CN116460831A - Six-dimensional adjusting module with tiny adjusting gap - Google Patents

Six-dimensional adjusting module with tiny adjusting gap Download PDF

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Publication number
CN116460831A
CN116460831A CN202211340764.6A CN202211340764A CN116460831A CN 116460831 A CN116460831 A CN 116460831A CN 202211340764 A CN202211340764 A CN 202211340764A CN 116460831 A CN116460831 A CN 116460831A
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CN
China
Prior art keywords
iii
plate
guide rails
guide rail
adjusting mechanism
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Pending
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CN202211340764.6A
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Chinese (zh)
Inventor
谢章
谢志江
杨林
夏宁明
李彦琪
叶秋
代正宏
欧德明
游悠
蒙红宇
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Chongqing University
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Chongqing University
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Priority to CN202211340764.6A priority Critical patent/CN116460831A/en
Publication of CN116460831A publication Critical patent/CN116460831A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Measuring And Other Instruments (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a six-dimensional adjusting module with a tiny adjusting gap, which comprises a Z-direction adjusting mechanism, a rotating adjusting mechanism around X/Y/Z, a connecting plate and an X/Y-direction adjusting mechanism. The Z-direction adjusting mechanism is connected to the X/Y-direction adjusting mechanism through a connecting plate, and the Z-direction adjusting mechanism is connected to the X/Y/Z-direction adjusting mechanism around the X/Y/Z-direction rotating adjusting mechanism. The X/Y direction adjusting mechanism and the Z direction adjusting mechanism can realize that a large-sized structural member can be adjusted in a tiny working space, and meanwhile, the adjusting module has the advantages of simple structure, convenience in moving, large bearing capacity, high reliability, high efficiency and the like.

