CN219159977U - Six-degree-of-freedom gesture adjusting mechanism - Google Patents

Abstract

The utility model discloses a six-degree-of-freedom gesture adjusting mechanism, which belongs to the technical field of gesture adjustment and sequentially comprises a Z-axis rotating assembly, two groups of X-axis translation assemblies, two groups of Y-axis translation assemblies, two groups of Z-axis lifting assemblies, two groups of X-axis rotating assemblies and two groups of anchor ear supporting assemblies from bottom to top; two groups of X-axis translation assemblies are connected right above the Z-axis rotation assembly, Y-axis translation assemblies are connected right above each group of X-axis translation assemblies, Z-axis lifting assemblies are connected to two ends of each group of Y-axis translation assemblies, each group of Z-axis lifting assemblies is connected with the X-axis rotation assembly, and each group of X-axis rotation assemblies is connected with the hoop support assembly, so that six movements are realized. The six-degree-of-freedom automatic adjustment of the mounting object posture can be realized, the degree of automation is high, the mounting efficiency is improved, the time is saved, the working intensity of operators is reduced, and the mounting process can be completed by only one operator.

Description

Six-degree-of-freedom gesture adjusting mechanism

Technical Field

The utility model relates to the technical field of posture adjustment, in particular to a six-degree-of-freedom posture adjustment mechanism.

Background

The posture adjustment of the object to be mounted is generally multi-directional and multi-degree of freedom. The posture adjustment needs to be performed in multiple directions after the related object is fixed, and therefore, the process of assisting the multidirectional rotation after the mechanical lifting takes a lot of time, resulting in low working efficiency of the posture adjustment.

The multi-degree-of-freedom posture adjustment is a popular research in the mechanical field, and there are numerous technical solutions, namely a swing arm type six-degree-of-freedom mechanism, CN101301753B, which can realize the axial support and radial support of a supported object while realizing the rigid motion of all six degrees of freedom of a motion executing member, and the temperature deformation and stress of a frame and the supported object caused by the thermal effect can be eliminated by the consistent swing of the swing arm, and the deformation of the supported object is allowed.

The utility model provides a six-degree-of-freedom gesture adjusting mechanism which is mainly applied to gesture adjustment of a mounted object, because the mounting of the mounted object cannot be very accurate, the orientation height of the mounted object is consistent through the adjustment of multiple degrees of freedom of the mechanism.

Disclosure of Invention

The utility model provides a six-degree-of-freedom gesture adjusting mechanism for solving the technical problems, and the technical scheme is as follows.

The mechanism sequentially comprises a Z-axis rotating assembly, two groups of X-axis translation assemblies, two groups of Y-axis translation assemblies, two groups of Z-axis lifting assemblies, two groups of X-axis rotating assemblies and two groups of hoop supporting assemblies from bottom to top; the Z-axis rotating assembly is used for realizing rotation along the Z axis; the two groups of X-axis translation assemblies move in the same direction to realize movement along the X-axis direction; the two groups of Y-axis translation assemblies move in the same direction to realize movement along the Y-axis direction; lifting along the Z axis is realized by lifting in the same direction through two groups of Z axis lifting components; the two groups of X-axis rotating components roll in the same direction to realize rotation along the X-axis; the two groups of X-axis translation components move towards each other, the two groups of Z-axis lifting components move up and down, and the two groups of anchor ear support components float to realize rotation along the Y axis; thereby realizing six movements.

Further, the Z-axis rotating assembly comprises a rotary support base arranged right above the Z-axis rotating base, a rotary support is arranged on the upper portion of the rotary support base, the rotary support is connected with a coupler, the coupler is connected with a speed reducer, the speed reducer is arranged on a speed reducer support, the speed reducer support is arranged on the Z-axis rotating base, and a servo motor is connected with the speed reducer.

Further, the X-axis translation assembly comprises an X-axis translation base, bearing linear guide rails are arranged on the left side and the right side of the X-axis translation base, four groups of steel ball roller components are arranged on the bottom sides of two ends of the X-axis translation base, an X-axis translation plate is arranged on the upper portion of the linear guide rails, racks are arranged on the upper portion of the X-axis translation base, a speed reducer flange plate is arranged on the X-axis translation plate, a speed reducer is arranged on the speed reducer flange plate, a servo motor is connected with the speed reducer in a matched mode, and gears are connected with the speed reducer in a matched mode.

