CN206369955U - A kind of High-precision angle automatically adjusts platform - Google Patents

A kind of High-precision angle automatically adjusts platform Download PDF

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Publication number
CN206369955U
CN206369955U CN201621267342.0U CN201621267342U CN206369955U CN 206369955 U CN206369955 U CN 206369955U CN 201621267342 U CN201621267342 U CN 201621267342U CN 206369955 U CN206369955 U CN 206369955U
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China
Prior art keywords
platform
motor
side chain
support
fitting
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Expired - Fee Related
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CN201621267342.0U
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Chinese (zh)
Inventor
李研彪
王林
孙鹏
郑航
徐梦茹
罗怡沁
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Priority to CN201621267342.0U priority Critical patent/CN206369955U/en
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Publication of CN206369955U publication Critical patent/CN206369955U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

Platform is automatically adjusted the utility model discloses a kind of High-precision angle, it is characterized in that including lower shoe, upper plate, platform, the first side chain, the second side chain, the upper plate is fixed on lower shoe by many support shafts, the lower shoe bottom is fixed with multiple support feets, the fixing end connection upper plate of first side chain and the second side chain, the output end connecting platform of first side chain and the second side chain, first side chain is provided with two, and the second side chain is provided with one;The utility model uses four motors as power source, while using the angle of horizon sensor detection platform, the accuracy of platform motion is ensured using closed-loop control system, so as to accurately be automatically adjusted to the multidirectional angle in space.The utility model is designed using symmetrical structure, and motion is flexible, and bearing capacity is strong, reasonable in design with simple and compact for structure, processing and the good advantage of assembly technology.

Description

A kind of High-precision angle automatically adjusts platform
Technical field
The utility model is related to angular adjustment technical field, in particular, more particularly to a kind of High-precision angle is automatic Adjust platform.
Background technology
At present, in Automatic manual transmission, some parts need to carry out the fixation clamping at angle of inclination, so as to need angular adjustment Device determines the space angle of part.
Application No. 201410053166.X Chinese utility model patent discloses a kind of angle demodulator, employs hand The mode of dynamic regulation, it is not necessary to dismantle any frock, angle just can be easily adjusted;Application No. 201110455858.3 Chinese utility model patent disclose angle regulator, utilize dial on toothed disc to carry out hand Dynamic regulation angle, judges that the corner of throttle is adjusted in the combustion of engine;Application No. 201310367115.X Chinese utility model patents Disclose the angular adjustment system for slicer, can simultaneously in two directions on accurate angle is carried out to section machine worktable Degree regulation.But, above-mentioned utility model patent causes the precision of angular adjustment not high by the way of adjusting manually, and behaviour The process of work is more complicated, it is impossible to which realization is automatically adjusted.And above-mentioned utility model patent can only realize one direction or two The angular adjustment in direction, is but difficult to the requirement for meeting some multi-direction angular adjustments.
For above-mentioned deficiency, it is necessary to which designing and develop a kind of High-precision angle automatically adjusts platform, it can supply above-mentioned each Individual shortcoming.
Utility model content
The purpose of this utility model be to solve existing angle regulator must adjust manually, degree of regulation it is not high, The problem of operating process is complicated automatically adjusts platform there is provided a kind of High-precision angle, can automatically, accurately adjust multiple directions Angle.
