CN202539908U - Five-freedom-degree rotation fine-adjusting mechanism - Google Patents
Five-freedom-degree rotation fine-adjusting mechanism Download PDFInfo
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- CN202539908U CN202539908U CN2012201888030U CN201220188803U CN202539908U CN 202539908 U CN202539908 U CN 202539908U CN 2012201888030 U CN2012201888030 U CN 2012201888030U CN 201220188803 U CN201220188803 U CN 201220188803U CN 202539908 U CN202539908 U CN 202539908U
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- push
- support
- rod assembly
- traversing carriage
- butt joint
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Abstract
The utility model aims at overcoming the shortcomings that instruments, equipment and commodity bags mounted in airships are low in operation accuracy and poor in efficiency and provides a five-freedom-degree rotation fine-adjusting mechanism. The five-freedom-degree rotation fine-adjusting mechanism comprises a butt joint support, a rotation support, a spiral mechanism, a moving support, a first push rod assembly, a lifting mechanism, a supporting arm and a second push rod assembly. The rotation support achieves rotation around a Y shaft through a driving gear, front-rear pitching of the butt joint support can be achieved by rotating the spiral mechanism, left-right deflection of the butt joint support can be achieved by adjusting one push rod assembly, and front-rear pitching of the butt joint support can be achieved by synchronously adjusting two push rod assemblies. Front-rear horizontal moving of the butt joint support can be achieved by synchronously adjusting the push rod assemblies and the spiral mechanism. The lifting mechanism adopts a lead screw nut structure and drives a lead screw to rotate and further drives the moving support to move vertically. The five-freedom-degree rotation fine-adjusting mechanism is compact in structure and flexible in operation, is safe and reliable, can achieve five-freedom-degree fine-adjusting movements, and improves operation accuracy and efficiency.
Description
Technical field
The utility model relates to a kind of fixing or detent mechanism of workpiece, specifically is a kind of fine tuning structure that can in the package of cargo ship and the total process of assembling of instrument and equipment, finely tune.
Background technology
According to the manned space program of China, following China will set up the space station of oneself in space, and will have the spacefarer in the space station, to garrison for a long time.Spacefarer's required material supply and instrument and equipment in the space station regularly supplied with by cargo ship, the package in this just needs at the appointed time in the completion cargo ship and the quick assembling of instrument and equipment.
Major part all is operating personnel's carrying and installation when craft's interior installs instruments equipment and package at present; If the instrument load is heavier, when profile is big; Need be in the cabin and lay out of my cabin and slide guide rail, and heavily loaded instrument is installed on the dolly that has roller, promote dolly and on guide rail, slide; After arriving assigned address, install.The shortcoming of this mounting means: the security of operation depends on operating personnel's strength and harmony, and the uncertain factor in the operating process is more, and the accuracy of operation is low, and the while installation time also takies more, and efficient is low.Along with the increase of package and instrument and equipment dimensional weight, the limitation of fit just highlights more.
Summary of the invention
The purpose of the utility model is to solve low, the inefficient shortcoming of manipulation accuracy that exists when installing instruments equipment and package in the present airship, and a kind of five degree of freedom revolution micro-adjusting mechanism is provided.
For realizing above-mentioned purpose, the technical scheme that the utility model adopts is:
A kind of five degree of freedom revolution micro-adjusting mechanism comprises butt joint support, rotary support, screw mechanism, traversing carriage, first push-rod assembly, elevating mechanism, support arm and second push-rod assembly.
The butt joint mid-stent is provided with annular buttcover plate, and annular buttcover plate is provided with sector gear, is fixed with the pinion that cooperates with sector gear on the rotary support, is fixed with turntable bearing on the annular buttcover plate, and rotary support is connected with the butt joint support through turntable bearing.
Traversing carriage is arranged at the rotary support inboard, and the two ends of screw mechanism are connected with the rotary support top middle portion with the traversing carriage top middle portion respectively through universal joint.
First push-rod assembly and second push-rod assembly are feed screw nut's structure; First push-rod assembly and second push-rod assembly are articulated in two ends, rotary support bottom respectively; The housing of first push-rod assembly is articulated in traversing carriage bottom one end, and the housing of second push-rod assembly is bolted in the traversing carriage bottom other end.