Further, the Y-axis translation assembly comprises a Y-axis translation base, a bearing linear guide rail is arranged on the upper portion of the X-axis translation plate, a servo motor is connected with a speed reducer, the speed reducer is arranged on a speed reducer flange plate, the speed reducer flange plate is arranged on the Y-axis translation base, rib plates are connected with the speed reducer flange plate and the Y-axis translation base, one end of the shaft coupling is connected with a ball screw, the other end of the shaft coupling is connected with the speed reducer through a shaft, a ball screw nut support is arranged on a ball screw nut, and the fixed side of the ball screw support assembly and the supporting side of the ball screw support assembly are arranged on the Y-axis translation base.

Further, the Z-axis lifting assembly comprises lifting bases arranged on two sides of the Z-axis lifting base, a lifting machine is arranged on the upper portion of the lifting machine base, a lifting machine screw rod is connected with an X-axis rotating base in a matched mode, guide rod components are arranged on two sides of the lifting machine, an input end of the lifting machine is connected with a plum blossom-shaped coupler, the other end of the plum blossom-shaped coupler is connected with a transition shaft, a bearing with a seat is arranged in the middle of the transition shaft, the other end of the transition shaft is connected with the plum blossom-shaped coupler, the other end of the plum blossom-shaped coupler is connected with a reverser, the input end of the reverser is connected with a speed reducer, the speed reducer is connected with a speed reducer flange plate, the speed reducer flange plate is connected with the Z-axis lifting base, and a servo motor is connected with the speed reducer.

Further, the X-axis rotating assembly comprises left and right positioning grooves arranged on two sides of an X-axis rotating base, a left positioning ring is arranged on an X-axis rotating wheel, a right cylindrical large gear is arranged on the X-axis rotating wheel, a fixed seat is arranged on the bottom side of the X-axis rotating base, a speed reducer flange plate is connected with the fixed seat, a speed reducer is arranged on the speed reducer flange plate, a cylindrical pinion is arranged on a speed reducer shaft, a cylindrical pinion baffle is arranged at the shaft end of the speed reducer, a servo motor is connected with the speed reducer, a needle roller and a needle roller retainer are arranged on the arc groove of the X-axis rotating base, a retainer limiting baffle is arranged on two sides of the arc groove of the X-axis rotating base, and the X-axis rotating wheel is arranged above the needle roller and the needle roller retainer, and a follower is arranged on the left and right positioning grooves.

Further, the anchor ear supporting component comprises an anchor ear component and a supporting component.

Further, the anchor ear component is provided with an anti-slip silicon rubber layer.

Further, the support part is provided with an anti-slip silicone rubber layer.

The utility model has the following beneficial effects:

1. the six-degree-of-freedom automatic adjustment of the mounting object posture can be realized, the degree of automation is high, the mounting efficiency is improved, the working intensity of operators is reduced, and the mounting process can be completed by only one operator.

2. According to the technical scheme, the mounting can be realized by sequentially adjusting the Z-axis rotation, the Y-axis rotation, the X-axis rotation, the Y-axis translation and the Z-axis translation, the adjustment driving can be driven by a servo motor with an encoder, other auxiliary equipment is not needed, and the mounting precision is ensured.

Drawings

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a schematic view of a Z-axis rotating assembly;

FIG. 3 is a schematic view of an X-axis translation assembly;

FIG. 4 is a schematic view of a Y-axis translation assembly;

FIG. 5 is a schematic view of the structure of the Z-axis lifting assembly;

FIG. 6 is a schematic view of an X-axis rotating assembly;

fig. 7 is a schematic structural view of the hoop support assembly.

Detailed Description

The technical scheme of the utility model is further explained below with reference to the attached drawings.