The utility model is achieved through the following technical solutions above-mentioned purpose:A kind of High-precision angle automatically adjusts platform, It is characterized in that including lower shoe, upper plate, platform, the first side chain, the second side chain, the upper plate is solid by many support shafts It is scheduled on lower shoe, the lower shoe bottom is fixed with multiple support feets, the fixing end of first side chain and the second side chain connects The output end connecting platform of bottom plate, the first side chain and the second side chain is connected, first side chain is provided with two, and the second side chain is set It is equipped with one;
First side chain includes the first motor, first shaft coupling, the first leading screw, the first feed screw nut, the first fixation branch Frame, the first movement support and first connecting rod;First motor is bolted to connection on upper plate, and the first motor Output end connects the first leading screw by first shaft coupling;One end connection first shaft coupling of first leading screw, other end connection First spring bearing;The first fixed support bottom is bolted to connection on upper plate;First spring bearing It is embedded in the first support bracket fastened upper end slot;Described first movement support one end is fixed by bolt and the first feed screw nut to be connected Connect, the other end of the first movement support is connected with link;The bottom of the link is bolted to connection to be moved first On dynamic support, the shaft end of link connects one end of first connecting rod by mobile end connection;The mobile end connection includes Fitting under fitting, mobile terminal middleware and mobile terminal on mobile terminal;The axle of one end of fitting and first connecting rod on the mobile terminal End is fixedly connected, and the other end of fitting is hinged with mobile terminal middleware on mobile terminal;One end of fitting and shifting under the mobile terminal Moved end middleware is hinged, and the other end of fitting is fixedly connected with one end of first connecting rod by trip bolt under mobile terminal, described The direction of principal axis that is hinged on mobile terminal under fitting and mobile terminal between fitting and mobile terminal middleware is mutually perpendicular to;The first connecting rod The other end pass through platform connector connecting platform;The platform connector includes fitting, platform middleware and platform on platform Lower fitting;One end of fitting connects the other end of fitting on one end of first connecting rod, platform by trip bolt on the platform Hole is hinged with platform middleware;A stomidium of fitting is hinged with mobile terminal middleware under the platform, and fitting is another under platform End is connected by trip bolt and the axle that is fixed on platform, on the platform under fitting and platform fitting and fitting in platform it Between the direction of principal axis that is hinged be mutually perpendicular to.
Second side chain includes the second motor, second shaft coupling, the second leading screw, the second feed screw nut, the second fixation branch Frame, the second movement support, the 3rd motor, the 3rd shaft coupling and second connecting rod;Second motor is bolted to connection On upper plate, and the output end of the second motor connects the second leading screw by second shaft coupling;The second fixed support bottom leads to Bolt is crossed to be fixedly connected on upper plate;One end connection second shaft coupling of second leading screw, other end connection second is supported Bearing;Second spring bearing is embedded in the second support bracket fastened upper end slot;The second movement support and the second leading screw Nut is bolted to connection, and the electric machine support is bolted to connection on the second movement support;3rd electricity Machine is fixed on the inner side of electric machine support, and the output end of the 3rd motor connects second connecting rod by the 3rd shaft coupling;Described second One end of connecting rod connects the 3rd motor, and the other end passes through platform connector connecting platform.
Further, the upper plate and lower shoe are both provided with three equally distributed through holes, and support shaft is provided with Three, support shaft is provided at both ends with screw thread, and one end of support shaft is fixed through the through hole on upper plate and by nut;The branch The support axle other end is fixed through the through hole on lower shoe and by nut;The lower shoe is further fixed on three support feets.
Further, the shaft end of the support feet is provided with screw thread, and the lower shoe is provided with the spiral shell with the support feet The mounting hole that line is engaged, the shaft end of support feet is through the mounting hole on lower shoe, and the upper surface of lower shoe is provided with and support feet The adjusting nut of connection.
Further, in addition to X-direction horizon rule and Y-direction horizon rule, the X-direction horizon rule and Y-direction horizon rule It is arranged on the upper surface of lower shoe, X-direction horizon rule and Y-direction horizon rule are in vertical distribution each other.
Control system of the present utility model, PLC, four servo-drivers, three servomotors and four codings Device;Four servo-drivers are respectively the first servo-driver, the second servo-driver, the 3rd servo-driver and the 4th servo Driver;Three servomotors are respectively the first motor, the second motor and the 3rd motor;Four encoders are respectively the first coding Device, second encoder, the 3rd encoder and the 4th encoder;The output end of the controller respectively with the first servo-driver, The input of second servo-driver, the 3rd servo-driver and the 4th servo-driver is connected in parallel;First servo is driven The output end of dynamic device is connected with the input of the first motor;One end of first encoder and the first motor connection, the other end It is connected with the first servo-driver;The output end of second servo-driver is connected with the input of another the first motor; One end of the second encoder and the first motor connection, the other end are connected with the second servo-driver;3rd servo is driven The output end of dynamic device is connected with the input of the second motor;One end of 3rd encoder and the second motor connection, the other end It is connected with the 3rd servo-driver.The output end of 4th servo-driver is connected with the input of the 3rd motor;Described One end of four encoders and the 3rd motor connection, the other end are connected with the 4th servo-driver;The output of the horizon sensor End is connected with controller.
