CN220362459U - High-precision quick six-degree-of-freedom positioning mechanism - Google Patents
High-precision quick six-degree-of-freedom positioning mechanism Download PDFInfo
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- CN220362459U CN220362459U CN202321979842.7U CN202321979842U CN220362459U CN 220362459 U CN220362459 U CN 220362459U CN 202321979842 U CN202321979842 U CN 202321979842U CN 220362459 U CN220362459 U CN 220362459U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 230000000452 restraining effect Effects 0.000 claims abstract description 16
- 239000000956 alloy Substances 0.000 claims description 4
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a high-precision quick six-degree-of-freedom positioning mechanism, which relates to the technical field of precision mechanical equipment and comprises a positioning mechanism body, wherein a positioning cavity for accommodating an element is arranged at the side end of the positioning mechanism body, so that the element can be efficiently pulled out and inserted in the positioning cavity, six-degree-of-freedom contact pairs for restraining the element are distributed in the positioning cavity to automatically align the inserted element, the contact pairs comprise permanent magnets and positioning steel balls, the permanent magnets provide closing force when the element is pulled out and inserted, the closing force is the same after the element is pulled out and inserted each time, the positioning steel balls are used as rigid supporting points, and wear resistance is ensured, so that the repeated positioning precision of the element is ensured to be better than 1um.
Description
Technical Field
The utility model relates to the technical field of precision mechanical equipment, in particular to a high-precision quick six-degree-of-freedom positioning mechanism.
Background
In the precise positioning structure requiring quick on-line element replacement, the positioning structure is generally required to have higher repeated positioning precision and higher disassembly and assembly efficiency, while the traditional replacement mode is to achieve positioning function and coarser positioning precision through a mechanism of a screw or a positioning pin, so that the disassembly and assembly efficiency of the element in the replacement process is low, and the repeated positioning makes the precision difficult to guarantee.
Disclosure of Invention
The utility model aims to provide a high-precision quick six-degree-of-freedom positioning mechanism, which enables elements to be efficiently pulled out and inserted in a positioning cavity by arranging the positioning cavity for accommodating the elements at the side end of a positioning mechanism body, and automatically aligns the inserted elements by distributing six-degree-of-freedom contact pairs for restraining the elements in the positioning cavity, thereby ensuring that the repeated positioning precision of the elements is better than 1um.
In order to achieve the technical purpose, the utility model is realized by the following technical scheme:
a high precision, fast six degree of freedom positioning mechanism comprising:
the positioning mechanism comprises a positioning mechanism body, wherein a positioning cavity for accommodating an element is formed in one side end of the positioning mechanism body;
the wall of the positioning cavity is provided with contact pairs for restraining six degrees of freedom of the element.
In the scheme, the contact pairs with six degrees of freedom of the constraint element are distributed on the cavity wall of the positioning cavity in the positioning mechanism body to form a six-degree-of-freedom positioning structure, and the inserted element is automatically aligned through the closing force and the rigid supporting point provided by the contact pairs, so that the repeated positioning precision of the element is ensured to be better than 1um.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the positioning mechanism body comprises a base, a first side plate, a positioning plate and a second side plate, wherein the positioning plate is provided with a positioning groove with an L-shaped section, and the base, the first side plate and the second side plate are arranged around the positioning groove to form the positioning cavity.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the contact pair comprises a first contact pair, a second contact pair, a third contact pair, a fourth contact pair, a fifth contact pair and a sixth contact pair, wherein the first contact pair is arranged on the first side plate, the second contact pair, the third contact pair and the sixth contact pair are arranged on the positioning plate along the horizontal direction of the positioning groove, and the fourth contact pair and the fifth contact pair are arranged on the base along the horizontal direction of the positioning groove.
