space redundant drive six-degree-of-freedom spacecraft, which consists of a gesture adjusting platform, a touch floor positioned at the lower part of the gesture adjusting platform and n branched chains arranged on the touch floor, wherein the number of the touch floors at the lower part of the gesture adjusting platform is n, the number of the corresponding branched chains is also n, n is more than or equal to 3, the structures of the branched chains are identical, the installation modes of the branched chains and the gesture adjusting platform are identical, and the branched chains are connected with the corresponding positioning holes through matching bolts. The gesture adjusting platform mainly comprises a touch floor, a gesture adjusting platform and a plurality of branched chains connected between the gesture adjusting platform and the touch floor, wherein the gesture adjusting platform can be a multi-branched chain gesture adjusting platform, such as a four-branched chain gesture adjusting platform, and is in a cuboid structure, and particularly, the gesture adjusting platform is correspondingly arranged on the corresponding touch floor through the plurality of branched chains (if the gesture adjusting platform needs to move, an independent moving system is arranged). The gesture adjusting table comprises a gesture adjusting table plate, and n positioning holes corresponding to the number of the branched chains are reserved on the lower surface of the gesture adjusting table plate and are used for being connected with flange plates on the branched chains through matching bolts. The touch panel is used for installing and supporting branched chains, and mainly comprises an upper touch panel platform and a lower touch panel platform which are connected into a whole through a vertical connecting frame, an arc-shaped groove is formed in the upper touch panel platform, a passing space is reserved for the installation branched chains through the arc-shaped groove, and the branched chains can play a role in adjusting the gesture adjusting platform under the support of the touch panel. The four corners of the gesture adjusting platform are provided with n branched chains, the structures of the n branched chains are completely the same, the branched chains are series-connected mechanisms formed by connecting a three-degree-of-freedom parallel driving mechanism and a ball pair in series, and mainly comprise a parallelogram amplifying mechanism, wherein the parallelogram amplifying mechanism forms an executing unit and is also a main body and a foundation of the whole branched chain and mainly comprises a parallelogram mechanism first connecting rod, a parallelogram mechanism second connecting rod, a parallelogram mechanism third connecting rod and a parallelogram mechanism fourth connecting rod; the first connecting rod of the parallelogram mechanism is connected with the fourth connecting rod of the parallelogram mechanism through a first rotating pair R 1 of the parallelogram mechanism, the first connecting rod of the parallelogram mechanism is connected with the second connecting rod of the parallelogram mechanism through a second rotating pair R 2 of the parallelogram mechanism, and the second connecting rod of the parallelogram mechanism is connected with the third connecting rod of the parallelogram mechanism through a third rotating pair R 3 of the parallelogram mechanism; the third connecting rod of the parallelogram mechanism is connected with the fourth connecting rod of the parallelogram mechanism through a fourth revolute pair R 4 of the parallelogram mechanism, and the four revolute pairs enable the four connecting rods to be connected into a whole, so that the four sides of the parallelogram amplifying mechanism can be changed along with the driving. In order to fix the parallelogram amplifying mechanism and the underfloor platform, a first spherical pair outer spherical shell is arranged on the underfloor platform, a first rotating pair R 1 of the parallelogram mechanism is connected with a first spherical hinge S 1 through a branched chain first connecting rod, and the first spherical hinge S 1 is correspondingly connected with the first spherical pair outer spherical shell, so that the parallelogram amplifying mechanism can rotate in a certain range by taking the spherical hinge S 1 as an axis. The third revolute pair R 3 of the parallelogram mechanism is perpendicular to the other revolute pair R 5, so that the third revolute pair R 3 and the other revolute pair R 5 are integrated into a U pair U 1 for convenience in installation and space saving, and the revolute pair R 5 is used for connecting the parallelogram amplifying mechanism with the flange plate module. The parallelogram amplifying mechanism is connected with a flange plate module through a revolute pair R 5, the flange plate module is formed by fixedly connecting a flange plate with two connecting plates perpendicular to the flange plate, and the revolute pair R 5 is connected to the connecting plates of the flange plate module; the flange plate is connected with the positioning hole matching bolt on the lower surface of the posture adjustment table plate so as to realize the connection of the branched chain and the posture adjustment table. The lower surface of the upper platform of the touch panel is also provided with a driving unit which comprises a first moving pair P 1, a second moving pair P 2 and a third moving pair P 3, and the three moving pairs drive the parallelogram amplifying mechanism to change the shape and the position of the parallelogram amplifying mechanism so