The controller can draw corresponding first motor, the second motor according to set angle angle value by algorithm computing With the corner of the 3rd motor, corresponding umber of pulse and pulse frequency are calculated according to motor corner afterwards;First servo is driven Dynamic device, the second servo-driver, the 3rd servo-driver and the 4th servo-driver receive the pulse signal that controller is sent, point The first motor, the second motor and the 3rd motor operation are not controlled;The encoder gathers the corner and rotary speed information of motor, and handle The information conveyance of collection is to servo-driver, and servo-driver is by contrasting initial information and feedback information, so as to adjust corresponding The rotating speed and corner of motor, it is ensured that motor reaches the rotating speed and corner of setting.Horizon sensor monitoring platform on the platform Corner, and measured value is sent to controller, whether controller measurement of comparison value consistent with setting value, is adjusted if inconsistent Corresponding motor corner, so that platform accurately reaches the angle of setting.
The course of work of the present utility model is as follows:According to the square horizon rules of X and Y-direction horizon rule registration on lower shoe, By adjusting adjusting nut so that lower shoe reaches horizontality.The angle value of setting is exported, controller is according to angle value control First motor, the second motor and the operating of the 3rd motor.When the first motor and the second motor of the second side chain of two the first side chains Motionless, the 3rd motor movement, platform is rotated using the second side chain as axle center;3rd motor is motionless, two the first side chains Second motor of the first motor and the second side chain is synchronized with the movement, and realizes the rectilinear movement of platform and the rotation of space two-freedom Turn.By the motion of the first motor, the second motor and the 3rd motor, so that platform reaches corresponding angle.While platform On the real-time monitoring platform of horizon sensor angle, and feed back to controller.Controller constantly corrects the corner of motor so that The actual angle of platform reaches setting value.
Further, the output shaft of second motor and the 3rd motor is concentric, and the first motor and the second motor are Motor of the same race.
Further, described two first side chains and the second side chain connection upper plate and platform, and two first The link position of chain and second side chain and bottom plate and platform is distributed in equilateral triangle;First side chain and second The axis of chain and the angle of upper plate plane are 80 degree.
Further, the described first support bracket fastened internal both sides are provided with two the first guide rails, and on the first guide rail First sliding block is bolted to connection in the both sides of the first feed screw nut.
Further, the described second support bracket fastened internal both sides are provided with two the second guide rails, and on the second guide rail Second sliding block is bolted to connection in the both sides of the second feed screw nut.
Further, the lower surface centre position of the platform is provided with horizon sensor, and is bolted fixation.
Further, the output shaft end of two the first motors is set the first encoder and second encoder, second respectively The output shaft end of motor and the 3rd motor is respectively arranged with the 3rd encoder and the 4th encoder.
Compared with prior art, the beneficial effects of the utility model are:The utility model is using four motors as dynamic Power source, while using the angle of horizon sensor detection platform, the accuracy of platform motion is ensured using closed-loop control system, from And accurately the multidirectional angle in space can be automatically adjusted.The utility model is designed using symmetrical structure, motion spirit Living, bearing capacity is strong, reasonable in design with simple and compact for structure, processing and the good advantage of assembly technology.
Brief description of the drawings
Fig. 1 is the overall structure diagram that a kind of High-precision angle of the utility model automatically adjusts platform.
Fig. 2 is the attachment structure schematic diagram of upper plate of the present invention and lower shoe.
Fig. 3 is the structural representation of the first side chain of the invention.
Fig. 4 is the structural representation of the side chain of the utility model second.
Fig. 5 is the local structural graph of the utility model platform.
Fig. 6 is the schematic flow sheet of the utility model control system.