Description

Six-dimensional adjusting module with tiny adjusting gap
Technical Field
The invention relates to a six-dimensional adjusting module with a tiny adjusting gap.
Background
In the field of six-degree-of-freedom accurate positioning of large structural members, the large structural members have large volume and large mass, and have higher requirements on positioning accuracy, and if the installation position has larger deviation from an ideal state, the usability of an adjustment object is seriously affected. In the prior art, a binocular machine vision method is adopted to guide the mechanical arm to complete the assembly and positioning of the optical component, and the method is limited by a large mechanical arm structure and is not applicable to a tiny working space under the condition of small adjustment gap, and meanwhile, the cost is high; considering the cost factor, manual installation and positioning are usually adopted, and in the process of adjusting installation, the installation and positioning are realized by a bolt tightening mode at the installation position through multi-angle matching adjustment, and the method has the main defects of low adjustment efficiency and poor reliability.
Disclosure of Invention
The invention aims to provide a six-dimensional adjusting module with a small adjusting gap so as to solve the problems in the prior art.
The technical scheme adopted for realizing the purpose of the invention is that the six-dimensional adjusting module with a tiny adjusting gap comprises a Z-direction adjusting mechanism, a rotation adjusting mechanism around X/Y/Z, a connecting plate and an X/Y-direction adjusting mechanism which are arranged in a space rectangular coordinate system O-XYZ, wherein a plane O-XY is a horizontal plane, and the Z direction is consistent with the vertical direction.
The connecting plate is mounted on the X/Y direction adjusting mechanism, and the Z direction adjusting mechanism is fixed on the connecting plate.
The Z-direction adjusting mechanism comprises an electric control cabinet, a Z-direction motor, a feeding mechanism II, a guide rail sliding block, two Z-direction guide rails and a fixing plate.
The electric control cabinet is installed on the connecting plate, one side of the electric control cabinet is provided with a vertical fixing plate, two Z-direction guide rails are arranged on the fixing plate at intervals, guide rail sliding blocks are installed on each Z-direction guide rail, and the Z-direction guide rails are consistent with the Z directions.
The feeding mechanism II is arranged between the two Z-direction guide rails and connected with the guide rail sliding blocks on the two Z-direction guide rails, and the upper end of the feeding mechanism II is connected with the Z-direction motor.
The X/Y/Z rotation adjusting mechanism is connected to the guide rail sliding block, a ball socket is arranged on the X/Y/Z rotation adjusting mechanism, and a rolling ball is arranged in the ball socket.
When the device works, the rolling ball on the X/Y/Z rotary adjusting mechanism is contacted with a component, the Z-direction motor drives the guide rail sliding block to move along the Z direction, the Z-direction adjusting mechanism moves on the plane O-XY through the X/Y rotary adjusting mechanism, and the rolling ball adjusts the posture of the component.
Further, the X/Y direction adjusting mechanism comprises a feeding mechanism I, a Y direction motor, two X direction guide rails, four crisscross sliding blocks, two Y direction guide rails and a lower bottom plate.
The X-direction guide rails are consistent with the X-direction, two X-direction guide rails which are mutually spaced are fixed on the lower bottom plate, and each X-direction guide rail is provided with two crisscross sliding blocks.
The Y-direction guide rails are consistent with the Y direction, and each Y-direction guide rail is arranged on two crisscross sliding blocks.
The feeding mechanism I comprises a trapezoidal screw rod I, a nut mounting seat I, a bearing seat II, a coupler I and a speed reducer I.
Bearing frame I and II interval are fixed at the connecting plate lower surface, all install bearing I on bearing frame I and the bearing frame II, and trapezoidal lead screw I is connected with two bearing I of axis coincidence, and trapezoidal lead screw I's axis is unanimous with Y, and trapezoidal lead screw I's one end is connected with reduction gear I output, and reduction gear I is connected with Y motor output through shaft coupling I.
Be located same be connected with nut mounting panel I between two crisscross sliders on the X to the guide rail, nut I is fixed on nut mounting panel I, and the pole section that trapezoidal lead screw I is located between two bearings I passes nut I and nut mounting panel I.
During operation, the Y-direction motor drives the trapezoidal screw rod I to rotate, the trapezoidal screw rod I drives the connecting plate to move along the Y direction, and the crisscross sliding block follows in the X direction.
Further, the Y-direction motor is positioned in the electric control cabinet.
Further, the X/Y direction adjusting mechanism comprises a feeding mechanism III, an X direction motor, two X direction guide rails, four crisscross sliding blocks, two Y direction guide rails and a lower bottom plate.
The Y-direction guide rails are consistent with the Y direction, two Y-direction guide rails which are mutually spaced are fixed on the lower bottom plate, and each Y-direction guide rail is provided with two crisscross sliding blocks.
The X-direction guide rails are consistent with the X-direction, and each X-direction guide rail is arranged on two crisscross sliding blocks.
The feeding mechanism III comprises a trapezoidal screw rod III, a nut mounting seat III, a bearing seat IV, a coupler III and a speed reducer III.
