CN207601401U - Five degree of freedom fine adjustment platform - Google Patents

Abstract

The utility model discloses a kind of five degree of freedom fine adjustment platform, including：Regulating platform main body, including the first flap, the first slide plate, the second slide plate, the second flap, third flap and bottom plate；θ y rudder thermomechanical components, including θ y direction steering engines and θ y direction adjustment organizations；X-direction steering engine component, including X-direction steering engine and X-direction regulating mechanism；Z-direction steering engine component, including Z-direction steering engine and Z-direction regulating mechanism；θ z rudder thermomechanical components, including θ z direction steering engines and θ z direction adjustment organizations；θ x rudder thermomechanical components, including θ x direction steering engines and θ x direction adjustment organizations.The utility model realizes the adjusting of regulating platform high-precision five degree of freedom；The utility model is simple in structure compact, and self-locking property is good, stability is high, adapts to elongate strip load, has a wide range of application, and degree of regulation is high, control is simple, production cost is low, wide market.

Description

Five degree of freedom fine adjustment platform

Technical field

The utility model is related to regulating platform apparatus field, more particularly to a kind of five degree of freedom fine adjustment platform.

Background technology

Being needed in big visual field phase contrast CT image-forming system to core component --- three pieces of cylindrical gratings carry out spatial position It adjusts, it is made to ensure the relative positional accuracy in physical index in space.It is required that the regulating platform below cylindrical grating will meet always The requirement for space is filled, delicate structure, center of gravity is low, and tool is there are five degree of freedom (other than along plummet direction) and for translation Adjust and be better than 1 μm of adjusting sensitivity, elongated strip load 10kg loads can be born, and be placed on big turntable have it is preferable Stability and dynamic property, and to realize that the adjusting under X-ray environment is preferably Unmanned operation.

There are many optical precision regulating platforms currently on the market, product is various, and versatility is good, and modularized design is still：

1. the objective table of existing product is mostly square, the heavy duty of elongated strip is not suitable for；

2. it is typically to load the module spliced of each degree of freedom that existing product, which realizes multiple degrees of freedom, body can be caused Product is big, complicated, center of gravity is high；

3. existing product is typically to apply on fixed platform, such as optical table, for moving platform (in CT Turntable) stability is bad；

4. existing product uses guide rail more for steady without the realization of movement creeped, but often exists in locking Gap easily changes particularly with heavy duty and in the case of rotating；

5. existing product is that translator realizes that remote operation is adjusted, but for irregular heavy duty there are many kinds of class Often volume is larger for regulating platform, and complicated, center of gravity is higher, and needs to configure driver controller, and system cost is high, without Ji.

With the development of steering engine technology, the birth of especially digital serial ports steering engine, the application of steering engine be no longer limited to toy, Model plane, robot field.Steering engine is on the basis of original large torque, and the sensor of position feedback is also by original potentiometer Encoder is replaced with, this can not only improve the precision of position feedback but also can improve the Motion Resolution rate of steering engine, prior It is that steering engine can be made to become continuous rotation from 180 ° original of stroke.Serial communication is eliminated in general more free systems Expensive controller, and simple, of low cost, most multipotency is controlled to control 200 multichannel motors simultaneously.And in the prior art, Technology in few actuating mechanisms applied steering engine in optical precision optical machinery.

Utility model content

The technical problem to be solved by the utility model is to the deficiency in for the above-mentioned prior art, provide one kind five from By degree fine adjustment platform.

For steering engine on the basis of original large torque, the sensor of position feedback is also replaced with volume by original potentiometer Code device, this can not only improve the precision of position feedback so as to improve the Motion Resolution rate of steering engine, it is often more important that can make rudder Machine becomes continuous rotation from 180 ° original of stroke.Serial communication eliminates the expensive control in general more free systems Device, and simple, of low cost, most multipotency is controlled to control 200 multichannel motors simultaneously.The utility model has successfully tracked machine The development of steering engine in people's technology, and successfully applied in the actuating mechanism in optical precision optical machinery.This is for optics The automation of the low cost of precision machinery, which is adjusted, provides a new thinking.

In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of five degree of freedom fine adjustment platform, Including：

Regulating platform main body, including from top to bottom set gradually the first flap, the first slide plate, the second slide plate, second turn Plate, third flap and bottom plate；

θ y rudder thermomechanical components, for first flap to be driven to be rotated around Y direction, including θ y direction steering engines and θ y Direction adjustment organization；

X-direction steering engine component, for first slide plate to be driven to move in X direction, including X-direction steering engine and X-direction Regulating mechanism；

Z-direction steering engine component, for second slide plate to be driven to be moved along Z-direction, including Z-direction steering engine and Z-direction Regulating mechanism；

θ z rudder thermomechanical components, for driving second flap, direction rotates about the z axis, including θ z direction steering engines and θ z Direction adjustment organization；

θ x rudder thermomechanical components, for the third flap to be driven to be rotated around X-direction, including θ x direction steering engines and θ x Direction adjustment organization.

Preferably, first flap is connected to by rotating assembly on first slide plate, first flap and The first retainer is provided between first slide plate, the first steel ball is filled in first retainer；It is set on first flap It is equipped with the first lock screw.

