CN216556233U - Three-point supporting type six-degree-of-freedom pose adjusting platform - Google Patents
Three-point supporting type six-degree-of-freedom pose adjusting platform Download PDFInfo
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- CN216556233U CN216556233U CN202123014766.XU CN202123014766U CN216556233U CN 216556233 U CN216556233 U CN 216556233U CN 202123014766 U CN202123014766 U CN 202123014766U CN 216556233 U CN216556233 U CN 216556233U
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Abstract
The utility model relates to the technical field of supporting equipment, and particularly discloses a three-point supporting type six-degree-of-freedom pose adjusting platform. The three-point support type six-degree-of-freedom pose adjusting platform comprises a support platform and three pose adjusting assemblies, wherein three universal ball seats are annularly arranged at the bottom of the support platform; three accent appearance subassembly is along the circumference equipartition of the Z axle direction in the XYZ coordinate system, and the accent appearance subassembly includes bulb connecting piece and bulb support piece, and bulb support piece can move in the XY plane, and bulb connecting piece cunning is located bulb support piece along the first direction, and the bulb connecting piece is connected with universal bulb, universal bulb and universal ball seat accordant connection, and the first direction becomes the contained angle setting with XY plane. The pose adjusting platform supports the supporting platform through the three pose adjusting assemblies, meets the six-dimensional adjusting requirement of the pose adjusting platform, reduces the number of components, ensures the structural stability and reduces the accumulation of errors.
Description
Technical Field
The utility model relates to the technical field of supporting equipment, in particular to a three-point supporting type six-degree-of-freedom pose adjusting platform.
Background
At present, the positioning accuracy of synchrotron radiation light source beam line station equipment and experimental samples is higher and higher, and new requirements are provided for the positions and postures of optical elements. The beamline station sample test station requires high stability of the support and multi-dimensional adjustment.
A pose adjusting device is called a pose adjusting platform for short, a stacked pose adjusting mode is usually adopted at present, X, Y, Z three-direction translation is formed by two bottom layer translation platforms and an elevation displacement platform, each layer of an item layer is responsible for adjusting one rotation degree of freedom, and rotation around an X axis, a Y axis and a Z axis is achieved respectively. The adjustment mode belongs to a more common six-dimensional adjustment scheme, namely, each layer is independently adjusted in one direction through an adjustment unit.
However, such devices suffer from the following drawbacks:
1) the structure is complex. The whole structure of the device adopts a laminated type, and an adjusting mechanism is added for adjusting each dimension. Six-dimensional adjustment requires six layers of adjusting units, and the lower layer of adjusting mechanism is larger in size in order to maintain the stability of the whole.
2) The requirement on the elevation space is large. The space distance of the beam line of the synchrotron radiation light source from the ground is limited, and the conventional laminated adjusting scheme totally superposes six layers of adjusting mechanisms, so that the requirement on the size in the height direction is large.
3) The stability is insufficient. As the height increases, the center of gravity of the adjustment mechanism of the device moves upward, resulting in insufficient stability of the entire mechanism.
4) And accumulating errors. The adjusting mechanisms on each layer of the equipment are gradually overlapped, so that the adjusting error of each adjusting mechanism is directly overlapped to the adjusting mechanism on the next layer, and larger error accumulation is generated.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a three-point support type six-degree-of-freedom pose adjusting platform to solve the problem that the three-point support type six-degree-of-freedom pose adjusting platform is too complex in structure.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a three-point support type pose adjusting platform with six degrees of freedom comprises a support platform and three pose adjusting components; the bottom of the supporting platform is annularly provided with three universal ball seats; the three posture adjusting assemblies are uniformly distributed along the circumferential direction of the Z-axis direction in an XYZ coordinate system, each posture adjusting assembly comprises a ball head connecting piece and a ball head supporting piece, each ball head supporting piece can move in an XY plane, each ball head connecting piece is arranged on each ball head supporting piece in a sliding mode along a first direction, each ball head connecting piece is connected with a universal ball head, each universal ball head is connected with the corresponding universal ball seat in a matched mode, and an included angle is formed between each first direction and the XY plane.