as to realize the purpose of adjustment. The first moving pair P 1, the second moving pair P 2 and the third moving pair P 3 all adopt drivers capable of realizing linear telescopic movement as active drivers, and the first moving pair P 1 is connected with a second connecting rod of the parallelogram mechanism through ball pairs S 2 and S 3 at two ends of a first straight rod piece and used for enabling the second connecting rod of the parallelogram mechanism to move; the second moving pair P 2 is connected to a third revolute pair R 3 of the parallelogram mechanism through ball pairs S 5 and ball pairs S 4 at two ends of the second straight rod piece, and is used for enabling the parallelogram amplifying mechanism to integrally act, and when the parallelogram amplifying mechanism integrally acts, the first ball hinge S 1 is used for turning outwards or inwards; the third moving pair P 3 is connected to the third connecting rod of the parallelogram mechanism through the ball pair S 6 and the ball pair S 7 at two ends of the third straight rod, and is used for moving the third connecting rod of the parallelogram mechanism. In order to realize the action of the parallelogram amplifying mechanism, the first moving pair P 1 and the third moving pair P 3 are positioned on the same plane with the parallelogram amplifying mechanism; the second moving pair P 2 is perpendicular to the plane in which the parallelogram amplifying mechanism is located. The drive unit and the execution unit can form a whole module, and the modular design is convenient to detach.
The invention specifically operates as follows: n contact floors are arranged below the gesture adjusting table to play a supporting role, n branched chains are correspondingly arranged on the n contact floors, all branched chains are connected with driving mechanisms in parallel, each branched chain is provided with a corresponding parallelogram amplifying mechanism, and the parallelogram amplifying mechanism is an executing unit and is arranged through each hinging element; the upper platform of the touch panel is provided with a driving mechanism, which comprises a first moving pair P 1, a second moving pair P 2 and a third moving pair P 3, a first spherical pair outer spherical shell is arranged on the lower platen of the touch panel, the first spherical pair outer spherical shell is connected with a parallelogram amplifying mechanism through a branched chain first connecting rod and a first spherical hinge S 1, when the first moving pair P 1 of each branched chain and the third moving pair P 3 of each branched chain move in the straight line direction, a first straight rod piece and a third straight rod piece drive a second connecting rod of the parallelogram mechanism and a third connecting rod of the parallelogram mechanism to move or rotate by taking a third rotating pair R 3 (namely U pair U 1) of the parallelogram mechanism as an axis; when the second movable pair P 2 moves in the straight line direction, the second straight rod drives the U pair to act through the corresponding ball pair, and the whole parallelogram amplifying mechanism turns outwards or inwards by taking the first spherical hinge S 1 as an axis, so that a high-rigidity full-closed loop chain is formed, and the posture of the position corresponding to the posture adjusting table is adjusted by a single branched chain. When three moving pairs (namely 12 moving pairs) corresponding to each of the four branched chains move, six-degree-of-freedom adjustment of the attitude adjusting table can be realized, and the position (including the position and the attitude) adjustment of the spacecraft cabin can be realized.
Further, in order to realize movement of the gesture adjusting platform before gesture adjustment, four corners of the lower surface of the gesture adjusting platform plate are respectively connected with a Mecanum wheel through four supporting rods, the Mecanum wheels are driven by Mecanum wheel driving motors, the Mecanum wheel driving motors are connected with the Mecanum wheels through Mecanum wheel speed reducers, and the advancing of the gesture adjusting platform is controlled through controlling the driving motors and the speed reducers. The four Mecanum wheels and the branched chains work cooperatively, the omnidirectional moving wheel train formed by the four Mecanum wheels can continuously move along any direction and any track in a plane, and the omnidirectional movement of the whole wheel train can be realized, so that omnidirectional movement can be carried out when the gesture adjusting platform moves macroscopically, and the gesture adjusting platform can adjust the gesture of the spacecraft by a fine adjustment system formed by a plurality of branched chains. The omnidirectional moving gear train is adopted for moving at the beginning, when the omnidirectional moving gear train moves to a designated position, the omnidirectional moving gear train stops working, a fine adjustment system formed by a plurality of branched chains is adjusted to land, fine adjustment is carried out by utilizing the plurality of branched chains, and the gesture adjustment work is further completed. Preferably, the upper surface of the gesture adjusting table is also provided with a spacecraft support, the spacecraft support comprises a horizontal part and an arc-shaped part, the horizontal part can be used for placing large-plane gesture adjusting components such as solar sailboards to be docked, and the arc-shaped part can be used for placing cylindrical gesture adjusting components such as spacecraft cabin sections to be docked.