As shown in figures 1-7, the six-degree-of-freedom gesture adjusting mechanism comprises a Z-axis rotating component 1, an X-axis translation component 2, a Y-axis translation component 3, a Z-axis lifting component 4, an X-axis rotating component 5 and a hoop supporting component 6, wherein the X-axis translation component 2 is connected right above the Z-axis rotating component 1, the Y-axis translation component 3 is connected right above the X-axis translation component 2, the Z-axis lifting component 4,Z is connected with the two ends of the Y-axis translation component 3, the X-axis rotating component 5 is connected with the hoop supporting component 6, preferably, the X-axis translation component 2, the Y-axis translation component 3, the Z-axis lifting component 4, the X-axis rotating component 5 and the hoop supporting component 6 are two groups, the whole mechanism realizes the rotation along the Z-axis through the rotation of the Z-axis rotating component 1, the two groups of X-axis translation assemblies 2 move in the same direction to enable the Y-axis translation assemblies 3, the Z-axis lifting assemblies 4, the X-axis rotation assemblies 5 and the hoop support assemblies 6 to move along the X-axis direction, the two groups of Y-axis translation assemblies 3 move in the same direction to enable the Z-axis lifting assemblies 4, the X-axis rotation assemblies 5 and the hoop support assemblies 6 to move along the Y-axis direction, the two groups of Z-axis lifting assemblies 4 move in the same direction to enable the X-axis rotation assemblies 5 and the hoop support assemblies 6 to lift along the Z-axis direction, and the two groups of X-axis translation assemblies 2 move in the same direction, the two groups of Z-axis lifting assemblies 3 move in the lifting direction and the two groups of hoop support assemblies 6 move in the floating direction to enable the hoop support assemblies 6 to rotate along the Y-axis direction.

As shown in FIG. 2-3, the Z-axis rotating assembly 1 comprises a Z-axis rotating base 1-1, a rotary support base 1-2 is arranged right above the Z-axis rotating base 1-1, a rotary support 1-3 is arranged on the upper portion of the rotary support base 1-2, the rotary support 1-3 is connected with a coupler 1-4, the coupler 1-4 is connected with a speed reducer 1-5, the speed reducer 1-5 is arranged on a speed reducer support 1-6, the speed reducer support 1-6 is arranged on the Z-axis rotating base 1-1, a servo motor 1-7 is connected with the speed reducer 1-5, and the rotary support 1-3 is driven by the servo motor 1-7 to enable the X-axis translation base 2-1 to rotate along the X-axis.

As shown in fig. 3-4, the X-axis translation assembly 2 comprises an X-axis translation base 2-1, bearing linear guide rails 2-2,2-3 are arranged on the left side and the right side of the X-axis translation base 2-1, front and rear four groups of steel ball roller components 2-4,2-5,2-6,2-7 are arranged on the bottom sides of two ends of the X-axis translation base 2-1, an X-axis translation plate 2-8 is arranged on the upper portion of the linear guide rails 2-2,2-3, a rack 2-9 is arranged on the upper portion of the X-axis translation base 2-1, a speed reducer flange plate 2-10 is arranged on the X-axis translation plate 2-8, a speed reducer 2-11 is arranged on the speed reducer flange plate 2-10, a servo motor 2-12 is connected with the speed reducer 2-11 in a matched mode, and a gear 2-13 is connected with the speed reducer 2-11 in a matched mode, and the gear 2-13 is driven by the servo motor 2-12 and the rack 2-9 is meshed with the rack 2-9 so that the X-axis translation plate 2-8 moves along the X-axis.

As shown in fig. 4-5, the Y-axis translation assembly 3 includes a Y-axis translation base 3-1 mounted on an upper portion of an X-axis translation plate 2-8, load-bearing linear guide rails 3-2,3 are mounted on both sides of the Y-axis translation base 3-1, a servo motor 3-4 is connected with a speed reducer 3-5, the speed reducer 3-5 is mounted on a speed reducer flange plate 3-6, the speed reducer flange plate 3-6 is mounted on the Y-axis translation base 3-1, a rib plate 3-7 is connected with the speed reducer flange plate 3-6 and the Y-axis translation base 3-1, one end of a coupler 3-8 is connected with a ball screw 3-9, the other end is connected with the speed reducer 3-5, a ball screw nut support 3-10 is mounted on a ball screw 3-9 nut, a ball screw support assembly fixed side 3-11 and a ball screw support assembly supporting side 3-12 are mounted on the Y-axis translation base 3-1, and the ball screw 3-9 is driven by the servo motor 3-4 so that the Z-axis translation base 4-1 is moved in the Y-axis direction.