In figure, 1- support feets, 2- lower shoes, 3- support shafts, 4- upper plates, the fixed supports of 5- first, the movement branch of 6- first Fitting under frame, 7- links, 8- mobile terminals, fitting on 9- mobile terminals, 10- first connecting rods, 11- platforms, fitting on 12- platforms, Fitting, 14- second connecting rods, the shaft couplings of 15- the 3rd, the motors of 16- the 3rd, 17- electric machine supports, the movement branch of 18- second under 13- platforms Frame, the leading screws of 19- second, 20- second shaft couplings, the motors of 21- second, the motors of 22- first, 23- adjusting nuts, 24-X directions level Chi, 25-Y directions horizon rule, 26- platform middlewares, the fixed supports of 27- second, the guide rails of 28- second, the sliding blocks of 29- second, 30- Two feed screw nuts, the spring bearings of 31- second, 32- mobile terminals middleware, the spring bearings of 33- first, the sliding blocks of 34- first, 35- One feed screw nut, 36- first shaft couplings, the leading screws of 37- first, 38- horizon sensors.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings:
As shown in figs. 1 to 6, a kind of High-precision angle automatically adjusts platform, including lower shoe 2, upper plate 4, platform 11, One side chain, the second side chain, the upper plate 4 are fixed on lower shoe 2 by many support shafts 3, and the bottom of lower shoe 2 is fixed There are multiple support feets 1, the fixing end connection upper plate 4 of first side chain and the second side chain, the first side chain and the second side chain Output end connecting platform 11, first side chain is provided with two, and the second side chain is provided with one.
First side chain includes the first motor 22, first shaft coupling 36, the first leading screw 37, the first feed screw nut 35, the One fixed support 5, first moves support 6 and first connecting rod 10;First motor 22 is bolted to connection in upper plate 4 On, and the output end of the first motor 22 connects the first leading screw 37 by first shaft coupling 36;One end of first leading screw 37 connects First shaft coupling 36 is connect, the other end connects the first spring bearing 33;The bottom of first fixed support 5 is bolted to connection On upper plate 4;First spring bearing 33 is embedded in the upper end slot of the first fixed support 5;The first movement support 6 One end is fixedly connected by bolt with the first feed screw nut 35, and the other end of the first movement support 6 is connected with link 7;It is described The bottom of link 7 is bolted to connection on the first movement support 6, and the shaft end of link 7 passes through mobile end connection Connect one end of first connecting rod 10;The mobile end connection includes fitting 9, mobile terminal middleware 32 and mobile terminal on mobile terminal Lower fitting 8;One end of fitting 9 is fixedly connected with the shaft end of first connecting rod 10 on the mobile terminal, and fitting 9 is another on mobile terminal End is hinged with mobile terminal middleware 32;One end of fitting 8 is hinged with mobile terminal middleware 32 under the mobile terminal, is connect under mobile terminal The other end of part 8 is fixedly connected with one end of first connecting rod 10 by trip bolt, on the mobile terminal under fitting 9 and mobile terminal The direction of principal axis that is hinged between fitting 8 and mobile terminal middleware 32 is mutually perpendicular to;The other end of the first connecting rod 10 passes through platform Connector connecting platform 11;The platform connector includes fitting 13 under fitting 12, platform middleware 26 and platform on platform;Institute State on one end that one end of fitting 12 on platform connects first connecting rod 10 by trip bolt, platform another stomidium of fitting 12 with Platform middleware 26 is hinged;A stomidium of fitting 13 is hinged with mobile terminal middleware 32 under the platform, fitting 13 under platform The other end is connected by trip bolt and fixed axle on platform 11, on the platform under fitting 12 and platform fitting 13 with it is flat The direction of principal axis that is hinged in platform 11 between fitting is mutually perpendicular to.
Second side chain includes the second motor 21, second shaft coupling 20, the second leading screw 19, the second feed screw nut 30, the Two fixed supports 27, second movement support 18, the 3rd motor 16, the 3rd shaft coupling 15 and second connecting rod 14;Second motor 21 are bolted to connection on upper plate 4, and the output end of the second motor 21 connects second by second shaft coupling 20 Thick stick 19;The bottom of second fixed support 27 is bolted to connection on upper plate 4;One end of second leading screw 19 connects Second shaft coupling 20 is connect, the other end connects the second spring bearing 31;Second spring bearing 31 is embedded in the second fixed support In 27 upper end slot;The second movement support 18 is bolted to connection with the second feed screw nut 30, the electric machine support 17 are bolted to connection on the second movement support 18;3rd motor 16 is fixed on the inner side of electric machine support 17, and The output end of 3rd motor 16 connects second connecting rod 14 by the 3rd shaft coupling 15;One end connection the 3rd of the second connecting rod 14 Motor 16, the other end passes through platform connector connecting platform 11.