Support arm is arranged at the traversing carriage inboard, is connected through elevating mechanism between traversing carriage and the support arm, and elevating mechanism adopts screw-nut body, and leading screw is fixed on the support arm, and nut is fixed on the traversing carriage.
In use; At first package or instrument and equipment are installed on the butt joint support; Then five degree of freedom is turned round micro-adjusting mechanism near the installation site; At last through adjustment screw mechanism, rotary support, first push-rod assembly, second push-rod assembly, to be installed until with the interface of package or instrument and equipment and cabin body in the face of till together.
Rotary support realizes around the rotation of Y axle through driven wheel, and the support left and right sides deflection that can achieve a butt joint of a push-rod assembly is regulated in can the achieve a butt joint front and back pitching of support of rotating screw mechanism, the support front and back pitching that can achieve a butt joint of two push-rod assemblies of adjusted in concert.If push-rod assembly and screw mechanism adjusted in concert, the front and back of the support that can achieve a butt joint move horizontally.Elevating mechanism adopts screw-nut structure, drives the leading screw rotation, drives traversing carriage and moves up and down.Has interlock function between each free degree.
The described five degree of freedom of the utility model revolution micro-adjusting mechanism is reasonable in design, compact conformation, flexible operation, safe and reliable, can implementation space five degree of freedom fine setting motion, and applicability and highly versatile have improved performance accuracy and efficient.
Description of drawings
Fig. 1 is the structural representation of the utility model five degree of freedom revolution micro-adjusting mechanism.
Fig. 2 is the structural representation of butt joint support.
Fig. 3 is the structural representation of trimming part.
Fig. 4 is the structural representation of screw mechanism.
Fig. 5 is the second push-rod assembly structural representation.
Fig. 6 is the structural representation of traversing carriage.
Fig. 7 is the structural representation of support arm and elevating mechanism.
Fig. 8 is the utility model five degree of freedom revolution micro-adjusting mechanism regulated quantity sketch map.
Fig. 9 is the utility model five degree of freedom revolution micro-adjusting mechanism schematic diagram.
Among the figure: 1-docks support; The 2-rotary support; The 3-screw mechanism; The 4-traversing carriage; 5-first push-rod assembly; The 6-elevating mechanism; The 7-support arm; 8-second push-rod assembly, the 9-turntable bearing, the 10-sector gear, the 11-pinion, the 12-decelerator,
The 301-threaded rod, the 302-screw shell, the 501-housing, the 502-nut, the 503-screw mandrel, the 504-push rod, the 601-leading screw, the 602-nut, the 603-guide rail, the 604-slide block,
The L-moving sets; The R-revolute; The S-spherical pair; The H-Hooke's hinge.
The specific embodiment
Below in conjunction with accompanying drawing the described technical scheme of the utility model is further specified.
As shown in Figure 1, the described a kind of five degree of freedom revolution of the utility model micro-adjusting mechanism comprises butt joint support 1, rotary support 2, screw mechanism 3, traversing carriage 4, first push-rod assembly 5, elevating mechanism 6, support arm 7 and second push-rod assembly 8,
As shown in Figure 2; Butt joint support 1 middle part is provided with annular buttcover plate, and annular buttcover plate is provided with sector gear 10, is fixed with the pinion 11 that cooperates with sector gear 10 on the rotary support 2; Be fixed with turntable bearing 9 on the annular buttcover plate, rotary support 2 is connected with butt joint support 1 through turntable bearing 9.Butt joint support 1 mainly is made up of buttcover plate, directly is connected with package or instrument and equipment, realizes the extracting and the installation of package or instrument and equipment, requires butt joint support 1 satisfying under the condition of strength and stiffness, has lighter quality.Butt joint support 1 middle part is provided with annular buttcover plate; Have circular groove on the annular buttcover plate, circular groove is embedded in turntable bearing 9, and circular groove and turntable bearing 9 outer rings are spirally connected with screw; The annular buttcover plate surface angle that is spirally connected is 115 ° a sector gear 10; And between sector gear 10 and buttcover plate, adding one deck polyfluortetraethylene plate, the protection buttcover plate improves the engagement width between the gear when preventing to scratch and install, and is as shown in Figure 2.The modulus of sector gear 10 is 5, and the number of teeth is 144.