As a preferable technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the pose adjusting assembly further comprises a first displacement piece and a second displacement piece, the ball head support piece is arranged on the first displacement piece in a sliding mode along the tangential direction of the Z axis, and the first displacement piece is arranged on the second displacement piece in a sliding mode along the radial direction of the Z axis.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the ball head support comprises a support piece sliding block, the first displacement piece comprises a first platform sliding rail, a first screw rod and a first driving unit, and the first platform sliding rail and the first screw rod both extend along the tangential direction of the Z-axis direction; the support piece sliding block is arranged on the first platform sliding rail in a sliding mode, the first screw rod penetrates through the support piece sliding block and is connected with the support piece sliding block in a matched mode, and the first driving unit is used for driving the first screw rod.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the first displacement piece comprises a displacement piece sliding block, the second displacement piece comprises a second platform sliding rail, a second screw rod and a second driving unit, and the second platform sliding rail and the second screw rod both extend along the radial direction of the Z-axis direction; the displacement piece sliding block is arranged on the second platform sliding rail in a sliding mode, the second screw rod penetrates through the displacement piece sliding block and is connected with the displacement piece sliding block in a matched mode, and the second driving unit is used for driving the second screw rod.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the ball head connecting piece comprises a connecting piece main body, the connecting piece main body is fixedly connected with a ball head connecting rod, and one end, far away from the connecting piece main body, of the ball head connecting rod is fixedly connected with the universal ball head.
As a preferable technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the connecting piece main body is fixedly connected with a guide rail unit extending along the first direction, the ball head support piece comprises a support piece main body, the support piece main body is fixedly connected with a support piece sliding seat extending along the first direction, and the guide rail unit is connected with the support piece sliding seat in a matched mode.
As an optimal technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the included angle between the first direction and the XY plane is 30 degrees.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the three-point support type six-degree-of-freedom pose adjusting platform further comprises a base main body, and the three pose adjusting assemblies are fixedly connected to the base main body.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the top end of the base main body is provided with three mounting grooves which are circumferentially and uniformly distributed along the Z-axis direction, and the pose adjusting component is clamped in the mounting grooves.
As a preferred technical scheme of the three-point support type six-degree-of-freedom pose adjusting platform, the plane where the base main body is located is coplanar with the XY plane.
The utility model has the beneficial effects that:
the three-point support type six-degree-of-freedom pose adjusting platform meets the six-dimensional adjusting requirement of the pose adjusting platform in a mode that the three pose adjusting assemblies support the support platform. The posture shape of the supporting platform can be determined by adjusting the supporting position of the universal ball head through the posture adjusting assembly. The sliding connection of the ball head connecting piece on the ball head supporting piece enables the position of the universal ball head to be changed in a self-adaptive mode, and therefore height adjustment of the supporting point is achieved. Meanwhile, the improvement of the pose adjusting platform reduces the number of components, and the six-dimensional adjusting action of the supporting platform can be completed only through three pose adjusting assemblies, so that the pose adjusting platform is simple in structure, and the production cost is greatly reduced. Because the three posture adjusting components are circumferentially and uniformly distributed along the Z-axis direction, the overlapping of the adjusting mechanisms is avoided, and the space height is greatly reduced. Along with the reduction of space height, the center of gravity of whole position appearance regulation platform also moves down along with it, and the supporting platform still is supported through universal bulb by three accent appearance subassembly simultaneously, and the stability of supporting platform structure can guarantee. Because the posture adjustment is carried out by adopting the mode that the three posture adjustment components are connected in parallel, the direct accumulation of errors caused by each degree of freedom in the laminated scheme can be avoided, and the purpose of reducing the error accumulation is realized.
Drawings
FIG. 1 is a schematic structural diagram of a first view angle of a three-point support type six-degree-of-freedom pose adjustment platform provided by an embodiment of the utility model;
FIG. 2 is a schematic structural diagram of a second view angle of the three-point support type six-degree-of-freedom pose adjustment platform provided by the embodiment of the utility model;
fig. 3 is an exploded view of the posture adjustment assembly provided by the embodiment of the present invention.