Bearing seat III and bearing seat IV interval are fixed at the connecting plate lower surface, all install bearing III on bearing seat III and the bearing seat IV, and trapezoidal lead screw III is connected with two bearing III that the axis coincides, and trapezoidal lead screw III's axis is unanimous with X, and trapezoidal lead screw III's one end is connected with reduction gear III output, and reduction gear III passes through shaft coupling III and is connected to the motor output to X.
And a nut mounting plate III is connected between the two crisscross sliding blocks positioned on the same Y-direction guide rail, the nut III is fixed on the nut mounting plate III, and a rod section of the trapezoidal screw rod III positioned between the two bearings III passes through the nut III and the nut mounting plate III.
When the X-direction motor is in operation, the trapezoidal screw rod III is driven to rotate by the X-direction motor, the trapezoidal screw rod III drives the connecting plate to move along the X direction, and the crisscross sliding block is driven in the Y direction.
Further, the X-direction motor is positioned in the electric control cabinet.
Further, the X/Y direction adjusting mechanism comprises two X direction guide rails, four crisscross sliding blocks, two Y direction guide rails and a lower bottom plate.
The Y-direction guide rails are consistent with the Y direction, two Y-direction guide rails which are mutually spaced are fixed on the lower bottom plate, and each Y-direction guide rail is provided with two crisscross sliding blocks.
The X-direction guide rails are consistent with the X-direction, each X-direction guide rail is arranged on two crisscross sliding blocks, and the two X-direction guide rails are connected with the connecting plate.
When the connecting plate works, the connecting plate follows in the X direction and the Y direction.
Further, the X/Y/Z rotation adjusting mechanism comprises a supporting plate, the supporting plate is an L-shaped plate, the vertical plate surface of the supporting plate is connected with the guide rail sliding block, and the horizontal plate surface of the supporting plate is provided with a ball socket.
Further, a notch for placing the supporting plate is formed in the lower bottom plate, and when the supporting plate is adjusted to the lowest position, the horizontal plate of the supporting plate is located in the notch.
Further, the lower bottom plate is a rectangular plate, the lower bottom plate is connected with a supporting frame, the supporting frame is close to the edge of the lower bottom plate, and a plurality of wheels are mounted on the lower surface of the lower bottom plate.
Further, the feeding mechanism II comprises a trapezoidal screw rod II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupler II and a speed reducer II.
The bearing seat V and the bearing seat VI are both fixed on the fixed plate, the bearing seat V is positioned right above the bearing seat VI, the bearing II is arranged on the bearing seat V and the bearing seat VI, the trapezoidal screw rod II is connected with two bearings II with coincident axes, the axes of the trapezoidal screw rod II are consistent with the Z direction, the upper end of the trapezoidal screw rod II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z-direction motor through the coupler II.
A nut mounting seat II is connected between two guide rail sliding blocks positioned on the two Z-direction guide rails, the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II penetrates through the nut II.
When the Z-direction motor is in operation, the Z-direction motor drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block and the X/Y/Z rotation adjusting mechanism to move along the Z direction.
And the upper end and the lower end of each Z-direction guide rail are respectively provided with a stop block.
The invention has the technical effects that the structure of the invention can lead the large-sized structural member to be adjustable in a tiny working space, and the adjusting module has the advantages of simple structure, convenient movement, large bearing capacity, high reliability, high efficiency and the like.
Drawings
FIG. 1 is a schematic overall view of the structure of the present invention;
FIG. 2 is a schematic view of an X/Y direction adjusting mechanism according to embodiment 1;
FIG. 3 is a schematic view of an X/Y direction adjusting mechanism according to embodiment 2;
FIG. 4 is a schematic view of an X/Y direction adjusting mechanism according to embodiment 3;
FIG. 5 is a schematic view of a Z-direction adjustment mechanism;
fig. 6 is a schematic view of a pallet.
In the figure: the Z-direction adjusting mechanism 1, the electric control cabinet 101, the Z-direction motor 102, the feeding mechanism II 103, the guide rail slide block 104, the Z-direction guide rail 105, the stop block 106, the fixed plate 107, the X/Y/Z rotation adjusting mechanism 2, the supporting plate 201, the connecting plate 3, the X/Y direction adjusting mechanism 4, the supporting frame 401, the feeding mechanism I402, the Y-direction motor 403, the X-direction guide rail 404, the notch 405, the crisscross slide block 406, the Y-direction guide rail 407, the lower bottom plate 408, the feeding mechanism III 409, the X-direction motor 410 and the wheels 411.
Detailed Description
The present invention is further described below with reference to examples, but it should not be construed that the scope of the above subject matter of the present invention is limited to the following examples. Various substitutions and alterations are made according to the ordinary skill and familiar means of the art without departing from the technical spirit of the invention, and all such substitutions and alterations are intended to be included in the scope of the invention.
Example 1:
referring to fig. 1, the embodiment discloses a six-dimensional adjusting module with a tiny adjusting gap, which comprises a Z-direction adjusting mechanism 1, a rotation adjusting mechanism 2 around X/Y/Z, a connecting plate 3 and an X/Y-direction adjusting mechanism 4 which are arranged in a space rectangular coordinate system O-XYZ, wherein a plane O-XY is a horizontal plane, and the Z-direction is consistent with the vertical direction.
The connecting plate 3 is mounted on the X/Y direction adjusting mechanism 4, and the Z direction adjusting mechanism 1 is fixed on the connecting plate 3.
Referring to fig. 5, the Z-direction adjusting mechanism 1 includes an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism ii 103, a rail slider 104, two Z-direction rails 105, and a fixing plate 107.
The electric control cabinet 101 is installed on the connecting plate 3, one side of the electric control cabinet 101 is provided with a vertical fixing plate 107, two Z-direction guide rails 105 are arranged on the fixing plate 107 at intervals, each Z-direction guide rail 105 is provided with a guide rail sliding block 104, and the Z-direction guide rails 105 are consistent with the Z direction. The upper and lower ends of each Z-direction guide rail 105 are provided with stoppers 106.
The feeding mechanism II 103 is arranged between the two Z-direction rails 105 and is connected with the guide rail sliding blocks 104 on the two Z-direction rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.
The X/Y/Z rotation adjusting mechanism 2 is connected to the guide rail sliding block 104, a ball socket is arranged on the X/Y/Z rotation adjusting mechanism 2, and a rolling ball is arranged in the ball socket.
The feeding mechanism II 103 comprises a trapezoidal screw rod II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupler II and a speed reducer II.
Bearing frame V and bearing frame VI are all fixed on fixed plate 107 and bearing frame V is located directly over bearing frame VI, all install bearing II on bearing frame V and the bearing frame VI, trapezoidal lead screw II is connected with two bearings II that the axis coincides, and trapezoidal lead screw II's axis is unanimous with the Z, and trapezoidal lead screw II's upper end is connected with reduction gear II output, and reduction gear II passes through shaft coupling II and is connected with Z to motor 102's output.
A nut mounting seat II is connected between the two guide rail sliding blocks 104 positioned on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II penetrates through the nut II.
Referring to fig. 6, the rotational adjustment mechanism 2 around X/Y/Z includes a supporting plate 201, the supporting plate 201 is an L-shaped plate, a vertical plate surface of the supporting plate 201 is connected with the guide rail slider 104, and a ball socket is disposed on a horizontal plate surface of the supporting plate 201.
Referring to fig. 2, the X/Y direction adjusting mechanism 4 includes a feeding mechanism i 402, a Y direction motor 403, two X direction guide rails 404, four crisscross sliders 406, two Y direction guide rails 407, and a lower base plate 408.
The X-direction guide rails 404 are consistent with the X-direction, two X-direction guide rails 404 spaced from each other are fixed on the lower base plate 408, and two crisscross slide blocks 406 are mounted on each X-direction guide rail 404.
The Y-direction guide rails 407 are consistent with the Y-direction, and each Y-direction guide rail 407 is mounted on two crisscross sliders 406.
The feeding mechanism I402 comprises a trapezoidal screw rod I, a nut mounting seat I, a bearing seat II, a coupler I and a speed reducer I.
Bearing frame I and II interval are fixed at connecting plate 3 lower surface, all install bearing I on bearing frame I and the bearing frame II, and trapezoidal lead screw I is connected with two bearing I of axis coincidence, and trapezoidal lead screw I's axis is unanimous with Y, and trapezoidal lead screw I's one end is connected with reduction gear I output, and reduction gear I is connected with Y to motor 403 output through shaft coupling I, and Y is located automatically controlled cabinet 101 to motor 403.
A nut mounting plate I is connected between two crisscross sliding blocks 406 on the same X-shaped guide rail 404, a nut I is fixed on the nut mounting plate I, and a rod section of a trapezoidal screw I between two bearings I penetrates through the nut I and the nut mounting plate I.
The lower bottom plate 408 is provided with a notch 405 in which the pallet 201 is placed, and when the pallet 201 is adjusted to the lowest position, the horizontal plate of the pallet 201 is positioned in the notch 405. The lower base plate 408 is a rectangular plate, the lower base plate 408 is connected with a supporting frame 401, the supporting frame 401 is close to the edge of the lower base plate 408, and a plurality of wheels 411 are arranged on the lower surface of the lower base plate 408.
During operation, the rolling ball on the X/Y/Z rotary adjusting mechanism 2 is contacted with a component, the Z-direction motor 102 drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block 104 and the X/Y/Z rotary adjusting mechanism 2 to move along the Z direction. The Z-direction adjusting mechanism 1 moves on a plane O-XY through the X/Y-direction adjusting mechanism 4, namely, the Y-direction motor 403 drives the trapezoidal screw rod I to rotate, the trapezoidal screw rod I drives the connecting plate 3 to move along the Y-direction, the crisscross sliding block 406 follows in the X-direction as required, and therefore the attitude of the component is adjusted by the rolling ball.
It is worth to say that, the six-dimensional adjusting module with the micro adjusting gap provided by the embodiment combines the spherical hinge structure and the XYZ-direction moving structure to form 6 degrees of freedom, and the rolling ball is in direct contact with an object, so that the large-sized structural member can be adjusted in the micro working space, and meanwhile, the adjusting module has the advantages of simple structure, convenience in moving, high bearing capacity, high reliability, high efficiency and the like.