It is fixing that rotary support 2 middle parts are provided with annular fixed head and turntable bearing 9, rotary support 2 be provided with dock support 1 on the pinion 11 of sector gear 10 engagements, the number of teeth of pinion 11 is 19.Pinion 11 is connected with decelerator 12 on being fixed in rotary support 2, and decelerator 12 adopts worm type of reduction gearings, has auto-lock function at an arbitrary position, can prevent effectively that the load effect from causing the rotation of buttcover plate.
Turntable bearing 9 plays transition and connects between butt joint support 1 and rotary support 2, require to have enough rigidity and intensity, and controls quality in 30kg, and turntable bearing 9 is critical components that revolute function is realized.The outer ring of buttcover plate and turntable bearing 9 is spirally connected, and rotary support 2 is spirally connected with turntable bearing 9 inner rings, through the pinion 11 of drive fixing on rotary support 2, butt joint support 1 is rotated around Y axle 0-90 degree.
Traversing carriage 4 is arranged at rotary support 2 inboards, and the two ends of screw mechanism 3 are connected with rotary support 2 top middle portion with traversing carriage 4 top middle portion respectively through universal joint.Traversing carriage 4 works to support rotary support, trimming part as carrier, and traversing carriage adopts Al pipe butt welding to form.
First push-rod assembly 5 and second push-rod assembly 8 are feed screw nut's structure; First push-rod assembly 5 and second push-rod assembly 8 are articulated in two ends, rotary support 2 bottom respectively; The housing of first push-rod assembly 5 is articulated in traversing carriage 4 bottoms one end; The housing of second push-rod assembly 8 is bolted in the traversing carriage 4 bottom other ends, regulates the support left and right sides deflection that can achieve a butt joint of a push-rod assembly, the pitching before and after the support that can achieve a butt joint of two push-rod assemblies of adjusted in concert.If push-rod assembly and screw mechanism adjusted in concert, the front and back of the support that can achieve a butt joint move horizontally (Fig. 8-a, 8-b, 8-c, 8-d).
First push-rod assembly 5 and second push-rod assembly 8 are except that the housing contour structures is different; All the other structures are identical, and are as shown in Figure 5, and the primary structure of first push-rod assembly and second push-rod assembly has housing 501, nut 502, screw mandrel 503 and push rod 504; Nut 502 is embedded in the housing 501 through groove; Constraint nut 502 rotates, and nut 502 is spirally connected with push rod 504, and leading screw 503 is converted into moving forward and backward of push rod 504 like this.
The described mechanism of the utility model has 5 and drives input port, and each drives input port all is manual operation, and at 5 driving input ports encoder can be installed, and can conveniently read exercise data like this, thereby confirm the attitude of adjustment.On some joints, mechanics sensor can be installed, mechanics sensor is in order to detect the stressing conditions of this mechanism, and whether auxiliary operation makes things convenient for inspected object overweight.
As shown in Figure 9, the utility model adopts the supported at three point mode, and L1, L3, L4, L5, R2 are main the driving, and L1 is a passive constraint, and the free degree of entire mechanism is 1, satisfies the mechanism kinematic condition.Slide block in the moving sets (L1, L2) is fixed on the load end, and guide rail is fixed on the traversing carriage 4.Traversing carriage 4 is spirally connected with moving sets L3, with moving sets L4 hinged (R1), is connected (H1) with moving sets L5 Hooke's hinge.Rotary support 2 is connected (S1, S2) with the screw rod ball pivot of moving sets L3, L4, is connected (H2) with the screw rod Hooke's hinge of moving sets L5.Rotary support 2 adopts hinge to be connected (R2) with butt joint support 1.Ball pivot S1, S2, Hooke's hinge H2 support whole rotary support 2.Moving sets (L1, L2) realization entire mechanism moves along Z-direction, and the screw rod of single moving sets L3, L4 moves can realize the side direction rotation, and two screw rods are synchronized with the movement and can realize the upset around the X axle.The screw rod of moving sets L5 moves the elevating movement of realization around the X axle, and three screw rods are synchronized with the movement and realize moving of Y axle.Butt joint support 1 can be realized the rotation around the Y axle through hinge R2.This motion of mechanism is divided into gyration, five degree of freedom fine setting motion, and elevating movement, and independent mutually between each motion, but complement each other.