Preferably, the θ y direction adjustment organizations include the first nut seat being fixed on first slide plate, one end Another movable end cooperation is connect with the output terminal of the θ y directions steering engine and is plugged in the first spiral shell opened up on first nut seat The first screw in female hole and the first stacker being fixed on first flap；It is affixed on the movable end of first screw There is the first heading, the arc bearing plate with the described first heading cooperation apical grafting is connected on first stacker；Described first The first retracting spring that the other end is connect with first nut seat is also connected on stacker.

Preferably, first slide plate is slidably set on second slide plate, and first slide plate and second is slided The second retainer is provided between plate, the second steel ball is filled in second retainer；Is provided on first slide plate Two lock screws.

Preferably, the X-direction regulating mechanism includes the second nut seat and one end for being fixed on second slide plate Another movable end cooperation is connect with the output terminal of the X-direction steering engine and is plugged in the second nut opened up on second nut seat The second screw in hole is connected with the second heading, second heading and the side of first slide plate on second screw Topstick；The second retracting spring is connected between second nut seat and first slide plate.

Preferably, second slide plate is slidably set on second flap, second slide plate and second turn Third retainer is provided between plate, third steel ball is filled in the third retainer；The Z-direction regulating mechanism includes solid The third nut seat and one end being connected on second flap connect another movable end cooperation with the output terminal of the Z-direction steering engine The third screw being plugged in the third nut bore opened up on the third nut seat is connected with third top on the third screw Ball, the third heading and the side topstick of second slide plate；It is connected between second slide plate and second flap Third retracting spring；Third lock screw is provided on second slide plate.

Preferably, the θ z direction adjustment organizations include the 4th nut seat being fixed on the third flap, one end Another movable end cooperation is connect with the output terminal of the θ z directions steering engine and is plugged in the 4th spiral shell opened up on the 4th nut seat The 4th screw in female hole and the first wedge block being connect with the movable end of the 4th screw；The movable end of 4th screw On be connected with the 4th heading；First wedge block is slidably arranged on one end between second flap and third flap, Second flap is connected with the other end of third flap by the first flexible hinge.

Preferably, the first fixture block, first fixture block and first wedge block are connected on first wedge block Between be provided with the first gap, through first through hole is offered on first fixture block, the diameter of the 4th heading is more than institute The diameter of first through hole is stated, the forepart of the 4th heading is pierced by the first through hole and is rotatably fastened on first gap It is interior, the forepart of the 4th heading and the rear end Xiang Ding of first wedge block；The front lower portion connection of first wedge block There is the first backhaul compression spring, the third flap upper surface offers the first fluting, and the first backhaul compression spring is opened with described first The end face of slot offsets；The 4th lock screw is provided on first wedge block.

Preferably, the θ x direction adjustment organizations include the 5th nut seat, one end and the institute that are fixed on the bottom plate Another movable end cooperation of output terminal connection for stating θ x directions steering engine is plugged in the 5th nut bore opened up on the 5th nut seat The 5th interior screw and the second wedge block being connect with the movable end of the 5th screw；It is solid on the movable end of 5th screw It is connected to the 5th heading；Second wedge block is slidably arranged on one end between the third flap and bottom plate, the third Flap is connected with the other end of bottom plate by the second flexible hinge.

Preferably, the second fixture block, second fixture block and second wedge block are connected on second wedge block Between be provided with the second gap, through the second through-hole is offered on second fixture block, the diameter of the 5th heading is more than institute The diameter of the second through-hole is stated, the forepart of the 5th heading is pierced by second through-hole and is rotatably fastened on second gap It is interior, the forepart of the 5th heading and the rear end Xiang Ding of second wedge block；The front lower portion connection of second wedge block There is the second backhaul compression spring, the plate upper surface offers the second fluting, the second backhaul compression spring and the described second fluting End face offsets；The 5th lock screw is provided on second wedge block；The 6th lock screw is provided on the bottom plate.

Preferably, first lock screw, the second lock screw, third lock screw, the 4th lock screw, the 5th Using modified form low degree-of-freedom screw, the modified form low degree-of-freedom screw includes screw for lock screw and the 6th lock screw Ontology and the gasket being set on the screw ontology and miniature thrust ball bearing, the screw ontology include screw head, with The smooth surface thin bar of screw head connection and the threaded rod for being connected to the smooth surface thin bar other end, the gasket and miniature push away Power ball bearing is sequentially sleeved in the smooth surface thin bar.

The beneficial effects of the utility model are：Steering engine is introduced into fine adjustment platform structure by the utility model, ingenious profit With steering engine torque it is big, it is small, light-weight, control it is simple, of low cost the features such as, realize regulating platform high-precision five freely The adjusting of degree；By combining wedge-shaped block structure, the precision of angular adjustment can be further improved；By using modified form low degree-of-freedom Screw is avoided that the offset that locking member is treated caused by during locking, ensures assembly precision, improves locking effect；This reality Simply compact with new structure, self-locking property is good, stability is high, adapts to elongate strip load, has a wide range of application, and degree of regulation Height, control is simple, production cost is low, wide market.