Example 2:
referring to fig. 1, the embodiment discloses a six-dimensional adjusting module with a tiny adjusting gap, which comprises a Z-direction adjusting mechanism 1, a rotation adjusting mechanism 2 around X/Y/Z, a connecting plate 3 and an X/Y-direction adjusting mechanism 4 which are arranged in a space rectangular coordinate system O-XYZ, wherein a plane O-XY is a horizontal plane, and the Z-direction is consistent with the vertical direction.
The connecting plate 3 is mounted on the X/Y direction adjusting mechanism 4, and the Z direction adjusting mechanism 1 is fixed on the connecting plate 3.
Referring to fig. 5, the Z-direction adjusting mechanism 1 includes an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism ii 103, a rail slider 104, two Z-direction rails 105, and a fixing plate 107.
The electric control cabinet 101 is installed on the connecting plate 3, one side of the electric control cabinet 101 is provided with a vertical fixing plate 107, two Z-direction guide rails 105 are arranged on the fixing plate 107 at intervals, each Z-direction guide rail 105 is provided with a guide rail sliding block 104, and the Z-direction guide rails 105 are consistent with the Z direction. The upper and lower ends of each Z-direction guide rail 105 are provided with stoppers 106.
The feeding mechanism II 103 is arranged between the two Z-direction rails 105 and is connected with the guide rail sliding blocks 104 on the two Z-direction rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.
The X/Y/Z rotation adjusting mechanism 2 is connected to the guide rail sliding block 104, a ball socket is arranged on the X/Y/Z rotation adjusting mechanism 2, and a rolling ball is arranged in the ball socket.
The feeding mechanism II 103 comprises a trapezoidal screw rod II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupler II and a speed reducer II.
Bearing frame V and bearing frame VI are all fixed on fixed plate 107 and bearing frame V is located directly over bearing frame VI, all install bearing II on bearing frame V and the bearing frame VI, trapezoidal lead screw II is connected with two bearings II that the axis coincides, and trapezoidal lead screw II's axis is unanimous with the Z, and trapezoidal lead screw II's upper end is connected with reduction gear II output, and reduction gear II passes through shaft coupling II and is connected with Z to motor 102's output.
A nut mounting seat II is connected between the two guide rail sliding blocks 104 positioned on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II penetrates through the nut II.
Referring to fig. 6, the rotational adjustment mechanism 2 around X/Y/Z includes a supporting plate 201, the supporting plate 201 is an L-shaped plate, a vertical plate surface of the supporting plate 201 is connected with the guide rail slider 104, and a ball socket is disposed on a horizontal plate surface of the supporting plate 201.
Referring to fig. 3, the X/Y direction adjusting mechanism 4 includes a feeding mechanism iii 409, an X direction motor 410, two X direction guide rails 404, four crisscross sliders 406, two Y direction guide rails 407, and a lower base plate 408.
The Y-direction guide rails 407 are consistent with the Y-direction, two Y-direction guide rails 407 spaced from each other are fixed on the lower base plate 408, and each Y-direction guide rail 407 is provided with two crisscross slide blocks 406.
The X-direction guide rails 404 are consistent with the X-direction, and each X-direction guide rail 404 is mounted on two crisscross sliders 406.
The feeding mechanism III 409 comprises a trapezoidal screw rod III, a nut mounting seat III, a bearing seat IV, a coupler III and a speed reducer III.
Bearing seat III and bearing seat IV are fixed on the lower surface of connecting plate 3 at intervals, bearing seat III and bearing seat IV are all installed on, trapezoidal lead screw III is connected with two bearing III of axis coincidence, trapezoidal lead screw III's axis is unanimous with X, trapezoidal lead screw III's one end is connected with reduction gear III output, reduction gear III passes through shaft coupling III and is connected with X to motor 410 output, X is to motor 410 and is located automatically controlled cabinet 101.
A nut mounting plate iii is connected between the two crisscross sliders 406 on the same Y-guide rail 407, the nut iii is fixed on the nut mounting plate iii, and a rod section of the trapezoidal screw iii between the two bearings iii passes through the nut iii and the nut mounting plate iii.
The lower bottom plate 408 is provided with a notch 405 in which the pallet 201 is placed, and when the pallet 201 is adjusted to the lowest position, the horizontal plate of the pallet 201 is positioned in the notch 405. The lower base plate 408 is a rectangular plate, the lower base plate 408 is connected with a supporting frame 401, the supporting frame 401 is close to the edge of the lower base plate 408, and a plurality of wheels 411 are arranged on the lower surface of the lower base plate 408.
During operation, the rolling ball on the X/Y/Z rotary adjusting mechanism 2 is contacted with a component, the Z-direction motor 102 drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block 104 and the X/Y/Z rotary adjusting mechanism 2 to move along the Z direction. The Z-direction adjusting mechanism 1 moves on a plane O-XY through the X/Y-direction adjusting mechanism 4, namely, the X-direction motor 410 drives the trapezoidal screw rod III to rotate, the trapezoidal screw rod III drives the connecting plate 3 to move along the X direction, the crisscross sliding block 406 follows in the Y direction as required, and therefore the attitude of the component is adjusted through the rolling ball.