Preferably, the connecting frame between the upper floor contact platform and the lower floor contact platform is hollow, so that the weight of the floor contact can be reduced.
Preferably, an included angle alpha is formed between the second straight rod piece connected with the second moving pair P 2 and the plane where the parallelogram amplifying mechanism is located, and the included angle alpha is more than or equal to 0 degree and less than or equal to 90 degrees.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a gesture adjusting platform for docking a large-working-space redundant drive six-degree-of-freedom spacecraft, which comprises a platform body and a gesture adjusting platform body, wherein the gesture adjusting platform body comprises a platform body and a gesture adjusting platform body, and the gesture adjusting platform body comprises a platform body and is arranged on the platform body: ① And the parallel driving mechanism is adopted, and the number and the form of driving of each branched chain are the same, so that the bearing capacity of each branched chain is balanced. The driving unit comprises 12 moving pair drives, the degree of freedom of the machine body 6 is adjusted, and the bearing capacity can be improved by adopting the redundant driving mode, so that the precision requirement is met; ② The four branches are adopted to realize six-degree-of-freedom motion, so that the whole platform is simplified, the number of the branched chains is moderate, the branched chains are not easy to interfere with each other, and the motion range of each degree of freedom is larger; ③ The contact floor connected with 4 branched chains is connected with the ground in a plane pair, and each branched chain is connected with the gesture adjusting table through the flange plate bolts, so that the contact floor is convenient to detach and install, and a foundation is laid for modular design.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the posture adjustment platform of the present invention.
Fig. 2 is a schematic structural diagram of the gesture adjusting platform moving system of the present invention.
Fig. 3 is a schematic structural view of the posture adjustment table of the present invention.
Fig. 4 is a schematic structural diagram of a parallel posture adjustment platform branched chain of the invention.
FIG. 5 is a schematic diagram of the branched structure of the present invention.
Fig. 6 is a schematic structural view of the touch panel of the present invention.
FIG. 7 is a schematic diagram of the movement of the branching mechanism of the present invention.
The figures are labeled as follows: 1-touch panel, 2-first branched chain, 3-second branched chain, 4-gesture adjusting table, 5-spacecraft support, 6-spacecraft cabin, 7-third branched chain, 8-fourth branched chain, 9-supporting rod, 10-Mecanum wheel, 11-touch panel upper platen, 12-first spherical pair outer spherical shell, 31-touch panel lower platen, 32-branched chain first connecting rod, 33-first moving pair P 1, 34-second moving pair P 2, 35-third moving pair P 3, 36-flange, 37-positioning hole, 40-first spherical hinge S 1, 41-a posture adjusting table plate, 42-a Mecanum wheel decelerator, 43-a Mecanum wheel driving motor, 50-a parallelogram amplifying mechanism, 51-a parallelogram mechanism first connecting rod, 52-a parallelogram mechanism second connecting rod, 53-a parallelogram mechanism third connecting rod, 54-a parallelogram mechanism fourth connecting rod, 55-a parallelogram mechanism first rotating pair R 1, 56-a parallelogram mechanism second rotating pair R 2, 57-a parallelogram mechanism third rotating pair R 3, 58-a parallelogram mechanism fourth rotating pair R 4, 59-revolute pair R 5, 60-U pair U 1, 61-ball pair S 2, 62-first straight bar, 63-ball pair S 3, 64-ball pair S 4, 65-second straight bar, 66-ball pair S 5, 67-ball pair S 6, 68-third straight bar, 69-ball pair S 7, 102-link.
Detailed Description
The invention is further illustrated below with reference to specific examples.
A gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking is shown in fig. 1-6: comprises a touch floor 1, a gesture adjusting table 4 and n branched chains connected between the gesture adjusting table 4 and the touch floor 1, wherein n is more than or equal to 3, the gesture adjusting table 4 is in a cuboid structure, and the gesture adjusting table 4 is correspondingly arranged on n touch panels 1 through n branched chains; the gesture adjusting table 4 comprises a gesture adjusting table plate 41, and n positioning holes 37 are reserved on the lower surface of the gesture adjusting table plate 41; the touch panel 1 comprises a touch panel upper platform 11 and a touch panel lower platform 31, wherein the touch panel upper platform 11 and the touch panel lower platform 31 are connected into a whole through a vertical connecting frame 102, an arc groove is formed in the touch panel upper platform 11, and a passing space is reserved for installing branched chains by the arc groove; the structure of n branched chains is the same, each branched chain is a series-parallel mechanism formed by connecting a three-degree-of-freedom parallel driving mechanism and a ball pair in series, each branched chain comprises a parallelogram amplifying mechanism 50, and the parallelogram amplifying mechanism 50 forms an executing unit and comprises a parallelogram mechanism first connecting rod 51, a parallelogram mechanism second connecting rod 52, a parallelogram mechanism third connecting rod 53 and a parallelogram mechanism fourth connecting rod 54; the first parallelogram mechanism connecting rod 51 is connected with the fourth parallelogram mechanism connecting rod 54 through a first parallelogram mechanism rotating pair R 1, the first parallelogram mechanism connecting rod 51 is connected with the second parallelogram mechanism connecting rod 52 through a second parallelogram mechanism rotating pair R 2, and the second parallelogram mechanism connecting rod 52 is connected with the third parallelogram mechanism connecting rod 53 through a third parallelogram mechanism rotating pair R 3; the third connecting rod 53 of the parallelogram mechanism is connected with the fourth connecting rod 54 of the parallelogram mechanism through a fourth revolute pair R 4 of the parallelogram mechanism; the first rotating pair R 1 of the parallelogram mechanism is connected with a first spherical hinge S 1 40 through a branched chain first connecting rod 32, a first spherical pair outer spherical shell 12 is arranged on the underfloor platform 31, and the first spherical hinge S 1 is correspondingly connected with the first spherical pair outer spherical shell 12; the third revolute pair R 3 of the parallelogram mechanism is perpendicular to the other revolute pair R 5, the third revolute pair R 3 of the parallelogram mechanism and the other revolute pair R 5 are integrally formed into a U-shaped pair U 1, the parallelogram amplifying mechanism 50 is connected with a flange plate module A through a revolute pair R 5, the flange plate module is formed by fixedly connecting a flange plate 36 with two connecting plates perpendicular to the flange plate 36, and the revolute pair R 5 59 is connected to the connecting plates of the flange plate module; the flange 36 is connected with a positioning hole 37 on the lower surface of the posture adjustment table plate 41 through a matching bolt; the lower surface of the upper contact floor platform 11 is provided with a driving unit which comprises a first moving pair P 1, a second moving pair P 2 and a third moving pair P 3; the first moving pair P 1, the second moving pair P 2 and the third moving pair P 3 all adopt drivers capable of realizing linear telescopic movement as active drivers, the first moving pair P 1 is connected with the second connecting rod 52 of the parallelogram mechanism through ball pairs S 2 and S 3 63 at two ends of a first straight rod piece 62, the second moving pair P 2 is connected with the third rotating pair R 3 57 of the parallelogram mechanism through ball pairs S 5 and S 4 66 at two ends of a second straight rod piece 65, the third moving pair P 3 is connected to the third parallelogram mechanism connecting rod 53 through the ball pair S 6 69 and the ball pair S 7 67 at two ends of the third straight rod piece 68, and the first moving pair P 1 and the third moving pair P 3 are located on the same plane with the parallelogram amplifying mechanism 50; the second moving pair P 2 is perpendicular to the plane of the parallelogram mechanism 50. The following preferred scheme is adopted in the embodiment: four corners of the lower surface of the gesture adjusting table plate 41 are respectively connected with a Mecanum wheel 10 through four supporting rods 9, the Mecanum wheel 10 is driven by a Mecanum wheel driving motor 43, and the Mecanum wheel driving motor 43 is connected with the Mecanum wheel 10 through a Mecanum wheel speed reducer 42; the upper surface of the gesture adjusting table 4 is also provided with a spacecraft support 5, the spacecraft support 5 comprises a horizontal part and an arc-shaped part, the horizontal part is used for placing a solar sailboard, and the arc-shaped part is used for supporting and fixing a spacecraft cabin 6, as shown in fig. 1; the connecting frame 102 between the upper floor contact platform 11 and the lower floor contact platform 31 is hollow; an included angle alpha is formed between the second straight rod piece 65 connected with the second moving pair P 2 and the plane where the parallelogram amplifying mechanism 50 is located, and the included angle alpha is more than or equal to 0 degree and less than or equal to 90 degrees; n is more than or equal to 3 and less than or equal to 6; in this embodiment, four branches, i.e., n=4, are respectively a first branch 2, a second branch 3, a third branch 7, and a fourth branch 8, and four rectangular positioning holes 37 are left on the lower surface of the corresponding posture adjustment table plate 41. In this embodiment, the driving unit and the executing unit on the single touch panel 1 form an integral module, and the integral module is installed at the positioning hole on the lower surface of the posture adjustment table board, so that the integral module is convenient to install and detach.