As shown in fig. 5-6, the Z-axis lifting assembly 4 comprises Z-axis lifting bases 4-1, lifting bases 4-2,4-3 are arranged on two sides of the Z-axis lifting base, lifting bases 4-4,4-5 are arranged on the upper parts of the lifting bases 4-2,4-3, lifting screws are matched with nuts 4-6,4-7 and connected with X-axis rotating bases 5-1, guide rod parts 4-8 are arranged on two sides of lifting bases 4-4,4-5, input ends of the lifting bases 4-4,4-5 are connected with a plum blossom type coupling 4-9, the other ends of the plum type coupling 4-9 are connected with a transition shaft 4-10, a belt seat bearing 4-11 is arranged in the middle of the transition shaft 4-10, the other ends of the transition shaft 4-10 are connected with a plum type coupling 4-12, the other ends of the plum type coupling 4-12 are connected with a reverser 4-13, input ends of the reverser 4-13 are connected with a speed reducer 4-14, the speed reducer 4-14 is connected with a speed reducer flange plate 4-15, the speed reducer flange plate 4-15 is connected with the Z-axis lifting base 4-1, a motor rib plate 4-16 is connected with a speed reducer 4-15 and a Z-axis lifting base 4-1, and a motor 4-5 is connected with a speed reducer 4-5-1 to a servo shaft 4-5 through a servo motor 4-17.

As shown in fig. 6-7, the X-axis rotating assembly 5 comprises an X-axis rotating base 5-1, left and right positioning grooves 5-2 and 5-3 are arranged on two sides of the X-axis rotating base 5-1, a left positioning ring 5-4 is arranged on an X-axis rotating wheel 5-12, a right cylindrical large gear 5-5 is arranged on the X-axis rotating wheel 5-12, a fixing seat 5-6 is arranged on the bottom side of the X-axis rotating base 5-1, a speed reducer flange plate 5-7 is connected with the fixing seat 5-6, a speed reducer 5-8 is arranged on the speed reducer flange plate 5-7, a cylindrical pinion 5-9 is arranged on a speed reducer 5-8 shaft, a cylindrical pinion baffle 5-10 is arranged at the shaft end of the speed reducer 5-8, a servo motor 5-11 is connected with the speed reducer 5-8, a circular arc groove of the X-axis rotating base 5-1 is provided with a needle roller 5-14 and a needle retainer 5-15, two sides of the circular arc groove of the X-axis rotating base 5-1 are provided with a retainer baffle 5-16, the needle roller 5-14 and the needle retainer 5-15 are arranged above the needle roller 5-12, and the servo motor 5-13 is arranged on the left and right rotary base 5-8 along with the speed reducer 5-8, and the cylindrical pinion 5-8 is meshed with the left rotary wheel 5-8 and the cylindrical pinion 5-3 through the speed reducer 5-8.

As shown in fig. 7, the hoop support assembly 6 includes a hoop member 6-1 and a support member 6-2.

The anchor ear 6-1 as described in this example is provided with an anti-slip silicone rubber layer.

The support 6-2 as described in this example is provided with an anti-slip silicone rubber layer.

All degrees of freedom adjustment drives described in this example are driven by servo motors with encoders, so that high precision requirements are guaranteed, and each axis motion has a force feedback mode, so that safety is guaranteed. The servo motor is provided with the band-type brake, so that the missile safety under the condition of outage can be ensured.

The foregoing is merely a preferred embodiment of the utility model, and it is to be understood that the utility model is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the utility model are intended to be within the scope of the appended claims.

Claims (9)

1. The six-degree-of-freedom gesture adjusting mechanism is characterized by sequentially comprising a Z-axis rotating assembly, two groups of X-axis translation assemblies, two groups of Y-axis translation assemblies, two groups of Z-axis lifting assemblies, two groups of X-axis rotating assemblies and two groups of anchor ear supporting assemblies from bottom to top; two groups of X-axis translation assemblies are connected right above the Z-axis rotation assemblies, Y-axis translation assemblies are connected right above each group of X-axis translation assemblies, two ends of each group of Y-axis translation assemblies are connected with Z-axis lifting assemblies, each group of Z-axis lifting assemblies are connected with the X-axis rotation assemblies, each group of X-axis rotation assemblies is connected with a hoop support assembly, and Z-axis rotation is realized through the Z-axis rotation assemblies; the two groups of X-axis translation assemblies move in the same direction to realize movement along the X-axis direction; the two groups of Y-axis translation assemblies move in the same direction to realize movement along the Y-axis direction; lifting along the Z axis is realized by lifting in the same direction through two groups of Z axis lifting components; the two groups of X-axis rotating components roll in the same direction to realize rotation along the X-axis; the two groups of X-axis translation assemblies move towards each other, the two groups of Z-axis lifting assemblies move up and down, and the two groups of anchor ear support assemblies move in a floating mode to rotate along the Y axis.