It is worth to say that, the six-dimensional adjusting module with the micro adjusting gap provided by the embodiment combines the spherical hinge structure and the XYZ-direction moving structure to form 6 degrees of freedom, and the rolling ball is in direct contact with an object, so that the large-sized structural member can be adjusted in the micro working space, and meanwhile, the adjusting module has the advantages of simple structure, convenience in moving, high bearing capacity, high reliability, high efficiency and the like.
Example 3:
referring to fig. 1, the embodiment discloses a six-dimensional adjusting module with a tiny adjusting gap, which comprises a Z-direction adjusting mechanism 1, a rotation adjusting mechanism 2 around X/Y/Z, a connecting plate 3 and an X/Y-direction adjusting mechanism 4 which are arranged in a space rectangular coordinate system O-XYZ, wherein a plane O-XY is a horizontal plane, and the Z-direction is consistent with the vertical direction.
The connecting plate 3 is mounted on the X/Y direction adjusting mechanism 4, and the Z direction adjusting mechanism 1 is fixed on the connecting plate 3.
Referring to fig. 5, the Z-direction adjusting mechanism 1 includes an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism ii 103, a rail slider 104, two Z-direction rails 105, and a fixing plate 107.
The electric control cabinet 101 is installed on the connecting plate 3, one side of the electric control cabinet 101 is provided with a vertical fixing plate 107, two Z-direction guide rails 105 are arranged on the fixing plate 107 at intervals, each Z-direction guide rail 105 is provided with a guide rail sliding block 104, and the Z-direction guide rails 105 are consistent with the Z direction. The upper and lower ends of each Z-direction guide rail 105 are provided with stoppers 106.
The feeding mechanism II 103 is arranged between the two Z-direction rails 105 and is connected with the guide rail sliding blocks 104 on the two Z-direction rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.
The X/Y/Z rotation adjusting mechanism 2 is connected to the guide rail sliding block 104, a ball socket is arranged on the X/Y/Z rotation adjusting mechanism 2, and a rolling ball is arranged in the ball socket.
The feeding mechanism II 103 comprises a trapezoidal screw rod II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupler II and a speed reducer II.
Bearing frame V and bearing frame VI are all fixed on fixed plate 107 and bearing frame V is located directly over bearing frame VI, all install bearing II on bearing frame V and the bearing frame VI, trapezoidal lead screw II is connected with two bearings II that the axis coincides, and trapezoidal lead screw II's axis is unanimous with the Z, and trapezoidal lead screw II's upper end is connected with reduction gear II output, and reduction gear II passes through shaft coupling II and is connected with Z to motor 102's output.
A nut mounting seat II is connected between the two guide rail sliding blocks 104 positioned on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II penetrates through the nut II.
Referring to fig. 6, the rotational adjustment mechanism 2 around X/Y/Z includes a supporting plate 201, the supporting plate 201 is an L-shaped plate, a vertical plate surface of the supporting plate 201 is connected with the guide rail slider 104, and a ball socket is disposed on a horizontal plate surface of the supporting plate 201.
Referring to fig. 4, the X/Y direction adjusting mechanism 4 includes two X direction guide rails 404, four crisscross sliders 406, two Y direction guide rails 407, and a lower base plate 408.
The Y-direction guide rails 407 are consistent with the Y-direction, two Y-direction guide rails 407 spaced from each other are fixed on the lower base plate 408, and each Y-direction guide rail 407 is provided with two crisscross slide blocks 406.
The X-direction guide rails 404 are consistent with the X-direction, each X-direction guide rail 404 is arranged on two crisscross sliding blocks 406, and the two X-direction guide rails 404 are connected with the connecting plate 3.
The lower bottom plate 408 is provided with a notch 405 in which the pallet 201 is placed, and when the pallet 201 is adjusted to the lowest position, the horizontal plate of the pallet 201 is positioned in the notch 405. The lower base plate 408 is a rectangular plate, the lower base plate 408 is connected with a supporting frame 401, the supporting frame 401 is close to the edge of the lower base plate 408, and a plurality of wheels 411 are arranged on the lower surface of the lower base plate 408.
During operation, the rolling ball on the X/Y/Z rotary adjusting mechanism 2 is contacted with a component, the Z-direction motor 102 drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block 104 and the X/Y/Z rotary adjusting mechanism 2 to move along the Z direction. The Z-direction adjusting mechanism 1 moves on a plane O-XY through the X/Y-direction adjusting mechanism 4, namely the connecting plate 3 follows in the X direction and the Y direction, so that the ball adjusts the posture of the component.
It is worth to say that, the six-dimensional adjusting module with the micro adjusting gap provided by the embodiment combines the spherical hinge structure and the XYZ-direction moving structure to form 6 degrees of freedom, and the rolling ball is in direct contact with an object, so that the large-sized structural member can be adjusted in the micro working space, and meanwhile, the adjusting module has the advantages of simple structure, convenience in moving, high bearing capacity, high reliability, high efficiency and the like.
Example 4:
referring to fig. 1, the embodiment discloses a six-dimensional adjusting module with a tiny adjusting gap, which comprises a Z-direction adjusting mechanism 1, a rotation adjusting mechanism 2 around X/Y/Z, a connecting plate 3 and an X/Y-direction adjusting mechanism 4 which are arranged in a space rectangular coordinate system O-XYZ, wherein a plane O-XY is a horizontal plane, and the Z-direction is consistent with the vertical direction.
