CN216046547U - Six-freedom-degree adjusting mechanism - Google Patents
Six-freedom-degree adjusting mechanism Download PDFInfo
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- CN216046547U CN216046547U CN202122035839.7U CN202122035839U CN216046547U CN 216046547 U CN216046547 U CN 216046547U CN 202122035839 U CN202122035839 U CN 202122035839U CN 216046547 U CN216046547 U CN 216046547U
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Abstract
The utility model relates to a six-degree-of-freedom adjusting mechanism. The utility model provides a six-degree-of-freedom adjusting mechanism which can adjust six-degree-of-freedom motion used in horizontal and vertical directions under the condition of loading. The utility model comprises an upper platform, a lower platform, a front actuator, a rear actuator and a side actuator, wherein the front actuator, the rear actuator and the side actuator are connected with the upper platform and the lower platform through a cross shaft; the lower ends of the rear actuators are respectively connected with the two ends of the rear part of the lower platform, and the upper ends of the rear actuators are connected with the middle of the rear part of the upper platform; the side actuator sets up along upper mounting plate and lower platform left and right sides both ends symmetry, and the upper end of side actuator links to each other with the anterior one end of upper mounting plate, and its lower extreme links to each other with platform rear end under the homonymy.
Description
Technical Field
The utility model relates to a six-degree-of-freedom adjusting mechanism.
Background
Two articles need to be accurately positioned in multiple degrees of freedom and are usually finished by a six-degree-of-freedom mechanism. Under special working conditions, the article needs to be accurately positioned after being rotated by 90 degrees, and the six-degree-of-freedom mechanism can carry six-degree-of-freedom motion before and after overturning. How to design a horizontal and vertical dual-purpose six-degree-of-freedom mechanism is a technical problem to be solved by the technical personnel in the field.
Disclosure of Invention
In order to solve the above problems, the present invention provides a six-degree-of-freedom adjustment mechanism that can be used in both horizontal and vertical directions under a belt load.
In order to achieve the purpose, the utility model adopts the technical scheme that: the six-degree-of-freedom mechanism comprises an upper platform, a lower platform, a front actuator, a rear actuator and a side actuator, wherein the front actuator, the rear actuator and the side actuator are connected with the upper platform and the lower platform through a cross shaft; the lower ends of the rear actuators are respectively connected with the two ends of the rear part of the lower platform, and the upper ends of the rear actuators are connected with the middle of the rear part of the upper platform; the side actuator sets up along upper mounting plate and lower platform left and right sides both ends symmetry, and the upper end of side actuator links to each other with the anterior one end of upper mounting plate, and its lower extreme links to each other with platform rear end under the homonymy.
The actuator is a hydraulic cylinder or an electric cylinder.
The upper platform and the lower platform are both frame structures.
Beneficial effects of the utility model
Through the coordinated motion of actuator that distributes in four azimuths, can control the relative motion that upper mounting plate and lower platform carry out vertical, horizontal, driftage, roll and pitch six degrees of freedom, simple structure, convenient to use can realize under the circumstances of carrying, uses in level, perpendicular two directions: when the horizontal use is carried out, the front actuator and the rear actuator mainly bear vertical force; when the vertical type cargo handling device is used vertically, the left actuator and the right actuator mainly bear vertical force, the rear actuator and the front actuator are respectively positioned at the upper position and the lower position, and the upper pulling force and the lower pushing force are used for balancing the output force of the left actuator and the right actuator and the overturning moment generated by the gravity of the cargo, so that the vertical type cargo handling device can be used vertically.
Drawings
FIG. 1 is a schematic view of a vertical extension of the present invention;
FIG. 2 is a view of the utility model retracted vertically;
FIG. 3 is a view of the longitudinal movement of the present invention;
FIG. 4 is a view of the lateral movement of the present invention;
FIG. 5 is a view of the yaw motion of the present invention;
FIG. 6 is a view of the rolling motion of the present invention;
FIG. 7 is a view of the pitch motion of the present invention;
FIG. 8 is a schematic illustration of the use of the present invention in a horizontal loading condition;
fig. 9 is a schematic diagram of the use of the utility model in a vertical loading condition.
Detailed Description
As shown in fig. 1, the present invention includes an upper platform 1, a lower platform 2, side actuators 4 disposed between the upper platform 1 and the lower platform 2, front actuators 5, and rear actuators 3. The front actuator 5 and the rear actuator 3 are both composed of two actuators, the upper end of the front actuator 5 is connected with the two ends of the front part of the upper platform 1, and the lower ends of the front actuator 5 are connected with the middle of the front part of the lower platform 2; the upper end of the rear actuator 3 is connected with the middle of the rear part of the upper platform 1, and the lower ends of the rear actuator 3 are connected with the two ends of the rear part of the lower platform 2; two side actuators 4 are respectively arranged on two side surfaces of the upper platform 1 and the lower platform 2, and two ends of each side actuator 4 are respectively connected with the front end of the upper platform 1 and the rear end of the lower platform 2 on the same side. The side actuators 4, the front actuators 5 and the rear actuators 3 are connected with the upper platform 1 and the lower platform 2 through cross shafts 6. The upper platform 1 and the lower platform 2 adopt a rectangular frame type structure, so that the weight can be reduced, the material can be saved, the cross shaft can be replaced by two mutually perpendicular shafts, and all actuators are hydraulic cylinders or electric cylinders.
As shown in fig. 2-7, the 6 actuators move in coordination to control the upper platform and the lower platform to move in six degrees of freedom relative to each other.
As shown in fig. 8, when the present invention is applied in a horizontal loaded state, the upper platform 1 is mounted on the flipping unit 7, and the weight 8 is mounted on the lower platform 2. The rear actuator 3 and the front actuator 5 are mainly subjected to vertical forces.
As shown in fig. 9, the turning assembly 7 is rotated 90 degrees to make the present invention in a vertical state. The side actuator 4 mainly bears vertical force, the front actuator 5 is arranged above, the rear actuator 3 is arranged below, the pulling force of the front actuator 5 and the pushing force of the rear actuator 3 are used for balancing the output force of the side actuator 4 and the overturning moment generated by the dead weight of the weight 8, and the six-degree-of-freedom mechanism can be used vertically.
Claims (3)
1. A six-degree-of-freedom mechanism is characterized by comprising an upper platform, a lower platform, a front actuator, a rear actuator and a side actuator, wherein the front actuator, the rear actuator and the side actuator are connected with the upper platform and the lower platform through a cross shaft; the lower ends of the rear actuators are respectively connected with the two ends of the rear part of the lower platform, and the upper ends of the rear actuators are connected with the middle of the rear part of the upper platform; the side actuator sets up along upper mounting plate and lower platform left and right sides both ends symmetry, and the upper end of side actuator links to each other with the anterior one end of upper mounting plate, and its lower extreme links to each other with platform rear end under the homonymy.
2. The six degree-of-freedom mechanism of claim 1, wherein the actuator is a hydraulic cylinder or an electric cylinder.
3. The six degree-of-freedom mechanism of claim 1, wherein the upper platform and the lower platform are each a frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122035839.7U CN216046547U (en) | 2021-08-27 | 2021-08-27 | Six-freedom-degree adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122035839.7U CN216046547U (en) | 2021-08-27 | 2021-08-27 | Six-freedom-degree adjusting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216046547U true CN216046547U (en) | 2022-03-15 |
Family
ID=80621929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122035839.7U Active CN216046547U (en) | 2021-08-27 | 2021-08-27 | Six-freedom-degree adjusting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216046547U (en) |
-
2021
- 2021-08-27 CN CN202122035839.7U patent/CN216046547U/en active Active
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