In the figure:
100. a posture adjusting component; 110. a ball head connecting piece; 111. a guide rail unit; 112. a ball head connecting rod; 113. a connector body; 120. a universal ball head; 130. a ball head support; 131. a support slide; 132. a support slider; 133. a support body;
140. a first displacement member; 141. a first platform slide rail; 142. a first lead screw; 143. a first drive unit; 144. a displacer slide block; 145. a first displacement member body;
150. a second displacement member; 151. a second platform slide rail; 152. a second lead screw; 153. a second driving unit; 154. a second displacement member body;
200. a base body; 300. a support platform; 310. a universal ball seat.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 to fig. 3, the present embodiment provides a three-point support type six-degree-of-freedom pose adjustment platform, which includes a support platform 300 and three pose adjustment assemblies 100; the bottom of the supporting platform 300 is provided with three universal ball seats 310; three accent appearance subassembly 100 is along the circumference equipartition of the Z axle direction in the XYZ coordinate system, and accent appearance subassembly 100 includes bulb connecting piece 110 and bulb support piece 130, and bulb support piece 130 can move in the XY plane, and bulb connecting piece 110 is located bulb support piece 130 along the first direction cunning, and bulb connecting piece 110 is connected with universal bulb 120, and universal bulb 120 and universal ball seat 310 accordant connection, and the first direction becomes the contained angle setting with the XY plane.
The three-point support type pose adjusting platform with six degrees of freedom meets the six-dimensional adjusting requirement of the pose adjusting platform in a mode that the three pose adjusting assemblies 100 support the support platform 300. The posture shape of the support platform 300 can be determined by adjusting the support position of the universal ball head 120 by the posture adjusting assembly 100. The sliding connection of the ball joint connecting member 110 on the ball joint supporting member 130 enables the position of the universal ball joint 120 to be changed in a self-adaptive manner, so that the elevation adjustment of the supporting point is realized. Meanwhile, the improvement of the pose adjusting platform reduces the number of components, and the six-dimensional adjusting action of the supporting platform 300 can be completed only by three pose adjusting assemblies 100, so that the pose adjusting platform is simple in structure and greatly reduced in production cost. Because the three posture adjusting components 100 are circumferentially and uniformly distributed along the Z-axis direction, the overlapping of the adjusting mechanisms is avoided, and the space height is greatly reduced. Along with the reduction of the spatial height, the gravity center of the whole pose adjusting platform also moves downwards, meanwhile, the supporting platform 300 is supported by the three pose adjusting assemblies 100 through the universal ball heads 120, and the structural stability of the supporting platform 300 is guaranteed. Because the posture adjustment is carried out by adopting the mode that the three posture adjustment components 100 are connected in parallel, the direct accumulation of errors caused by each degree of freedom in the laminated scheme can be avoided, and the purpose of reducing error accumulation is realized.
In this embodiment, the posture adjustment assembly 100 further includes a first displacement member 140 and a second displacement member 150, the ball head support 130 is slidably disposed on the first displacement member 140 along a tangential direction of the Z-axis, and the first displacement member 140 is slidably disposed on the second displacement member 150 along a radial direction of the Z-axis. Through the orthogonal combination of the first displacement piece 140 and the second displacement piece 150, the movement of the ball head support piece 130 in the XY plane can be realized, the improved structure is simple and convenient to adjust, and the preset displacement action can be completed quickly and efficiently, so that the six-dimensional adjustment of the three-point support type pose adjustment platform with six degrees of freedom can be completed accurately and efficiently.
Further, the ball head support 130 includes a support slider 132, the first displacement member 140 includes a first platform rail 141, a first lead screw 142, and a first driving unit 143, and the first platform rail 141 and the first lead screw 142 each extend in a tangential direction of the Z-axis direction; the supporting member sliding block 132 is slidably disposed on the first platform sliding rail 141, the first screw rod 142 passes through the supporting member sliding block 132 and is connected to the supporting member sliding block 132 in a matching manner, and the first driving unit 143 is configured to drive the first screw rod 142. The first displacement member 140 includes a displacement member slider 144, the second displacement member 150 includes a second platform slide rail 151, a second lead screw 152, and a second driving unit 153, and both the second platform slide rail 151 and the second lead screw 152 extend in the radial direction of the Z-axis direction; the displacement piece sliding block 144 is slidably disposed on the second platform sliding rail 151, the second lead screw 152 penetrates through the displacement piece sliding block 144 and is connected with the displacement piece sliding block 144 in a matching manner, and the second driving unit 153 is used for driving the second lead screw 152. The three-point support type pose adjusting platform with six degrees of freedom is reliable and effective in structure and simple and convenient to operate, and can run smoothly and for a long time.