In the scheme, the X direction of the first contact pair restraining element, the RX direction of the second contact pair restraining element, the RZ direction of the third contact pair restraining element, the RY direction of the fourth contact pair restraining element, the Z direction of the fifth contact pair restraining element and the Y direction of the sixth contact pair restraining element can accurately position the elements to be inserted and pulled each time through positioning six degrees of freedom of the elements so as to carry out processing, measuring or assembling operations.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, in order to further improve the positioning effect, the third contact pair and the sixth contact pair are respectively located at two lower side ends of the second contact pair, and the third contact pair and the sixth contact pair are respectively symmetrically arranged with the fourth contact pair and the fifth contact pair.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the first contact pair, the second contact pair, the third contact pair, the fourth contact pair, the fifth contact pair and the sixth contact pair are all composed of permanent magnets and positioning steel balls, and the permanent magnets provide closing force and the positioning steel balls provide rigid support.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the permanent magnet and the positioning steel ball are glued on the wall surface of the inner cavity of the positioning cavity.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the permanent magnet is made of neodymium iron boron materials, and the positioning steel ball is made of hard alloy materials.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the head of the permanent magnet does not exceed the wall surface of the inner cavity of the positioning cavity, and the pulling and inserting friction force of the element is reduced through indirect contact, so that the pulling and inserting efficiency is improved.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the head of the positioning steel ball exceeds the wall surface of the inner cavity of the positioning cavity by 0.07mm-0.1mm, and the pulling and inserting friction force is reduced through point-surface contact, so that the pulling and inserting efficiency is further improved.
As a further technical scheme of the six-degree-of-freedom positioning mechanism, the diameter error of the positioning steel ball is smaller than 0.01mm, and the pulling and inserting friction force is further reduced by improving the roundness of the positioning steel ball, so that the pulling and inserting efficiency is improved.
According to the technical scheme, the high-precision quick six-degree-of-freedom positioning mechanism comprises a positioning mechanism body, wherein a positioning cavity for accommodating elements is formed in the side end of the positioning mechanism body, the elements can be efficiently pulled out and inserted in the positioning cavity, six-degree-of-freedom contact pairs for restraining the elements are distributed in the positioning cavity to automatically align the inserted elements, the contact pairs comprise permanent magnets and positioning steel balls, the permanent magnets provide closing force when the elements are pulled out and inserted, the closing force of the elements after pulling out and inserting each time is identical, the positioning steel balls are used as rigid supporting points, abrasion resistance is guaranteed, and accordingly repeated positioning accuracy of the elements is guaranteed to be superior to that of 1um.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this application, illustrate embodiments of the utility model. In the drawings:
FIG. 1 is a schematic diagram of a high-precision and rapid six-degree-of-freedom positioning mechanism and element clamping provided by the utility model;
FIG. 2 is a schematic diagram of an axial structure of a high-precision quick six-degree-of-freedom positioning mechanism according to the present utility model;
FIG. 3 is a schematic side view of a high-precision and fast six-degree-of-freedom positioning mechanism according to the present utility model;
fig. 4 is a schematic cross-sectional view of the mark A-A in fig. 3.
In the drawings, the reference numerals and corresponding part names:
1-component, 2-base, 3-first curb plate, 4-locating plate, 5-second curb plate, 6-location chamber, 7-permanent magnet, 8-location steel ball, 9-first contact pair, 10-second contact pair, 11-third contact pair, 12-fourth contact pair, 13-fifth contact pair, 14-sixth contact pair.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present utility model, the present utility model will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present utility model and the descriptions thereof are for illustrating the present utility model only and are not to be construed as limiting the present utility model.
Example 1
The embodiment 1 provides a high precision quick six-degree-of-freedom positioning mechanism, as shown in fig. 1, comprising a positioning mechanism body, wherein the side end of the positioning mechanism body is provided with a positioning cavity 6 for accommodating an element 1, so that the element can be efficiently pulled out and inserted in the positioning cavity 6, six-degree-of-freedom contact pairs for restraining the element are distributed in the positioning cavity 6 to automatically align an inserted element, specifically, as shown in fig. 2-4, the positioning mechanism body comprises a base 2, a first side plate 3, a positioning plate 4 and a second side plate 5, the positioning plate 4 is provided with a positioning groove with an L-shaped section, the base 2 is connected with the long end of the positioning groove, the first side plate and the second side plate are arranged on the side end surface of the positioning groove to form a positioning cavity 6, the contact pairs comprise a first contact pair 9, a second contact pair 10, a third contact pair 11, a fourth contact pair 12, a fifth contact pair 13 and a sixth contact pair 14, the first contact pair 9, the second contact pair 10, the third contact pair 11, the fourth contact pair 12, the fifth contact pair 13 and the sixth contact pair 14 are all composed of a permanent magnet 7 and a positioning steel ball 8, the permanent magnet 7 and the positioning steel ball 8 are glued on the inner cavity wall surface of the positioning cavity 6 through AB glue, the permanent magnet 7 provides closing force and the positioning steel ball 8 provides rigid support, the first contact pair 9 is arranged on the first side plate 3 and used for restraining the X direction of the element, the second contact pair 10, the third contact pair 11 and the sixth contact pair 14 are arranged on the positioning plate 4 along the horizontal direction of the positioning groove and used for respectively restraining RX, RZ and Y directions of the element 1, the fourth contact pair 12 and the fifth contact pair 13 are arranged on the base 2 along the horizontal direction of the positioning groove and used for restraining the RY and Z directions of the element 1, therefore, the contact pair restraining six degrees of freedom is used for automatically aligning the inserted element 1, and the repeated positioning accuracy of the element 1 is ensured to be better than 1um.