The specific operation of this embodiment is: the spacecraft cabin 6 is fixed in an arc-shaped part of the spacecraft support 5, the Mecanum wheel driving motor 43 and the Mecanum wheel speed reducer 42 are controlled to drive the four Mecanum wheels 10 according to the requirement, the gesture adjusting table 4 is moved to be in place, and then the gesture adjusting of the gesture adjusting table 4 is carried out, wherein the specific process of gesture adjusting is as follows: four contact floors 1 below the gesture adjusting table 4 play a supporting role, four branched chains are installed on the four contact floors 1, all branched chains are parallel driving mechanisms, each branched chain is provided with a corresponding parallelogram amplifying mechanism 50 which is an executing unit and is installed through each hinging element; the upper platform of the touch panel 1 is provided with a driving unit, which comprises a first moving pair P 1, a second moving pair P 2 and a third moving pair P 3, a first spherical pair outer spherical shell 12 is arranged on the lower platen 31 of the touch panel, the first spherical pair outer spherical shell is connected with a parallelogram amplifying mechanism 50 through a branched first connecting rod 32 and a first spherical hinge S 1, when each branched first moving pair P 1 and the third moving pair P 3 move in the straight line direction, a first straight rod piece 62 and a third straight rod piece 68 drive a second connecting rod 52 of the parallelogram mechanism and a third connecting rod 53 of the parallelogram mechanism to move or rotate by taking a third rotating pair R 3 57 (namely U pair U 1) of the parallelogram mechanism as an axis through corresponding spherical pairs; when the second moving pair P 2 moves in the linear direction, the second straight rod member 65 drives the U pair U 1 to act through the corresponding ball pair, and the entire parallelogram amplifying mechanism 50 turns outwards or inwards with the first spherical hinge S 1 as an axis, so that a high-rigidity full closed loop chain is formed, and the posture of the position corresponding to the posture adjusting table 4 is adjusted by a single branched chain. When three moving pairs (namely 12 moving pairs) corresponding to each of the four branched chains move, six degrees of freedom of adjustment of the attitude adjusting table can be realized, and the attitude adjustment of the spacecraft cabin can be realized.