In this embodiment, the first displacement member 140 further includes a first displacement member main body 145, the first platform slide rail 141 is fixedly connected to the top end of the first displacement member main body 145, the displacement member slide block 144 is fixedly connected to the bottom end of the first displacement member main body 145, the first lead screw 142 is disposed above the first platform slide rail 141, and the first driving unit 143 is fixedly connected to the first displacement member main body 145; the second displacement member 150 further includes a second displacement member main body 154, the second platform slide rail 151 is fixedly connected to the top end of the second displacement member main body 154, the second screw 152 is disposed above the second platform slide rail 151, and the second driving unit 153 is fixedly connected to the second displacement member main body 154.
Specifically, limiting plates are connected to two ends of the first lead screw 142 and the second lead screw 152, and the limiting positions of the displacements of the first lead screw 142 and the second lead screw 152 are limited by the limiting plates, so that the range of the movement of the ball support 130 relative to the first displacement member 140 and the range of the movement of the first displacement member 140 relative to the second displacement member 150 are determined.
In this embodiment, the first driving unit 143 and the second driving unit 153 are both stepping motor units, each stepping motor unit includes a stepping motor main body and an RS485 stepping motor driver for driving the stepping motor main body, and by integrating the stepping motor units into the motion platform, the operation of the three-point support type six-degree-of-freedom pose adjustment platform can be completed only by supplying power to the three-point support type six-degree-of-freedom pose adjustment platform and communicating with the RS485, so that the whole three-point support type six-degree-of-freedom pose adjustment platform can complete a predetermined action with simple operation. The first platform slide rail 141 and the second platform slide rail 151 are both ball guide rails; the first lead screw 142 and the second lead screw 152 are trapezoidal lead screws, and the support piece sliding block 132 and the displacement piece sliding block 144 are both internally provided with nut groups, and the nut groups and the trapezoidal lead screws form an adjusting kinematic pair. The self-locking characteristic of the trapezoidal screw rod is utilized, and the stability of the three-point support type six-degree-of-freedom pose adjusting platform after pose adjustment can be ensured.
In this embodiment, the stepping motor main body, the stepping motor driver, the ball guide, the universal ball head 120, the universal ball seat 310, the screw set and the trapezoidal screw are conventional structures in the art, the stepping motor driver can drive the trapezoidal screw to rotate by driving the stepping motor main body, the universal ball head 120 is connected with the universal ball seat 310 in a matching manner, the trapezoidal screw connected with the screw set in a matching manner and the trapezoidal screw capable of being self-locked to the screw set are common knowledge in the art, the working principle and the specific structure of the device are well known to those skilled in the art, and no further description is given here.
Preferably, the ball joint connector 110 includes a connector body 113, the connector body 113 is fixedly connected with a ball joint link 112, and one end of the ball joint link 112 far away from the connector body 113 is fixedly connected with a universal ball 120. Specifically, the ball-end link 112 extends along a second direction, the second direction is perpendicular to the first direction, and the second direction, the Z-axis direction and the first direction are all located in the same plane. The structure is simple and reliable, and the conflict between the universal ball head 120 and the universal ball seat 310 and the occupied space of other components during matching connection can be effectively reduced, so that the adjusting range of the three-point support type six-degree-of-freedom pose adjusting platform is expanded, and the moving action of the adaptive adjustment of the relative position of the ball head connecting piece 110 and the ball head supporting piece 130 can be accurately completed.