Description of the drawings

Fig. 1 is the structure diagram of the five degree of freedom fine adjustment platform of the utility model；

Fig. 2 is the exploded view of the five degree of freedom fine adjustment platform of the utility model；

Fig. 3 is first flap of the utility model and the cooperation schematic diagram of the first slide plate；

Fig. 4 is the structure diagram of the θ y rudder thermomechanical components of the utility model；

Fig. 5 is first slide plate of the utility model and the cooperation schematic diagram of the second slide plate；

Fig. 6 is the structure diagram of the X-direction steering engine component of the utility model；

Fig. 7 is second slide plate of the utility model and the cooperation schematic diagram of the second flap；

Fig. 8 is the structure diagram of the Z-direction steering engine component of the utility model；

Fig. 9 is second flap of the utility model and the cooperation schematic diagram of third flap；

Figure 10 is the structure diagram of the θ z rudder thermomechanical components of the utility model；

Figure 11 is the third flap of the utility model and the cooperation schematic diagram of bottom plate；

Figure 12 is the structure diagram of the θ x rudder thermomechanical components of the utility model；

Figure 13 is the vertical view of the θ x rudder thermomechanical components of the utility model；

Figure 14 is the structure diagram of the modified form low degree-of-freedom screw of the utility model；

Figure 15 is the cooperation schematic diagram of the modified form low degree-of-freedom screw and component to be locked of the utility model.

Reference sign：

1-regulating platform main body；2-θ y rudder thermomechanical components；3-X-direction steering engine component；4-Z-direction steering engine component；5— θ z rudder thermomechanical components；6-θ x rudder thermomechanical components；

10-the first flap；11-the first slide plate；12-the second slide plate；13-the second flap；14-third flap；15— Bottom plate；100-the first retainer；101-the first steel ball；102-the first lock screw；103-rotating assembly；110-the second Retainer；111-the second steel ball；112-the second lock screw；120-third retainer；121-third steel ball；122-the Three lock screws；130-the first flexible hinge connects；140-the second flexible hinge connects；150-the six lock screw；

20-θ y directions steering engine；21-θ y direction adjustment organizations；22-the first nut seat；23-the first screw；24-the One stacker；25-the first nut bore；26-the first heading；27-arc bearing plate；28-the first retracting spring；

30-X-direction steering engine；31-X-direction regulating mechanism；32-the second nut seat；33-the second screw；34-the second Nut bore；35-the second heading；36-the second retracting spring；

40-Z-direction steering engine；41-Z-direction regulating mechanism；42-third nut seat；43-third screw；44-third Nut bore；45-third is headed a ball；46-third retracting spring；

50-θ z directions steering engine；51-θ z direction adjustment organizations；52-the four nut seat；53-the four screw；54-the Four nut bores；55-the four heading；56-the first wedge block；57-the first backhaul compression spring；58-the first fluting；560-the first Fixture block；561-the first gap；562-first through hole；563-the four lock screw；

60-θ x directions steering engine；61-θ x direction adjustment organizations；62-the five nut seat；63-the five screw；64-the Five nut bores；65-the five heading；66-the second wedge block；67-the second backhaul compression spring；68-the second fluting；660-the second Fixture block；661-the second gap；662-the second through-hole；663-the five lock screw；

70-screw ontology；71-screw head；72-smooth surface thin bar；73-threaded rod；74-gasket；75-miniature push away Power ball bearing.

Specific embodiment

The utility model is described in further detail with reference to embodiment, those skilled in the art's reference to be enabled to say Bright book word can be implemented according to this.

It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more The presence or addition of a other element or combinations.

X-direction, Y-direction, Z-direction, θ y directions, θ z directions and θ x directions in the utility model is with three axis in Fig. 1 Direction shown in coordinate system is reference, only for ease of being described and illustrating to the utility model, is not formed to this reality With novel restriction.Wherein, the direction of screw horizontal movement is driven to retouch referring also to steering engine the forward and backward description for waiting directions It states, so that the application is convenient for description and understands.

As shown in figures 1-13, a kind of five degree of freedom fine adjustment platform of the present embodiment, including：

Regulating platform main body 1, including from top to bottom set gradually the first flap 10, the first slide plate 11, the second slide plate 12, Second flap 13, third flap 14 and bottom plate 15；

20 component 2 of θ y directions steering engine, for the first flap 10 to be driven to be rotated on the first slide plate 11 around Y direction, packet Include θ y directions steering engine 20 and θ y direction adjustment organizations 21；

30 component 3 of X-direction steering engine, for the first slide plate 11 to be driven to be moved in X direction on the second slide plate 12, including X Direction steering engine 30 and X-direction regulating mechanism 31；

40 component 4 of Z-direction steering engine, for the second slide plate 12 to be driven to be moved in 13 upper edge Z-direction of the second flap, including Z Direction steering engine 40 and Z-direction regulating mechanism 41；

50 component 45 of θ z directions steering engine, for driving the second flap 13, direction rotates about the z axis on third flap 14, packet Include θ z directions steering engine 50 and θ z direction adjustment organizations 51；

60 component 6 of θ x directions steering engine, for third flap 14 to be driven to be rotated on bottom plate 15 around X-direction, including θ x Direction steering engine 60 and θ x direction adjustment organizations 61.So as to fulfill the adjusting in five directions of regulating platform.It is new that Fig. 2 gives this practicality The exploded view of the five degree of freedom fine adjustment platform of type, wherein each steering engine is not shown.