The connecting plate 3 is mounted on the X/Y direction adjusting mechanism 4, and the Z direction adjusting mechanism 1 is fixed on the connecting plate 3.
The Z-direction adjusting mechanism 1 comprises an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism II 103, a guide rail sliding block 104, two Z-direction guide rails 105 and a fixing plate 107.
The electric control cabinet 101 is installed on the connecting plate 3, one side of the electric control cabinet 101 is provided with a vertical fixing plate 107, two Z-direction guide rails 105 are arranged on the fixing plate 107 at intervals, each Z-direction guide rail 105 is provided with a guide rail sliding block 104, and the Z-direction guide rails 105 are consistent with the Z direction.
The feeding mechanism II 103 is arranged between the two Z-direction rails 105 and is connected with the guide rail sliding blocks 104 on the two Z-direction rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.
The X/Y/Z rotation adjusting mechanism 2 is connected to the guide rail sliding block 104, a ball socket is arranged on the X/Y/Z rotation adjusting mechanism 2, and a rolling ball is arranged in the ball socket.
When the device works, the rolling ball on the X/Y/Z rotary adjusting mechanism 2 is contacted with a component, the Z-direction motor 102 drives the guide rail sliding block 104 to move along the Z direction, the Z-direction adjusting mechanism 1 moves on the plane O-XY through the X/Y rotary adjusting mechanism 4, and the posture of the component is adjusted by the rolling ball.
Example 5:
the main structure of this embodiment is the same as that of embodiment 4, and further, the X/Y direction adjusting mechanism 4 includes a feeding mechanism i 402, a Y direction motor 403, two X direction guide rails 404, four crisscross sliders 406, two Y direction guide rails 407, and a lower base plate 408.
The X-direction guide rails 404 are consistent with the X-direction, two X-direction guide rails 404 spaced from each other are fixed on the lower base plate 408, and two crisscross slide blocks 406 are mounted on each X-direction guide rail 404.
The Y-direction guide rails 407 are consistent with the Y-direction, and each Y-direction guide rail 407 is mounted on two crisscross sliders 406.
The feeding mechanism I402 comprises a trapezoidal screw rod I, a nut mounting seat I, a bearing seat II, a coupler I and a speed reducer I.
The bearing seat I and the bearing seat II are fixed on the lower surface of the connecting plate 3 at intervals, the bearing seat I and the bearing seat II are respectively provided with a bearing I, the trapezoidal screw I is connected with two bearings I with coincident axes, the axes of the trapezoidal screw I are consistent with the Y direction, one end of the trapezoidal screw I is connected with the output end of a speed reducer I, the speed reducer I is connected with the output end of a Y-direction motor 403 through a coupler I,
a nut mounting plate I is connected between two crisscross sliding blocks 406 on the same X-shaped guide rail 404, a nut I is fixed on the nut mounting plate I, and a rod section of a trapezoidal screw I between two bearings I penetrates through the nut I and the nut mounting plate I.
When the Y-direction motor 403 drives the trapezoidal screw rod I to rotate, the trapezoidal screw rod I drives the connecting plate 3 to move along the Y direction, and the crisscross sliding block 406 follows in the X direction.
Example 6:
the main structure of this embodiment is the same as that of embodiment 5, and further, the Y-direction motor 403 is located in the electric control cabinet 101.
Example 7:
the main structure of this embodiment is the same as that of embodiment 5, and further, the rotation adjustment mechanism 2 around X/Y/Z includes a supporting plate 201, the supporting plate 201 is an L-shaped plate, a vertical plate surface of the supporting plate 201 is connected with the guide rail slider 104, and a ball socket is disposed on a horizontal plate surface of the supporting plate 201.
Example 8:
the main structure of this embodiment is the same as that of embodiment 7, and further, the lower base plate 408 is provided with a notch 405 into which the pallet 201 is placed, and when the pallet 201 is adjusted to the lowest position, the horizontal plate of the pallet 201 is located in the notch 405.
Example 9:
the main structure of this embodiment is the same as that of embodiment 5, and further, the lower base plate 408 is a rectangular plate, the lower base plate 408 is connected with a supporting frame 401, the supporting frame 401 is close to the edge of the lower base plate 408, and a plurality of wheels 411 are mounted on the lower surface of the lower base plate 408.
Example 10:
the main structure of this embodiment is the same as that of embodiment 4, and further, the feeding mechanism ii 103 includes a trapezoidal screw rod ii, a nut mounting seat ii, a bearing seat v, a bearing seat vi, a coupling ii, and a reducer ii.
Bearing frame V and bearing frame VI are all fixed on fixed plate 107 and bearing frame V is located directly over bearing frame VI, all install bearing II on bearing frame V and the bearing frame VI, trapezoidal lead screw II is connected with two bearings II that the axis coincides, and trapezoidal lead screw II's axis is unanimous with the Z, and trapezoidal lead screw II's upper end is connected with reduction gear II output, and reduction gear II passes through shaft coupling II and is connected with Z to motor 102's output.
A nut mounting seat II is connected between the two guide rail sliding blocks 104 positioned on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II penetrates through the nut II.
During operation, the Z-direction motor 102 drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block 104 and the X/Y/Z rotation adjusting mechanism 2 to move along the Z direction.
The upper and lower ends of each Z-direction guide rail 105 are provided with stoppers 106.