The scope of the present invention is not limited to the above embodiments, and various modifications and alterations of the present invention will become apparent to those skilled in the art, and any modifications, improvements and equivalents within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. The utility model provides a redundant drive six degrees of freedom spacecraft of big workspace is to transfer appearance platform for butt joint which characterized in that: comprises a touch floor (1), a gesture adjusting table (4) and n branched chains connected between the gesture adjusting table (4) and the touch floor (1), wherein n is more than or equal to 3, the gesture adjusting table (4) is of a cuboid structure, and the gesture adjusting table (4) is correspondingly arranged on n touch floors (1) through n branched chains;
The gesture adjusting table (4) comprises a gesture adjusting table plate (41), and n positioning holes (37) are reserved on the lower surface of the gesture adjusting table plate (41); the floor contact board (1) comprises an upper floor contact board platform (11) and a lower floor contact board platform (31), wherein the upper floor contact board platform (11) and the lower floor contact board platform (31) are connected into a whole through a vertical connecting frame (102), an arc-shaped groove is formed in the upper floor contact board platform (11), and a passing space is reserved for installing branched chains;
The structure of n branched chains is the same, each branched chain is a series-parallel mechanism formed by connecting a three-degree-of-freedom parallel driving mechanism and a ball pair in series, each branched chain comprises a parallelogram amplifying mechanism (50), and the parallelogram amplifying mechanism (50) forms an executing unit and comprises a parallelogram mechanism first connecting rod (51), a parallelogram mechanism second connecting rod (52), a parallelogram mechanism third connecting rod (53) and a parallelogram mechanism fourth connecting rod (54); the first parallelogram mechanism connecting rod (51) is connected with the fourth parallelogram mechanism connecting rod (54) through a first parallelogram mechanism rotating pair R 1 (55), the first parallelogram mechanism connecting rod (51) is connected with the second parallelogram mechanism connecting rod (52) through a second parallelogram mechanism rotating pair R 2 (56), and the second parallelogram mechanism connecting rod (52) is connected with the third parallelogram mechanism connecting rod (53) through a third parallelogram mechanism rotating pair R 3 (57); the third connecting rod (53) of the parallelogram mechanism is connected with the fourth connecting rod (54) of the parallelogram mechanism through a fourth revolute pair R 4 (58) of the parallelogram mechanism; the first rotating pair R 1 (55) of the parallelogram mechanism is connected with a first spherical hinge S 1 (40) through a branched chain first connecting rod (32), a first spherical pair outer spherical shell (12) is arranged on the underfloor platform (31), and the first spherical hinge S 1 (40) is correspondingly connected with the first spherical pair outer spherical shell (12); the third revolute pair R 3 (57) of the parallelogram mechanism is perpendicular to the other revolute pair R 5 (59), a U-shaped pair U 1 (60) is integrally formed by the third revolute pair R 3 (57) and the other revolute pair R 5, the parallelogram amplifying mechanism (50) is connected with the flange plate module A through the revolute pair R 5 (59), the flange plate module is formed by fixedly connecting a flange plate (36) with two connecting plates perpendicular to the flange plate (36), and the revolute pair R 5 (59) is connected to the connecting plates of the flange plate module; the flange plate (36) is connected with a positioning hole (37) on the lower surface of the gesture adjusting table plate (41) through a matching bolt;
The lower surface of the upper contact plate platform (11) is provided with a driving unit which comprises a first moving pair P 1 (33), a second moving pair P 2 (34) and a third moving pair P 3 (35); the first moving pair P 1 (33), the second moving pair P 2 (34) and the third moving pair P 3 (35) all adopt drivers capable of realizing linear telescopic movement as active drivers, the first moving pair P 1 (33) is connected with a second connecting rod (52) of the parallelogram mechanism through ball pairs S 2 (61) and S 3 (63) at two ends of a first straight rod piece (62), the second moving pair P 2 (34) is connected with a third rotating pair R 3 (57) of the parallelogram mechanism through ball pairs S 5 (64) and S 4 (66) at two ends of a second straight rod piece (65), the third moving pair P 3 (35) is connected to a third connecting rod (53) of the parallelogram mechanism through ball pairs S 6 (69) and ball pairs S 7 (67) at two ends of a third straight rod piece (68), and the first moving pair P 1 (33) and the third moving pair P 3 (35) are positioned on the same plane with the parallelogram amplifying mechanism (50); the second moving pair P 2 (34) is perpendicular to the plane of the parallelogram amplifying mechanism (50).
2. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: four corners of the lower surface of the gesture adjusting table plate (41) are respectively connected with a Mecanum wheel (10) through four supporting rods (9), the Mecanum wheel (10) is driven by a Mecanum wheel driving motor (43), and the Mecanum wheel driving motor (43) is connected with the Mecanum wheel (10) through a Mecanum wheel speed reducer (42).
3. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: the upper surface of the gesture adjusting table (4) is also provided with a spacecraft support (5), the spacecraft support (5) comprises a horizontal part and an arc-shaped part, the horizontal part is used for placing a solar sailboard, and the arc-shaped part is used for supporting and fixing a spacecraft cabin section (6).
4. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: the connecting frame (102) between the upper floor contact platform (11) and the lower floor contact platform (31) is hollow.
5. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: an included angle alpha is formed between a second straight rod piece (65) connected with the second movable pair P 2 (34) and a plane where the parallelogram amplifying mechanism (50) is located, and the included angle alpha is more than or equal to 0 degree and less than or equal to 90 degrees.
6. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: n is more than or equal to 3 and less than or equal to 6.