Further, the connecting member body 113 is fixedly connected with a rail unit 111 extending along the first direction, the ball head support 130 includes a support body 133, the support body 133 is fixedly connected with a support slide 131 extending along the first direction, and the rail unit 111 is in matching connection with the support slide 131. The structure is stable and reliable in connection, can effectively realize self-adaptive adjustment of the position of the universal ball head 120, and ensures that the three-point support type pose adjusting platform with six degrees of freedom can smoothly run for a long time. Specifically, the support slider 132 is attached to the bottom end of the support body 133.
Preferably, the sliding connection between the ball joint connector 110 and the ball joint support 130, between the ball joint support 130 and the first displacement member 140, and between the first displacement member 140 and the second displacement member 150 is realized by cross roller guide rails.
In this embodiment, the first direction makes an angle of 30 ° with the XY plane. Specifically, the support body 133 is a wedge block connection seat inclined at 30 °, and the support slider 131 is laid on an inclined surface of the wedge block connection seat.
Preferably, the three-point support type six-degree-of-freedom pose adjusting platform further comprises a base main body 200, and the three pose adjusting assemblies 100 are all fixedly connected to the base main body 200. The base main body 200 is beneficial to fixing the three posture adjusting components 100, and the risk of position deviation of the three posture adjusting components 100 caused by accidents is reduced, so that the adjusting accuracy of the three-point support type six-degree-of-freedom posture adjusting platform is ensured, and the yield of the three-point support type six-degree-of-freedom posture adjusting platform is ensured.
Further, three mounting grooves are formed in the top end of the base main body 200, the three mounting grooves are circumferentially and uniformly distributed along the Z-axis direction, and the posture adjusting assembly 100 is clamped in the mounting grooves. The structure of the base main body 200 is optimized by the design that the mounting grooves are circumferentially and uniformly distributed along the Z-axis direction, and the space occupied by the base main body 200 is reduced. The arrangement of the mounting grooves ensures the accuracy of the clamping position of the posture adjusting assembly 100, improves the assembly precision of the three-point support type six-degree-of-freedom posture adjusting platform during production, ensures the yield of products, and simultaneously improves the assembly and disassembly efficiency of the three-point support type six-degree-of-freedom posture adjusting platform. Specifically, the second displacement member main body 154 is clamped in the mounting groove, and an avoidance port is further provided at the edge of the mounting groove. The arrangement of the avoidance port improves the dismounting efficiency of the three-point support type six-degree-of-freedom pose adjusting platform, and meanwhile, the risks that the edge of the installation groove is cracked and the second displacement piece main body 154 is deformed when the pose adjusting component 100 is clamped in the installation groove are avoided.
Preferably, the plane in which the base body 200 lies is coplanar with the XY-plane. The arrangement enables the base main body 200 to be installed in a smooth external environment, greatly reduces the influence of the external environment on the three-point support type six-degree-of-freedom pose adjusting platform, and ensures the accuracy of the adjusting result of the three-point support type six-degree-of-freedom pose adjusting platform.
When the three-point support type six-degree-of-freedom pose adjustment platform provided by the embodiment is used, by processing data of the platform target moving distance X, Y, Z and the rotation angles Rx, Ry and Rz, how the coordinate of each universal ball head 120 needs to be changed can be calculated by reverse estimation according to the moving distance and the rotation angles of the support platform 300, and specific adjustment data of each corresponding pose adjustment assembly 100 can be obtained.
The posture adjustment assembly 100 can enable the universal ball head 120 to move along the radial direction of the Z-axis direction by adjusting the relative positions of the first displacement piece 140 and the second displacement piece 150; the tangential movement of the universal ball head 120 along the Z-axis direction can be achieved by adjusting the relative positions of the ball head support 130 and the first displacement member 140; the gimbaled ball 120 can be moved in a first direction by adaptive adjustment of the relative position of the ball support 130 and the ball joint 110. The three groups of values of relative position change respectively correspond to three variables, the three variables can determine the unique position of each universal ball head 120, and the position variables of the three universal ball heads 120 can determine the unique position and posture of the support platform 300.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a platform is adjusted to six degree of freedom position appearance of three point support formula which characterized in that includes:
the supporting platform (300) is provided with three universal ball seats (310) at the bottom of the supporting platform (300);
the three posture adjusting assembly (100), it is three posture adjusting assembly (100) is along the circumference equipartition of the Z axle direction in the XYZ coordinate system, posture adjusting assembly (100) includes bulb connecting piece (110) and bulb support piece (130), bulb support piece (130) can move in the XY plane, bulb connecting piece (110) along the first direction cunning locate bulb support piece (130), bulb connecting piece (110) are connected with universal bulb (120), universal bulb (120) with universal ball seat (310) accordant connection, the first direction becomes the contained angle setting with the XY plane.