The upper plate 4 and lower shoe 2 are both provided with three equally distributed through holes, and support shaft 3 is provided with three, branch Support axle 3 is provided at both ends with screw thread, and one end of support shaft 3 is fixed through the through hole on upper plate 4 and by nut;The support shaft 3 other ends are fixed through the through hole on lower shoe 2 and by nut;The lower shoe 2 is further fixed on three support feets 1.
The shaft end of the support feet 1 is provided with screw thread, and the lower shoe 2 is provided with the screw thread matching with the support feet 1 The mounting hole of conjunction, the shaft end of support feet 1 is through the mounting hole on lower shoe 2, and the upper surface of lower shoe 2 is provided with to be connected with support feet 1 The adjusting nut 23 connect.
Also include X-direction horizon rule 24 and Y-direction horizon rule 25, the X-direction horizon rule 24 and Y-direction horizon rule 25 are set Put on the upper surface of lower shoe 2, X-direction horizon rule 24 and Y-direction horizon rule 25 are in vertical distribution each other.
The output shaft of second motor 21 and the 3rd motor 16 is concentric, and the first motor 22 and the second motor 21 are same Plant motor.
Described two first side chains and the second side chain connection upper plate 4 and platform 11, and two the first side chains and one The link position of individual second side chain and bottom plate 4 and platform 11 is distributed in equilateral triangle;First side chain and the second side chain The angle of axis and upper plate plane be 80 degree.
The inside both sides of first fixed support 5 are provided with two the first guide rails, and the first sliding block on the first guide rail 34 are bolted to connection in the both sides of the first feed screw nut 35.
The inside both sides of second fixed support 27 are provided with two the second guide rails 28, and second on the second guide rail 28 Sliding block 29 is bolted to connection in the both sides of the second feed screw nut 30.
The lower surface centre position of the platform 11 is provided with horizon sensor 38, and is bolted fixation.
The output shaft end of two the first motors 22 is set the first encoder and second encoder, the He of the second motor 21 respectively The output shaft end of 3rd motor 16 is respectively arranged with the 3rd encoder and the 4th encoder.
Control system of the present utility model, PLC, four servo-drivers, three servomotors and four codings Device;Four servo-drivers are respectively the first servo-driver, the second servo-driver, the 3rd servo-driver and the 4th servo Driver;Three servomotors are respectively the first motor, the second motor and the 3rd motor;Four encoders are respectively the first coding Device, second encoder, the 3rd encoder and the 4th encoder;The output end of the controller respectively with the first servo-driver, The input of second servo-driver, the 3rd servo-driver and the 4th servo-driver is connected in parallel;First servo is driven The output end of dynamic device is connected with the input of the first motor;One end of first encoder and the first motor connection, the other end It is connected with the first servo-driver;The output end of second servo-driver is connected with the input of another the first motor; One end of the second encoder and the first motor connection, the other end are connected with the second servo-driver;3rd servo is driven The output end of dynamic device is connected with the input of the second motor;One end of 3rd encoder and the second motor connection, the other end It is connected with the 3rd servo-driver.The output end of 4th servo-driver is connected with the input of the 3rd motor;Described One end of four encoders and the 3rd motor connection, the other end are connected with the 4th servo-driver;The output of the horizon sensor End is connected with controller.
Controller can draw corresponding first motor, the second motor and according to set angle angle value by algorithm computing The corner of three motors, calculates corresponding umber of pulse and pulse frequency according to motor corner afterwards;First servo-driver, Second servo-driver, the 3rd servo-driver and the 4th servo-driver receive the pulse signal that controller is sent, and control respectively Make the first motor, the second motor and the 3rd motor operation;The encoder gathers the corner and rotary speed information of motor, and collection Information conveyance to servo-driver, servo-driver is by contrasting initial information and feedback information, so as to adjust corresponding motor Rotating speed and corner, it is ensured that motor reaches the rotating speed and corner of setting.Turn of horizon sensor monitoring platform on the platform Angle, and measured value is sent to controller, whether controller measurement of comparison value is consistent with setting value, adjusts corresponding if inconsistent Motor corner so that platform accurately reaches the angle of setting.