Claims (4)
1. a five degree of freedom turns round micro-adjusting mechanism; It is characterized in that: comprise butt joint support (1), rotary support (2), screw mechanism (3), traversing carriage (4), first push-rod assembly (5), elevating mechanism (6), support arm (7) and second push-rod assembly (8)
Butt joint support (1) middle part is provided with annular buttcover plate; The annular buttcover plate is provided with sector gear (10); Be fixed with the pinion (11) that cooperates with sector gear (10) on the rotary support (2); Be fixed with turntable bearing (9) on the annular buttcover plate, rotary support (2) is connected with butt joint support (1) through turntable bearing (9)
Traversing carriage (4) is arranged at rotary support (2) inboard, and the two ends of screw mechanism (3) are connected with rotary support (2) top middle portion with traversing carriage (4) top middle portion respectively through universal joint,
First push-rod assembly (5) is feed screw nut's structure with second push-rod assembly (8); First push-rod assembly (5) and second push-rod assembly (8) are articulated in two ends, rotary support (2) bottom respectively; The housing of first push-rod assembly (5) is articulated in traversing carriage (4) bottom one end; The housing of second push-rod assembly (8) is bolted in traversing carriage (4) the bottom other end
Support arm (7) is arranged at traversing carriage (4) inboard; Be connected through elevating mechanism (6) between traversing carriage (4) and the support arm (7); Elevating mechanism (6) adopts screw-nut body; Leading screw (601) is fixed on the support arm (7), and nut (602) is fixed on the traversing carriage (4).
2. five degree of freedom according to claim 1 revolution micro-adjusting mechanism is characterized in that: screw mechanism (3) comprises threaded rod (301) that two rotation directions are opposite and the screw shell (302) that cooperates with threaded rod.
3. five degree of freedom revolution micro-adjusting mechanism according to claim 1 and 2; It is characterized in that: the primary structure of the first push rod level part and second push-rod assembly has housing (501), nut (502), screw mandrel (503) and push rod (504); Nut (502) is embedded in the housing (501) through groove, and nut (502) is spirally connected with push rod (504).
4. five degree of freedom revolution micro-adjusting mechanism according to claim 1 and 2; It is characterized in that: elevating mechanism (6) also comprises guide rail (603) and slide block (604); Guide rail (603) is fixed on the traversing carriage (4), and the slide block (604) that cooperates with guide rail (603) is fixed on the support arm (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201888030U CN202539908U (en) | 2012-04-28 | 2012-04-28 | Five-freedom-degree rotation fine-adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201888030U CN202539908U (en) | 2012-04-28 | 2012-04-28 | Five-freedom-degree rotation fine-adjusting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202539908U true CN202539908U (en) | 2012-11-21 |
Family
ID=47160597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201888030U Withdrawn - After Issue CN202539908U (en) | 2012-04-28 | 2012-04-28 | Five-freedom-degree rotation fine-adjusting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202539908U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632377A (en) * | 2012-04-28 | 2012-08-15 | 中国航天科技集团公司第五研究院第五一八研究所 | Five-free-degree rotary trimming mechanism |
| CN114700965A (en) * | 2022-03-29 | 2022-07-05 | 燕山大学 | Multi-degree-of-freedom hybrid posture-adjusting assembly robot |
-
2012
- 2012-04-28 CN CN2012201888030U patent/CN202539908U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632377A (en) * | 2012-04-28 | 2012-08-15 | 中国航天科技集团公司第五研究院第五一八研究所 | Five-free-degree rotary trimming mechanism |
| CN102632377B (en) * | 2012-04-28 | 2013-10-23 | 中国航天科技集团公司第五研究院第五一八研究所 | Five-free-degree rotary trimming mechanism |
| CN114700965A (en) * | 2022-03-29 | 2022-07-05 | 燕山大学 | Multi-degree-of-freedom hybrid posture-adjusting assembly robot |
| CN114700965B (en) * | 2022-03-29 | 2024-04-12 | 燕山大学 | Multi-degree-of-freedom mixed posture adjustment assembly robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121121 Effective date of abandoning: 20131023 |
|
| RGAV | Abandon patent right to avoid regrant |