First flap 10 is connected to by rotating assembly 103 on the first slide plate 11, the first flap 10 and the first slide plate 11 it Between be provided with the first retainer 100, be filled with the first steel ball 101 in the first retainer 100；First is provided on first flap 10 Lock screw 102.

θ y direction adjustment organizations 21 include the first nut seat 22, one end and the θ y directions steering engine that are fixed on the first slide plate 11 20 output terminal connects the first spiral shell that another movable end cooperation is plugged in the first nut bore 25 opened up on the first nut seat 22 Silk 23 and the first stacker 24 being fixed on the first flap 10；The first heading 26 is connected on the movable end of first screw 23, The arc bearing plate 27 with 26 cooperation apical grafting of the first heading is connected on first stacker 24；It is also connected on first stacker 24 The first retracting spring 28 that the other end is connect with the first nut seat 22.

23 pin joint of output terminal and the first screw of θ y directions steering engine 20 drives the first screw 23 to rotate, in the first nut seat Under 22 position-limiting action, 23 stepping forward or backward simultaneously of the first screw drives the first 26 horizontal movements of heading, so as to rotate Movement is converted into horizontal movement, and rotating assembly limitation makes the first flap 10 that can only rotate shaft assembly rotation.For example, in θ y rudders Under the driving of machine 20, the stepping forward in rotation of the first screw 23 drives the first heading 26 to travel forward, the first 26 top pressures of heading Arc bearing plate 27, so as to which the shaft that the first flap 10 is made to rotate on the first slide plate 11 on shaft assembly rotates horizontally, i.e., around Y-axis Direction rotates in (θ y directions).26 sphere-contacts of heading of arc bearing plate 27 and first, 27 envelope of arc bearing plate is in the first heading Outside 26, the first heading 26 moves in a straight line while rotating, and arc bearing plate 27 is contacted by cylinder with the first heading 26, from And filtered out the rotary motion of the first heading 26 but stayed linear motion, this kinematic pair that spherical surface and cylinder coordinate is by straight line Become rotation, most the linear motion of the first heading 26 is converted to the rotation of arc bearing plate 27 at last, passes through 26 promotions of the first heading Arc bearing plate 27 rotates；And the first heading 26 and the contact area of arc bearing plate 27 can also be improved, improves its top pressure work Stability.First retracting spring 28 is fixed on the first stacker 24, and the other end holds the first nut seat 22, contraction side To the top pressure direction with the first heading 26 on the contrary, on the one hand providing backhaul power, backhaul gap on the other hand can be reduced.

First lock screw 102 is used to that the first flap 10 to be locked after the rotation angle of the first flap 10 regulates On the first slide plate 11, to keep stable.The first retainer 100 and first is provided between first flap 10 and the first slide plate 11 Steel ball 101, when the first flap 10 and the first slide plate 11 are not locked, the first steel ball 101 jacks up the first flap 10, makes the first flap 10 and first have smaller gap between slide plate 11, replace sliding friction with rolling friction, are rubbed with the slip reduced between the two It wipes, so as to reduce "blind"effect, the relative motion of the first flap 10 and the first slide plate 11 is enable to smooth out progress, can also make stepping Keep preferable linear.When needing locking, the first lock screw 102 on 10 4 angles of the first flap is tightened, at this time first Flap 10 is adjacent on the first slide plate 11, is remained fixed.

First slide plate 11 is slidably set on the second slide plate 12, and is provided between the first slide plate 11 and the second slide plate 12 Two retainers 110, the second retainer 110 are interior filled with the second steel ball 111；The second lock screw is provided on first slide plate 11 112.X-direction regulating mechanism 31 includes the second nut seat 32 being fixed on the second slide plate 12 and one end and X-direction steering engine 30 Output terminal connects the second screw 33 that another movable end cooperation is plugged in the second nut bore 34 opened up on the second nut seat 32, The side topstick of the second heading 35, the second heading 35 and the first slide plate 11 is connected on second screw 33；Second nut seat, 32 He The second retracting spring 36 is connected between first slide plate 11.

33 pin joint of the output terminal of X-direction steering engine 30 and the second screw drives the second screw 33 to rotate, in the second nut seat 32 Limiting cooperation under, the second screw 33 while rotation while stepping, drive second heading 35 the first slide plates of top pressure 11, make the first slide plate 11 Step motion, 12 upper surface of the second slide plate are in groove face form, and the first slide plate 11 of limitation can only be transported in 12 upper edge straight line of the second slide plate It is dynamic.The first slide plate 11 and the second slide plate 12 are caught in second retracting spring, 36 both ends respectively, on the one hand provide backhaul power, the opposing party Face can reduce backhaul gap.The second retainer 110 and the second steel ball 111 are provided between first slide plate 11 and the second slide plate 12, When the first slide plate 11 and the second slide plate 12 are not locked, the second steel ball 111 jacks up the first slide plate 11, makes the first slide plate 11 and second There is smaller gap between slide plate 12, to reduce sliding friction between the two, avoid the generation of creeping phenomenon, make the first slide plate 11 and second the relative motion of slide plate 12 can smooth out progress, stepping can also be made to keep preferable linear.When needing locking, twist The second lock screw 112 on tight first slide plate, 11 4 angles, at this time the first slide plate 11 be adjacent on the second slide plate 12, keep solid It is fixed.