The course of work of the present utility model is as follows:Shown according to the square horizon rules 24 of X and Y-direction horizon rule 25 on lower shoe Number, by adjusting adjusting nut 23 so that lower shoe 2 reaches horizontality.The angle value of setting is exported, controller is according to angle Value controls the first motor 22, the second motor 21 and the 3rd motor 16 to operate.When the first motor 22 and second of two the first side chains Second motor 21 of side chain is motionless, and the 3rd motor 16 is moved, and platform 11 is rotated using the second side chain as axle center;3rd motor 16 is motionless, and the first motor 22 of two the first side chains and the second motor 21 of the second side chain are synchronized with the movement, and realize the straight of platform 11 Line movement and the rotation of space two-freedom.By the motion of the first motor 22, the second motor 21 and the 3rd motor 16, so that So that platform 11 reaches corresponding angle.The angle of the real-time monitoring platform 11 of horizon sensor 38 on platform 11, and instead simultaneously Feed controller.Controller constantly corrects the corner of motor so that the actual angle of platform 11 reaches setting value.
Above-described embodiment is preferred embodiment of the present utility model, is not the limit to technical solutions of the utility model System, as long as the technical scheme that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into In the rights protection scope of the utility model patent.

Claims (10)

1. a kind of High-precision angle automatically adjusts platform, it is characterised in that:Including lower shoe (2), upper plate (4), platform (11), First side chain, the second side chain, the upper plate (4) are fixed on lower shoe (2) by many support shafts (3), the lower shoe (2) bottom is fixed with multiple support feets (1), the fixing end connection upper plate (4) of first side chain and the second side chain, first The output end connecting platform (11) of chain and the second side chain, first side chain is provided with two, and the second side chain is provided with one;
First side chain includes the first motor (22), first shaft coupling (36), the first leading screw (37), the first feed screw nut (35), the first fixed support (5), the first movement support (6) and first connecting rod (10);First motor (22) is solid by bolt Surely it is connected on upper plate (4), and the output end of the first motor (22) connects the first leading screw (37) by first shaft coupling (36); One end connection first shaft coupling (36) of first leading screw (37), the other end connects the first spring bearing (33);Described first Fixed support (5) bottom is bolted to connection on upper plate (4);First spring bearing (33) is embedded in first and consolidated In the upper end slot of fixed rack (5);Described first movement support (6) one end connects by the way that bolt and the first feed screw nut (35) are fixed Connect, the other end of the first movement support (6) is connected with link (7);The bottom of the link (7) is bolted to connection On the first movement support (6), the shaft end of link (7) connects one end of first connecting rod (10) by mobile end connection;Institute Stating mobile end connection includes fitting (8) under fitting (9), mobile terminal middleware (32) and mobile terminal on mobile terminal;The movement One end of fitting (9) is fixedly connected with the shaft end of first connecting rod (10) on end, the other end of fitting (9) and mobile terminal on mobile terminal Middleware (32) is hinged;One end of fitting (8) is hinged with mobile terminal middleware (32) under the mobile terminal, fitting under mobile terminal (8) the other end is fixedly connected with the one end of first connecting rod (10) by trip bolt, fitting (9) and movement on the mobile terminal The lower direction of principal axis that is hinged between fitting (8) and mobile terminal middleware (32) in end is mutually perpendicular to;The first connecting rod (10) it is another End passes through platform connector connecting platform (11);The platform connector includes fitting (12), platform middleware (26) on platform With fitting under platform (13);One end of fitting (12) connects one end of first connecting rod (10) by trip bolt on the platform, Another stomidium of fitting (12) is hinged with platform middleware (26) on platform;A stomidium of fitting (13) and movement under the platform End middleware (32) is hinged, and the other end of fitting (13) is connected by trip bolt and the axle being fixed on platform (11) under platform Connect, the direction of principal axis that is hinged on the platform under fitting (12) and platform in fitting (13) and platform (11) between fitting mutually hangs down Directly;
Second side chain includes the second motor (21), second shaft coupling (20), the second leading screw (19), the second feed screw nut (30), the second fixed support (27), the second movement support (18), the 3rd motor (16), the 3rd shaft coupling (15) and second connecting rod (14);Second motor (21) is bolted to connection on upper plate (4), and the output end of the second motor (21) passes through Second shaft coupling (20) connects the second leading screw (19);Second fixed support (27) bottom is bolted to connection at upper bottom On plate (4);One end connection second shaft coupling (20) of second leading screw (19), the other end connects the second spring bearing (31); Second spring bearing (31) is embedded in the upper end slot of the second fixed support (27);The second movement support (18) and the Two feed screw nuts (30) are bolted to connection, and electric machine support (17) is bolted to connection in the second movement support (18) On;3rd motor (16) is fixed on the inner side of electric machine support (17), and the output end of the 3rd motor (16) passes through the 3rd Axle device (15) connection second connecting rod (14);One end of the second connecting rod (14) connects the 3rd motor (16), and the other end passes through flat Platform connector connecting platform (11).
2. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:The upper plate (4) Three equally distributed through holes are both provided with lower shoe (2), and support shaft (3) is provided with three, support shaft (3) two ends are set There is screw thread, one end of support shaft (3) is fixed through the through hole on upper plate (4) and by nut;Support shaft (3) other end Fixed through the through hole on lower shoe (2) and by nut;The lower shoe (2) is further fixed on three support feets (1).
3. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:The support feet (1) Shaft end be provided with screw thread, the lower shoe (2) is provided with the mounting hole being engaged with the screw thread of the support feet (1), support The shaft end of pin (1) is through the mounting hole on lower shoe (2), and the upper surface of lower shoe (2) is provided with the regulation being connected with support feet (1) Nut (23).
4. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:Also include X-direction water Leveling ruler (24) and Y-direction horizon rule (25), the X-direction horizon rule (24) and Y-direction horizon rule (25) are arranged on lower shoe (2) Upper surface on, X-direction horizon rule (24) and Y-direction horizon rule (25) are in vertical distribution each other.
5. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:Second motor (21) output shaft with the 3rd motor (16) is concentric, and the first motor (22) and the second motor (21) are motor of the same race.
6. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:Described two first Chain and the second side chain connection upper plate (4) and platform (11), and two the first side chains and second side chain and bottom plate (4) It is distributed with the link position of platform (11) in equilateral triangle;The axis of first side chain and the second side chain is put down with upper plate The angle in face is 80 degree.
7. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:Described first fixes branch The inside both sides of frame (5) are provided with two the first guide rails, and the first sliding block (34) on the first guide rail is bolted to connection Both sides in the first feed screw nut (35).
8. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:Described second fixes branch The inside both sides of frame (27) are provided with two the second guide rails (28), and the second sliding block (29) on the second guide rail (28) passes through bolt It is fixedly connected on the both sides of the second feed screw nut (30).
9. a kind of High-precision angle according to claim 1 automatically adjusts platform, it is characterised in that:The platform (11) Lower surface centre position is provided with horizon sensor (38), and is bolted fixation.
10. a kind of High-precision angle according to any one in claim 1~9 automatically adjusts platform, it is characterised in that: The output shaft end of two the first motors (22) is set the first encoder and second encoder, the second motor (21) and the 3rd respectively The output shaft end of motor (16) is respectively arranged with the 3rd encoder and the 4th encoder.
CN201621267342.0U 2016-11-22 2016-11-22 A kind of High-precision angle automatically adjusts platform Expired - Fee Related CN206369955U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106940552A (en) * 2016-11-22 2017-07-11 浙江工业大学 A kind of High-precision angle automatically adjusts platform
CN107963187A (en) * 2017-12-19 2018-04-27 浙江工业大学 A kind of flexible adaptive dynamic balancer
CN115042510A (en) * 2022-07-25 2022-09-13 丰县通亚电子科技有限公司 Thermal transfer printing machine for producing electric vehicle plastic parts

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106940552A (en) * 2016-11-22 2017-07-11 浙江工业大学 A kind of High-precision angle automatically adjusts platform
CN107963187A (en) * 2017-12-19 2018-04-27 浙江工业大学 A kind of flexible adaptive dynamic balancer
CN107963187B (en) * 2017-12-19 2024-01-30 浙江工业大学 Flexible self-adaptive dynamic balancing device
CN115042510A (en) * 2022-07-25 2022-09-13 丰县通亚电子科技有限公司 Thermal transfer printing machine for producing electric vehicle plastic parts
CN115042510B (en) * 2022-07-25 2023-08-08 丰县通亚电子科技有限公司 Thermal transfer printer for producing plastic parts of electric vehicles

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