7. The large workspace redundancy drive six degree of freedom spacecraft docking attitude adjustment platform of claim 1, wherein: the four branches are arranged, namely n=4, and are a first branch (2), a second branch (3), a third branch (7) and a fourth branch (8) respectively, and four rectangular positioning holes (37) are reserved on the lower surface of the gesture adjusting table plate (41) correspondingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874419.4A CN115139284B (en) | 2022-07-25 | 2022-07-25 | Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874419.4A CN115139284B (en) | 2022-07-25 | 2022-07-25 | Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115139284A CN115139284A (en) | 2022-10-04 |
| CN115139284B true CN115139284B (en) | 2024-06-11 |
Family
ID=83413872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210874419.4A Active CN115139284B (en) | 2022-07-25 | 2022-07-25 | Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115139284B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104229158A (en) * | 2014-09-03 | 2014-12-24 | 上海交通大学 | Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
| WO2017137479A2 (en) * | 2016-02-10 | 2017-08-17 | Centre National D'Études Spatiales C N E S | Device and method for controlling a parallel-architecture mechanism |
| CN209289262U (en) * | 2018-11-06 | 2019-08-23 | 昆明理工大学 | A kind of series parallel robot in five degrees of freedom |
-
2022
- 2022-07-25 CN CN202210874419.4A patent/CN115139284B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104229158A (en) * | 2014-09-03 | 2014-12-24 | 上海交通大学 | Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member |
| WO2017137479A2 (en) * | 2016-02-10 | 2017-08-17 | Centre National D'Études Spatiales C N E S | Device and method for controlling a parallel-architecture mechanism |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
| CN209289262U (en) * | 2018-11-06 | 2019-08-23 | 昆明理工大学 | A kind of series parallel robot in five degrees of freedom |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115139284A (en) | 2022-10-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109648188B (en) | Series-parallel heavy-load friction stir welding robot | |
| CN209831574U (en) | Multi-degree-of-freedom pose adjusting rotary table for large workpieces | |
| CN110469758B (en) | Super-large-bearing omnidirectional carrying attitude-adjusting platform and ground self-adaptive omnidirectional mobile unit | |
| CN110481673B (en) | Active and passive differential series-parallel supporting leg and six-degree-of-freedom posture adjusting platform | |
| CN110712770B (en) | 9-freedom hybrid attitude adjusting platform for horizontal butt joint assembly of solar wings in low space | |
| CN112896365B (en) | Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system | |
| CN111056486A (en) | Six-degree-of-freedom high-precision transferring and flexible butt joint equipment for large cabin | |
| CN111746680A (en) | Wheel-leg composite wall-climbing robot for welding operation | |
| CN114700965B (en) | Multi-degree-of-freedom mixed posture adjustment assembly robot | |
| CN110606142A (en) | Series-parallel supporting leg based on ground sealing and movable posture adjusting platform thereof | |
| CN115139284B (en) | Gesture adjusting platform for large-working-space redundant drive six-degree-of-freedom spacecraft docking | |
| CN210555241U (en) | Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot | |
| CN112388608A (en) | 6-degree-of-freedom parallel posture adjusting platform with overlapped single-stage stroke in installation space | |
| CN115256344B (en) | Omnidirectional carrying gesture-adjusting platform for large-weight equipment under condition of large depth in cabin | |
| CN109794714B (en) | Six-freedom-degree controllable parasitic mechanism type welding robot | |
| CN114013524B (en) | Wheel-track-leg combined type mobile robot | |
| CN115213869B (en) | Six-degree-of-freedom spacecraft docking attitude adjustment platform based on parallel driving mechanism | |
| CN113605468B (en) | Robot suitable for detecting underwater and overwater parts of bridge pile foundation and control method | |
| CN110712694B (en) | Six-freedom-degree parallel posture adjusting platform assembled based on four-leg low horizontal butt joint | |
| CN110827476B (en) | Library borrows book device by oneself | |
| CN110103008B (en) | Robot workstation suitable for large-scale box butt joint | |
| CN210306614U (en) | Robot workstation suitable for large-scale box butt joint | |
| CN113400972A (en) | Parking robot | |
| CN113371090A (en) | Four-foot wheel type deformable all-directional mobile robot and control method thereof | |
| CN115447808A (en) | Force-increasing principle non-redundant driving six-degree-of-freedom spacecraft butt joint attitude adjusting system |
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 |