Second slide plate 12 is slidably set on the second flap 13, and is provided between the second slide plate 12 and the second flap 13 Three retainers 120, third retainer 120 is interior to be filled with third steel ball 121；Z-direction regulating mechanism 41 includes being fixed in second turn Third nut seat 42 and one end on plate 13 connect another movable end cooperation with the output terminal of Z-direction steering engine 40 and are plugged in third spiral shell The third screw 43 in third nut bore 44 opened up in female seat 42 is connected with third heading 45, third top on third screw 43 The side topstick of 45 and second slide plate 12 of ball；Third retracting spring 46 is connected between second slide plate 12 and the second flap 13；The Third lock screw 122 is provided on two slide plates 12.

The output terminal of Z-direction steering engine 40 and 43 pin joint of third screw, drive third screw 43 to rotate, in third nut seat 42 Limiting cooperation under, third screw 43 while rotation while stepping, drive third head a ball 45 the second slide plates of top pressure 12, make the second slide plate 12 Step motion, 13 upper surface of the second flap are in groove face form, and the second slide plate 12 of limitation can only be transported in 13 upper edge straight line of the second flap It is dynamic.The second slide plate 12 and the second flap 13 are caught in 46 both ends of third retracting spring respectively, on the one hand provide backhaul power, the opposing party Face can reduce backhaul gap.Third retainer 120 and third steel ball 121 are provided between second slide plate 12 and the second flap 13, When the second slide plate 12 and the second flap 13 are not locked, third steel ball 121 jacks up the second slide plate 12, makes the second slide plate 12 and second There is smaller gap between flap 13, to reduce sliding friction between the two, avoid the generation of creeping phenomenon, make the second slide plate 12 and second the relative motion of flap 13 can smooth out progress, stepping can also be made to keep preferable linear.When needing locking, twist Third lock screw 122 on tight second slide plate, 12 4 angles, at this time the second slide plate 12 be adjacent on the second flap 13, keep solid It is fixed.

θ z direction adjustment organizations 51 include the 4th nut seat 52, one end and the θ z directions steering engine that are fixed on third flap 14 50 output terminal connects the 4th spiral shell that another movable end cooperation is plugged in the 4th nut bore 54 opened up on the 4th nut seat 52 Silk 53 and the first wedge block 56 being connect with the movable end of the 4th screw 53；The 4th top is connected on the movable end of 4th screw 53 Ball 55；First wedge block 56 is slidably arranged on one end between the second flap 13 and third flap 14, the second flap 13 and The other end of three flaps 14 is connected by the first flexible hinge 130.The limitation of first flexible hinge 130 makes the second flap 13 can only be The axis direction of 14 the first flexible hinge of upper edge 130 of third flap does Small-angle Rotation.

The first fixture block 560 is connected on first wedge block 56, is provided between the first fixture block 560 and the first wedge block 56 One gap 561, through first through hole 562 is offered on the first fixture block 560, the diameter of the 4th heading 55 is more than first through hole 562 Diameter, the 4th heading 55 forepart be pierced by first through hole 562 and be rotatably fastened in the first gap 561, the 4th heading 55 Forepart and the first wedge block 56 rear end Xiang Ding；The front lower portion of first wedge block 56 is connected with the first backhaul compression spring 57, the Three flaps, 14 upper surface offers the first fluting 58, and the end face of the first backhaul compression spring 57 and the first fluting 58 offsets；First wedge shape The 4th lock screw 563 is provided on block 56.

53 pin joint of output terminal and the 4th screw of θ z directions steering engine 50 drives the 4th screw 53 to rotate, in the 4th nut seat Under 52 position-limiting action, 53 stepping forward or backward simultaneously of the 4th screw drives the 4th 55 horizontal movements of heading, so as to rotate Movement is converted into horizontal movement.For example, under the driving of θ z directions steering engine 50 and the position-limiting action of fixed 4th nut seat 52, The stepping forward in rotation of 4th screw 53, drives the 4th heading 55 to travel forward, the 4th 55 the first wedge blocks of top pressure 56 of heading Make its forward movement, the first wedge block 56 is inserted between the second flap 13 and third flap 14, and the second flap 13 is tilted, the Under the limitation cooperation of one flexible hinge, the second flap 13 is made to do Small-angle Rotation along the axis direction of the first flexible hinge, is realized around Z The rotation (θ z directions) of axis direction.