Claims (10)

1. A six-dimensional adjusting module for micro adjusting gaps is characterized in that: comprises a Z-direction adjusting mechanism (1), a rotation adjusting mechanism (2) around X/Y/Z, a connecting plate (3) and an X/Y-direction adjusting mechanism (4) which are arranged in a space rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z direction is consistent with the vertical direction.
The connecting plate (3) is mounted on the X/Y direction adjusting mechanism (4), and the Z direction adjusting mechanism (1) is fixed on the connecting plate (3);
the Z-direction adjusting mechanism (1) comprises an electric control cabinet (101), a Z-direction motor (102), a feeding mechanism II (103), a guide rail sliding block (104), two Z-direction guide rails (105) and a fixed plate (107);
the electric control cabinet (101) is arranged on the connecting plate (3), a vertical fixing plate (107) is arranged on one side of the electric control cabinet (101), two Z-direction guide rails (105) are arranged on the fixing plate (107) at intervals, guide rail sliding blocks (104) are arranged on each Z-direction guide rail (105), and the Z-direction guide rails (105) are consistent with the Z direction;
the feeding mechanism II (103) is arranged between the two Z-direction guide rails (105) and is connected with guide rail sliding blocks (104) on the two Z-direction guide rails (105), and the upper end of the feeding mechanism II (103) is connected with the Z-direction motor (102);
the X/Y/Z rotation adjusting mechanism (2) is connected to the guide rail sliding block (104), a ball socket is arranged on the X/Y/Z rotation adjusting mechanism (2), and a rolling ball is arranged in the ball socket;
when the device works, the rolling ball on the X/Y/Z rotary adjusting mechanism (2) is contacted with a component, the Z-direction motor (102) drives the guide rail sliding block (104) to move along the Z direction, the Z-direction adjusting mechanism (1) moves on the plane O-XY through the X/Y rotary adjusting mechanism (4), and the rolling ball adjusts the posture of the component.
2. The six-dimensional adjusting module for micro adjusting gap according to claim 1, wherein: the X/Y direction adjusting mechanism (4) comprises a feeding mechanism I (402), a Y direction motor (403), two X direction guide rails (404), four crisscross sliding blocks (406), two Y direction guide rails (407) and a lower bottom plate (408);
the X-direction guide rails (404) are consistent with the X-direction, two X-direction guide rails (404) which are mutually spaced are fixed on the lower bottom plate (408), and each X-direction guide rail (404) is provided with two crisscross sliding blocks (406);
the Y-direction guide rails (407) are consistent with the Y direction, and each Y-direction guide rail (407) is arranged on two crisscross sliding blocks (406);
the feeding mechanism I (402) comprises a trapezoidal screw rod I, a nut mounting seat I, a bearing seat II, a coupler I and a speed reducer I;
the bearing seat I and the bearing seat II are fixed on the lower surface of the connecting plate (3) at intervals, the bearing seat I and the bearing seat II are respectively provided with a bearing I, the trapezoidal screw rod I is connected with two bearings I with coincident axes, the axes of the trapezoidal screw rod I are consistent with the Y direction, one end of the trapezoidal screw rod I is connected with the output end of a speed reducer I, and the speed reducer I is connected with the output end of a Y-direction motor (403) through a coupler I;
a nut mounting plate I is connected between two crisscross sliding blocks (406) positioned on the same X-shaped guide rail (404), the nut I is fixed on the nut mounting plate I, and a rod section of the trapezoidal screw rod I positioned between the two bearings I penetrates through the nut I and the nut mounting plate I;
when the Y-direction motor (403) drives the trapezoidal screw rod I to rotate, the trapezoidal screw rod I drives the connecting plate (3) to move along the Y direction, and the crisscross sliding block (406) follows in the X direction.
3. The six-dimensional adjusting module for micro adjusting gap according to claim 2, wherein: the Y-direction motor (403) is positioned in the electric control cabinet (101).
4. The six-dimensional adjusting module for micro adjusting gap according to claim 1, wherein: the X/Y direction adjusting mechanism (4) comprises a feeding mechanism III (409), an X direction motor (410), two X direction guide rails (404), four crisscross sliding blocks (406), two Y direction guide rails (407) and a lower bottom plate (408);
the Y-direction guide rails (407) are consistent with the Y direction, two Y-direction guide rails (407) which are mutually spaced are fixed on the lower bottom plate (408), and each Y-direction guide rail (407) is provided with two crisscross sliding blocks (406);
the X-direction guide rails (404) are consistent with the X-direction, and each X-direction guide rail (404) is arranged on two crisscross sliding blocks (406);
the feeding mechanism III (409) comprises a trapezoidal screw rod III, a nut mounting seat III, a bearing seat IV, a coupler III and a speed reducer III;
the bearing seat III and the bearing seat IV are fixed on the lower surface of the connecting plate (3) at intervals, the bearing seat III and the bearing seat IV are respectively provided with a bearing III, the trapezoidal screw III is connected with two bearings III with coincident axes, the axes of the trapezoidal screw III are consistent with the X direction, one end of the trapezoidal screw III is connected with the output end of a speed reducer III, and the speed reducer III is connected with the output end of an X-direction motor (410) through a coupler III;
a nut mounting plate III is connected between two crisscross sliding blocks (406) positioned on the same Y-shaped guide rail (407), the nut III is fixed on the nut mounting plate III, and a rod section of the trapezoidal screw rod III positioned between the two bearings III passes through the nut III and the nut mounting plate III;
when the X-direction motor (410) drives the trapezoidal screw rod III to rotate, the trapezoidal screw rod III drives the connecting plate (3) to move along the X direction, and the crisscross sliding block (406) follows in the Y direction.
5. The six-dimensional adjusting module for micro adjusting gap according to claim 4, wherein: the X-direction motor (410) is positioned in the electric control cabinet (101).
6. The six-dimensional adjusting module for micro adjusting gap according to claim 1, wherein: the X/Y direction adjusting mechanism (4) comprises two X direction guide rails (404), four crisscross sliding blocks (406), two Y direction guide rails (407) and a lower bottom plate (408);
the Y-direction guide rails (407) are consistent with the Y direction, two Y-direction guide rails (407) which are mutually spaced are fixed on the lower bottom plate (408), and each Y-direction guide rail (407) is provided with two crisscross sliding blocks (406);
the X-direction guide rails (404) are consistent with the X-direction, each X-direction guide rail (404) is arranged on two crisscross sliding blocks (406), and the two X-direction guide rails (404) are connected with the connecting plate (3);
when the device works, the connecting plate (3) is driven in the X direction and the Y direction.
7. A six-dimensional adjusting module for micro adjusting gap according to claim 2, 4 or 6, wherein: the X/Y/Z rotation adjusting mechanism (2) comprises a supporting plate (201), wherein the supporting plate (201) is an L-shaped plate, the vertical plate surface of the supporting plate (201) is connected with a guide rail sliding block (104), and a ball socket is arranged on the horizontal plate surface of the supporting plate (201).
8. The six-dimensional adjusting module for micro adjusting gap according to claim 7, wherein: the lower bottom plate (408) is provided with a notch (405) into which the supporting plate (201) is placed, and when the supporting plate (201) is adjusted to the lowest position, the horizontal plate of the supporting plate (201) is positioned in the notch (405).
9. A six-dimensional adjusting module for micro adjusting gap according to claim 2, 4 or 6, wherein: the lower bottom plate (408) is a rectangular plate, the lower bottom plate (408) is connected with a supporting frame (401), the supporting frame (401) is close to the edge of the lower bottom plate (408), and a plurality of wheels (411) are arranged on the lower surface of the lower bottom plate (408).
10. The six-dimensional adjusting module for micro adjusting gap according to claim 1, wherein: the feeding mechanism II (103) comprises a trapezoidal screw rod II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupler II and a speed reducer II;
the bearing seat V and the bearing seat VI are both fixed on the fixed plate (107) and are positioned right above the bearing seat VI, the bearing seats V and the bearing seat VI are both provided with bearings II, a trapezoidal screw II is connected with two bearings II with coincident axes, the axes of the trapezoidal screw II are consistent with the Z direction, the upper end of the trapezoidal screw II is connected with the output end of a speed reducer II, and the speed reducer II is connected with the output end of a Z-direction motor (102) through a coupler II;
a nut mounting seat II is connected between two guide rail sliding blocks (104) positioned on the two Z-direction guide rails (105), the nut II is fixed on the nut mounting seat II, and a rod section of the trapezoidal screw rod II positioned between the two bearings II passes through the nut II;
when the device works, the Z-direction motor (102) drives the trapezoidal screw rod II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliding block (104) and the X/Y/Z rotation adjusting mechanism (2) to move along the Z direction;
the upper end and the lower end of each Z-direction guide rail (105) are respectively provided with a stop block (106).
CN202211340764.6A 2022-10-29 2022-10-29 Six-dimensional adjusting module with tiny adjusting gap Pending CN116460831A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211340764.6A CN116460831A (en) 2022-10-29 2022-10-29 Six-dimensional adjusting module with tiny adjusting gap

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211340764.6A CN116460831A (en) 2022-10-29 2022-10-29 Six-dimensional adjusting module with tiny adjusting gap

Publications (1)

Publication Number Publication Date
CN116460831A true CN116460831A (en) 2023-07-21

Family

ID=87179455

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211340764.6A Pending CN116460831A (en) 2022-10-29 2022-10-29 Six-dimensional adjusting module with tiny adjusting gap

Country Status (1)

Country Link
CN (1) CN116460831A (en)

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