2. The three-point support type six-degree-of-freedom posture adjustment platform is characterized in that the posture adjustment assembly (100) further comprises a first displacement piece (140) and a second displacement piece (150), the ball head support (130) is arranged on the first displacement piece (140) in a sliding mode along the tangential direction of the Z-axis direction, and the first displacement piece (140) is arranged on the second displacement piece (150) in a sliding mode along the radial direction of the Z-axis direction.
3. The three-point support type six-degree-of-freedom pose adjustment platform according to claim 2, wherein the ball head support (130) comprises a support slider (132), the first displacement member (140) comprises a first platform slide rail (141), a first lead screw (142) and a first driving unit (143), and the first platform slide rail (141) and the first lead screw (142) both extend tangentially in the Z-axis direction;
the support sliding block (132) is slidably arranged on the first platform sliding rail (141), the first screw rod (142) penetrates through the support sliding block (132) and is connected with the support sliding block (132) in a matching mode, and the first driving unit (143) is used for driving the first screw rod (142).
4. The three-point support type six-degree-of-freedom pose adjustment platform according to claim 2, wherein the first displacement member (140) comprises a displacement member slide block (144), the second displacement member (150) comprises a second platform slide rail (151), a second lead screw (152) and a second driving unit (153), and the second platform slide rail (151) and the second lead screw (152) both extend along a radial direction of the Z-axis direction;
the displacement piece sliding block (144) is arranged on the second platform sliding rail (151) in a sliding mode, the second screw rod (152) penetrates through the displacement piece sliding block (144) and is connected with the displacement piece sliding block (144) in a matched mode, and the second driving unit (153) is used for driving the second screw rod (152).
5. The three-point support type six-degree-of-freedom pose adjustment platform according to claim 1, wherein the ball head connecting piece (110) comprises a connecting piece main body (113), a ball head connecting rod (112) is fixedly connected to the connecting piece main body (113), and the universal ball head (120) is fixedly connected to one end, away from the connecting piece main body (113), of the ball head connecting rod (112).
6. The three-point-support six-degree-of-freedom pose adjustment platform according to claim 5, wherein the connecting piece main body (113) is fixedly connected with a guide rail unit (111) extending along the first direction, the ball head support (130) comprises a support main body (133), the support main body (133) is fixedly connected with a support sliding base (131) extending along the first direction, and the guide rail unit (111) is in matching connection with the support sliding base (131).
7. The three-point support six-degree-of-freedom pose adjustment platform of claim 1, wherein the first direction is at an angle of 30 ° to the XY plane.
8. The three-point support type six-degree-of-freedom pose adjustment platform according to any one of claims 1 to 7, further comprising a base body (200), wherein the three pose adjustment assemblies (100) are fixedly connected to the base body (200).
9. The three-point support type six-degree-of-freedom pose adjusting platform according to claim 8, wherein three mounting grooves are formed in the top end of the base main body (200), the three mounting grooves are circumferentially and uniformly distributed along the Z-axis direction, and the pose adjusting assembly (100) is clamped in the mounting grooves.
10. The three-point-support six-degree-of-freedom pose adjustment platform of claim 8, wherein the plane of the base body (200) is coplanar with the XY plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123014766.XU CN216556233U (en) | 2021-12-03 | 2021-12-03 | Three-point supporting type six-degree-of-freedom pose adjusting platform |
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| CN202123014766.XU CN216556233U (en) | 2021-12-03 | 2021-12-03 | Three-point supporting type six-degree-of-freedom pose adjusting platform |
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