2. The six-degree-of-freedom gesture adjusting mechanism of claim 1, wherein the Z-axis rotating assembly comprises a rotary support base arranged right above the Z-axis rotating base, a rotary support is arranged on the upper portion of the rotary support base, the rotary support is connected with a coupler, the coupler is connected with a speed reducer, the speed reducer is arranged on a speed reducer support, the speed reducer support is arranged on the Z-axis rotating base, and a servo motor is connected with the speed reducer.

3. The six-degree-of-freedom gesture adjusting mechanism of claim 1, wherein the X-axis translation assembly comprises a bearing linear guide rail arranged on the left side and the right side of an X-axis translation base, four groups of steel ball roller components arranged on the bottom sides of two ends of the X-axis translation base, an X-axis translation plate arranged on the upper part of the linear guide rail, a rack arranged on the upper part of the X-axis translation base, a reducer flange plate arranged on the X-axis translation plate, a reducer arranged on the reducer flange plate, a servo motor connected with the reducer in a matched manner, and a gear connected with the reducer shaft in a matched manner.

4. The six-degree-of-freedom gesture-adjusting mechanism according to claim 1, wherein the Y-axis translation assembly comprises a Y-axis translation base mounted on the upper portion of the X-axis translation plate, bearing linear guide rails are mounted on two sides of the Y-axis translation base, the servo motor is connected with a speed reducer, the speed reducer is mounted on a speed reducer flange plate, the speed reducer flange plate is mounted on the Y-axis translation base, rib plates are connected with the speed reducer flange plate and the Y-axis translation base, one end of the coupler is connected with the ball screw, the other end of the coupler is connected with the speed reducer shaft, a ball screw nut support is mounted on a ball screw nut, and a ball screw support assembly fixing side and a ball screw support assembly supporting side are mounted on the Y-axis translation base.

5. The six-degree-of-freedom gesture adjusting mechanism according to claim 1, wherein the Z-axis lifting assembly comprises lifting bases arranged on two sides of the Z-axis lifting base, a lifting machine is arranged on the upper portion of the lifting machine base, a lifting machine screw rod is matched with a nut to be connected with the X-axis lifting base, guide rod components are arranged on two sides of the lifting machine, an input end of the lifting machine is connected with a plum blossom type coupling, the other end of the plum blossom type coupling is connected with a transition shaft, a bearing with a seat is arranged in the middle of the transition shaft, the other end of the transition shaft is connected with the plum blossom type coupling, the other end of the plum blossom type coupling is connected with a commutator, an input end of the commutator is connected with a speed reducer, the speed reducer is connected with a speed reducer flange plate, the speed reducer flange plate is connected with the Z-axis lifting base, and a rib plate is connected with the speed reducer.

6. The six-degree-of-freedom gesture adjusting mechanism of claim 1, wherein the X-axis rotating assembly comprises left and right positioning grooves arranged on two sides of an X-axis rotating base, a left positioning ring is arranged on an X-axis rotating wheel, a right cylindrical large gear is arranged on the X-axis rotating wheel, a fixed seat is arranged on the bottom side of the X-axis rotating base, a reducer flange plate is connected with the fixed seat, a reducer is arranged on the reducer flange plate, a cylindrical pinion is arranged on a reducer shaft, a cylindrical pinion baffle is arranged at the end of the reducer shaft, a servo motor is connected with the reducer, rolling pins and rolling pin retainers are arranged on circular arc grooves of the X-axis rotating base, retainer limiting baffle plates are arranged on two sides of the circular arc grooves of the X-axis rotating base, rolling pins and rolling pin retainers are arranged on the X-axis rotating wheel, and a follower is arranged on the left and right positioning grooves.

7. The six degree-of-freedom gesture adjustment mechanism of claim 1 wherein the hoop support assembly comprises a hoop member and a support member.

8. The six degree-of-freedom gesture adjustment mechanism of claim 7 wherein the anchor ear member is provided with an anti-slip silicone rubber layer.

9. The six degree-of-freedom gesture adjustment mechanism of claim 7 wherein the support member is provided with a layer of non-slip silicone rubber.

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