The forepart of 4th heading 55 is pierced by first through hole 562 and is rotatably fastened in the first gap 561, the 4th heading 55 Forepart and the first wedge block 56 rear end Xiang Ding；4th heading 55 interior in 562 and first gap 561 of first through hole can turn It is dynamic, but move forward and backward and be restricted, so as to which when θ z directions steering engine 50 invert, the 4th screw 53 moves backward, the 4th screw 53 leads to It crosses the 4th affixed heading 55 of its top to be fastened in 562 and first gap 561 of first through hole, so as to pull the 4th screw 53 First wedge block 56 moves backward, and the first wedge block 56 is made to be detached between the second flap 13 and third flap 14, makes second turn Plate 13 is fallen after rise, realizes the backhaul of the second flap 13.The front end surface of first backhaul compression spring 57 and the first fluting 58 offsets, elasticity Restore direction with the horizontal movement direction of the 4th screw 53 on the contrary, so as to squeeze the first wedge block 56 drawback movement backward, coordinate Realize the backhaul of the second flap 13.On the one hand first backhaul compression spring 57 provides the backhaul power of the first wedge block 56, on the other hand Backhaul gap can be reduced.When needing locking after the completion of the angular adjustment of the second flap 13, the on the first wedge block is tightened Four lock screws 563, make it be fastened on third flap 14, then locking the second flap 13 and tightening up a screw makes it be fastened on the first wedge shape On sliding block, so as to ensure the locking of this degree of freedom after adjustment.

In one embodiment, the inclined-plane ratio of the first wedge block is 1：10, the resolution of stepping can be further reduced Rate, so as to which θ Z-directions be made to realize the adjusting of smaller angle.

θ x direction adjustment organizations 61 include the 5th nut seat 62 being fixed on bottom plate 15, one end and θ x directions steering engine 60 Output terminal connects the 5th screw 63 that another movable end cooperation is plugged in the 5th nut bore 64 opened up on the 5th nut seat 62 And the second wedge block 66 being connect with the movable end of the 5th screw 63；The 5th heading is connected on the movable end of 5th screw 63 65；Second wedge block 66 is slidably arranged on one end between third flap 14 and bottom plate 15, third flap 14 and bottom plate 15 The other end is connected by the second flexible hinge 140.The limitation of second flexible hinge 140 makes third flap 14 can only be in 15 upper edge of bottom plate The axis direction of second flexible hinge 140 does Small-angle Rotation.

The second fixture block 660 is connected on second wedge block 66, is provided between the second fixture block 660 and the second wedge block 66 Two gaps 661, through the second through-hole 662 is offered on the second fixture block, the diameter of the 5th heading 65 is more than the straight of the second through-hole 662 Diameter, the forepart of the 5th heading 65 are pierced by the second through-hole 662 and are rotatably fastened in the second gap 661, before the 5th heading 65 Portion and the rear end Xiang Ding of the second wedge block 66；The front lower portion of second wedge block 66 is connected with the second backhaul compression spring 67, bottom plate 15 Upper surface offers the second fluting 68, and the end face of the second backhaul compression spring 67 and the second fluting 68 offsets；It is set on second wedge block 66 It is equipped with the 5th lock screw 663；The 6th lock screw 150 is provided on bottom plate 15.

63 pin joint of output terminal and the 5th screw of θ x directions steering engine 60 drives the 5th screw 63 to rotate, in the 5th nut seat Under 62 position-limiting action, 63 stepping forward or backward simultaneously of the 5th screw drives the 5th 65 horizontal movements of heading, so as to rotate Movement is converted into horizontal movement.For example, under the driving of θ x directions steering engine 60 and the position-limiting action of fixed 5th nut seat 62, The stepping forward in rotation of 5th screw 63, drives the 5th heading 65 to travel forward, the 5th 65 the second wedge blocks of top pressure 66 of heading Make its forward movement, the second wedge block 66 is inserted between third flap 14 and bottom plate 15, third flap 14 is tilted, soft second Property hinge 140 limitation cooperation under, third flap 14 is made to do Small-angle Rotation along the axis direction of the second flexible hinge 140, realize Around the rotation (θ x directions) of X-direction.

The forepart of 5th heading 65 is pierced by the second through-hole 662 and is rotatably fastened in the second gap 661, the 5th heading 65 Forepart and the second wedge block 66 rear end Xiang Ding；5th heading 65 interior in the second through-hole 662 and the second gap 661 can turn It is dynamic, but move forward and backward and be restricted, so as to which when θ x directions steering engine 60 invert, the 5th screw 63 moves backward, the 5th screw 63 leads to It crosses the 5th affixed heading 65 of its top to be fastened in the second through-hole 662 and the second gap 661, so as to pull the 5th screw 63 Second wedge block 66 moves backward, and the second wedge block 66 is made to be detached between third flap 14 and bottom plate 15, makes third flap 14 It falls after rise, realizes the backhaul of third flap 14.The front end surface of second backhaul compression spring 67 and the second fluting 68 offsets, and elasticity is restored Direction and the horizontal movement direction of the 5th screw 63 are on the contrary, so as to squeeze the second wedge block 66 drawback movement backward, cooperation is realized The backhaul of third flap 14.On the one hand second backhaul compression spring 67 provides the backhaul power of the second wedge block 66, on the other hand can subtract Few backhaul gap.When needing locking after the completion of the angular adjustment of third flap 14, the 5th lock on the second wedge block is tightened Tight screw 663, makes it be fastened on bottom plate 15, then locking third flap 14 and tightening up a screw makes it be fastened on the second wedge block, So as to ensure the locking of this degree of freedom after adjustment.

Wherein, first lock screw, the second lock screw, third lock screw, the 4th lock screw, the 5th locking Screw and the 6th lock screw use modified form low degree-of-freedom screw.With reference to Figure 14, the modified form low degree-of-freedom screw packet Include screw ontology 70 and the gasket 74 being set on the screw ontology 70 and miniature thrust ball bearing 75, the screw ontology 70 The smooth surface thin bar 72 that is connect including screw head 71, with the screw head 71 and it is connected to 72 other end of smooth surface thin bar Threaded rod 73, the gasket 74 and miniature thrust ball bearing 75 are sequentially sleeved in the smooth surface thin bar 72.In use, screw sheet Body 70 is inserted into 75 sets of threaded hole, gasket 74 and miniature thrust ball bearing after sequentially passing through gasket 74 and miniature thrust ball bearing 75 It is located in the smooth surface thin bar 72 of 70 lower end of screw ontology, threaded rod 73 and the threaded hole of 72 lower end of smooth surface thin bar coordinate, and will wait to lock Tight component fastening locking.The screw ontology 70 of modified form low degree-of-freedom screw is not full thread, but intermediate one section is no spiral shell The smooth surface thin bar 72 of line, 72 lower end of smooth surface thin bar reconnect threaded rod 73；During locking, smooth surface thin bar 72 will not be with portion to be locked Part generates interference, and screw ontology 70 and gasket 74 are rotated on miniature thrust ball bearing 75, on miniature thrust ball bearing 75 Portion rotates therewith, so as to which the component that the rotation for making screw ontology 70 will not treat locking has an impact.Specific reference Figure 15, with Modified form low degree-of-freedom screw illustrates the locking of two boards；Modified form low degree-of-freedom screw, which is plugged in, to be waited to lock upper and lower two In the threaded hole of plate, gasket 74 and the pad of miniature thrust ball bearing 75 are located among the screw head 71 of upper plate and screw ontology 70, And the periphery in smooth surface thin bar 72, smooth surface thin bar 72 is not contacted with upper and lower plates, so as to making the light on 70 top of screw ontology Face thin bar 72 will not generate interference to upper and lower two plate；When screwing, screw ontology 70 is moved downward in rotation due to screw sheet Gasket 74 and miniature thrust ball bearing 75 are provided between the screw head 71 of body 70 and working, it is micro- when screw ontology 70 rotates The top of type thrust ball bearing 75 rotates simultaneously, the rotation of screw sheet is made to reverse and will not influence two plates, so as to filter out The influence of two plates above and below locking is treated in the rotation of screw ontology 70, prevents the torsion that screw ontology 70 rotates from making two plates generation up and down Unwanted movement is finally avoided that the offset that locking member is treated caused by during locking when screw ontology 70 rotates, It can guarantee assembly precision, improve locking effect.

In one embodiment, the inclined-plane ratio of the second wedge block is 1：10, the resolution of stepping can be further reduced Rate, so as to which θ x directions be made to realize the adjusting of smaller angle.

In one embodiment, the mode of the output terminal of each steering engine of the utility model and corresponding screw pin connection For：The output terminal of steering engine is inserted into the slot that corresponding screw one end opens up, and the socket sidewalls on screw open up card slot, using with The pin of the output terminal connection of steering engine is inserted into card slot, screw is driven to rotate by pin, realizes the drive connection of steering engine and screw, and The output terminal of steering engine can in an axial direction move back and forth in jack again.Wherein, with the output terminal of each steering engine and corresponding screw Can auxiliary adjustment be carried out by the hand mode of twisting.

In one embodiment, steering engine 60 component 6 in θ x directions includes being arranged on two of 15 the same side of bottom plate, to realize θ x The bi-directional drive in direction is adjusted, and the driving force on increase θ x directions is driven conducive to the rotation of the load to strip irregular shape It is dynamic.

Although the embodiment of the utility model is disclosed as above, it is not restricted in specification and embodiment Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art, Other modification is easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality Specific details is not limited to novel.

Claims (10)

1. a kind of five degree of freedom fine adjustment platform, which is characterized in that including：

Regulating platform main body, including from top to bottom set gradually the first flap, the first slide plate, the second slide plate, the second flap, Three flaps and bottom plate；

θ y rudder thermomechanical components, for first flap to be driven to be rotated around Y direction, including θ y direction steering engines and θ y directions Regulating mechanism；

X-direction steering engine component for first slide plate to be driven to move in X direction, is adjusted including X-direction steering engine and X-direction Mechanism；

Z-direction steering engine component for second slide plate to be driven to be moved along Z-direction, is adjusted including Z-direction steering engine and Z-direction Mechanism；

θ z rudder thermomechanical components, for driving second flap, direction rotates about the z axis, including θ z direction steering engines and θ z directions Regulating mechanism；

θ x rudder thermomechanical components, for the third flap to be driven to be rotated around X-direction, including θ x direction steering engines and θ x directions Regulating mechanism.

2. five degree of freedom fine adjustment platform according to claim 1, which is characterized in that first flap passes through shaft group Part is connected on first slide plate, and the first retainer is provided between first flap and the first slide plate, and described first protects It holds in frame filled with the first steel ball；The first lock screw is provided on first flap.

3. five degree of freedom fine adjustment platform according to claim 2, which is characterized in that the θ y direction adjustment organizations include The first nut seat for being fixed on first slide plate, one end connect another movable end with the output terminal of the θ y directions steering engine and match It closes the first screw being plugged in the first nut bore opened up on first nut seat and is fixed on first flap First stacker；The first heading is connected on the movable end of first screw, be connected on first stacker with it is described The arc bearing plate of first heading cooperation apical grafting；The other end is also connected on first stacker with first nut seat to connect The first retracting spring connect.

4. five degree of freedom fine adjustment platform according to claim 3, which is characterized in that first slide plate is slidably set In on second slide plate, being provided with the second retainer between first slide plate and the second slide plate, in second retainer Filled with the second steel ball；The second lock screw is provided on first slide plate.

5. five degree of freedom fine adjustment platform according to claim 4, which is characterized in that the X-direction regulating mechanism includes The second nut seat and one end being fixed on second slide plate connect another movable end with the output terminal of the X-direction steering engine and match The second screw being plugged in the second nut bore opened up on second nut seat is closed, second is connected on second screw Heading, second heading and the side topstick of first slide plate；Connect between second nut seat and first slide plate It is connected to the second retracting spring.

6. five degree of freedom fine adjustment platform according to claim 4, which is characterized in that second slide plate is slidably set In on second flap, being provided with third retainer between second slide plate and the second flap, in the third retainer Filled with third steel ball；The Z-direction regulating mechanism include being fixed in third nut seat on second flap and one end with The output terminal of the Z-direction steering engine connects another movable end cooperation and is plugged in the third nut bore opened up on the third nut seat Interior third screw, third heading is connected on the third screw, and the third heading and the side of second slide plate are pushed up Patch；Third retracting spring is connected between second slide plate and second flap；Third is provided on second slide plate Lock screw.

7. five degree of freedom fine adjustment platform according to claim 6, which is characterized in that the θ z direction adjustment organizations include The 4th nut seat that is fixed on the third flap, one end connect another movable end with the output terminal of the θ z directions steering engine and match Conjunction is plugged in the 4th screw in the 4th nut bore opened up on the 4th nut seat and the movable end with the 4th screw First wedge block of connection；The 4th heading is connected on the movable end of 4th screw；First wedge block is slidably set Put one end between second flap and third flap, the other end of second flap and third flap is soft by first Property hinge connection.

8. five degree of freedom fine adjustment platform according to claim 7, which is characterized in that be connected on first wedge block First fixture block is provided with the first gap, runs through on first fixture block and open between first fixture block and first wedge block Equipped with first through hole, the diameter of the 4th heading is more than the diameter of the first through hole, and the forepart of the 4th heading is pierced by The first through hole is simultaneously rotatably fastened in first gap, the forepart of the 4th heading and first wedge block Rear end Xiang Ding；The front lower portion of first wedge block is connected with the first backhaul compression spring, and the third flap upper surface offers First fluting, the end face of the first backhaul compression spring and the described first fluting offset；The 4th is provided on first wedge block Lock screw.

9. five degree of freedom fine adjustment platform according to claim 8, which is characterized in that the θ x direction adjustment organizations include The 5th nut seat that is fixed on the bottom plate, one end connect another movable end cooperation with the output terminal of the θ x directions steering engine and insert It the 5th screw that is located in the 5th nut bore opened up on the 5th nut seat and is connect with the movable end of the 5th screw The second wedge block；The 5th heading is connected on the movable end of 5th screw；Second wedge block is slidably arranged on One end between the third flap and bottom plate, the third flap are connected with the other end of bottom plate by the second flexible hinge；

The second fixture block is connected on second wedge block, second is provided between second fixture block and second wedge block Gap, through the second through-hole is offered on second fixture block, the diameter of the 5th heading is more than the straight of second through-hole Diameter, the forepart of the 5th heading are pierced by second through-hole and are rotatably fastened in second gap, the 5th top The forepart of ball and the rear end Xiang Ding of second wedge block；The front lower portion of second wedge block is connected with the second backhaul pressure Spring, the plate upper surface offer the second fluting, and the end face of the second backhaul compression spring and the described second fluting offsets；It is described The 5th lock screw is provided on second wedge block；The 6th lock screw is provided on the bottom plate.

10. five degree of freedom fine adjustment platform according to claim 9, which is characterized in that first lock screw, second Lock screw, third lock screw, the 4th lock screw, the 5th lock screw and the 6th lock screw are low certainly using modified form By degree screw, the modified form low degree-of-freedom screw includes screw ontology and the gasket that is set on the screw ontology and miniature Thrust ball bearing, the screw ontology include screw head, the smooth surface thin bar being connect with the screw head and are connected to described The threaded rod of the smooth surface thin bar other end, the gasket and miniature thrust ball bearing are sequentially sleeved in the smooth surface thin bar.