In the present embodiment, the third contact pair 11 and the sixth contact pair 14 may be located on the second side plate 5, but to further enhance the positioning effect, the second contact pair 10, the third contact pair 11 and the sixth contact pair 14 are all disposed on the positioning plate 4 to reduce the assembly accumulated error, and the third contact pair 11 and the sixth contact pair 14 are respectively located at two lower side ends of the second contact pair 10, and the third contact pair 11 and the sixth contact pair 14 are respectively symmetrically disposed with the fourth contact pair 12 and the fifth contact pair 13.
In this embodiment, the permanent magnet 7 is made of neodymium iron boron material, and provides a closing force for assembling the element 1 by magnetic attraction, so that the closing force is the same after each assembling, the positioning steel ball 8 is made of hard alloy material, the positioning steel ball 8 is used as a rigid support, and the high hardness of the hard alloy is used as a supporting point to ensure wear resistance, thereby ensuring the repeated positioning accuracy of the element 1.
In this embodiment, in order to reduce the friction force in the process of pulling and inserting the element 1, the pulling and inserting efficiency is improved, the head of the permanent magnet 7 does not exceed the inner cavity wall surface of the positioning cavity 6, the pulling and inserting friction force of the element 1 is reduced through indirect contact, the head of the positioning steel ball 8 exceeds the inner cavity wall surface of the positioning cavity by 0.07mm-0.1mm, the diameter error of the positioning steel ball 8 is less than 0.01mm, the pulling and inserting friction force is reduced through point-surface contact, and the pulling and inserting efficiency of the element 1 is improved.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the utility model, and is not meant to limit the scope of the utility model, but to limit the utility model to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the utility model are intended to be included within the scope of the utility model.
Claims (10)
1. A high precision, fast six degrees of freedom positioning mechanism, comprising:
the positioning mechanism comprises a positioning mechanism body, wherein a positioning cavity (6) for accommodating the element (1) is formed at one side end of the positioning mechanism body;
the wall of the positioning cavity (6) is provided with contact pairs for restraining six degrees of freedom of the element (1).
2. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 1, wherein the positioning mechanism body comprises a base (2), a first side plate (3), a positioning plate (4) and a second side plate (5), a positioning groove with an L-shaped section is formed in the positioning plate (4), and the base (2), the first side plate (3) and the second side plate (5) are arranged around the positioning groove to form the positioning cavity (6).
3. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 2, wherein the contact pair comprises a first contact pair (9), a second contact pair (10), a third contact pair (11), a fourth contact pair (12), a fifth contact pair (13) and a sixth contact pair (14), wherein the first contact pair (9) is arranged on the first side plate (3), the second contact pair (10), the third contact pair (11) and the sixth contact pair (14) are arranged on the positioning plate (4) along the horizontal direction of the positioning groove, and the fourth contact pair (12) and the fifth contact pair (13) are arranged on the base (2) along the horizontal direction of the positioning groove.
4. A high precision quick six degree of freedom positioning mechanism according to claim 3, wherein the third contact pair (11) and the sixth contact pair (14) are located at two lower side ends of the second contact pair (10), respectively, and the third contact pair (11) and the sixth contact pair (14) are symmetrically arranged with the fourth contact pair (12) and the fifth contact pair (13), respectively.
5. A high precision fast six degree of freedom positioning mechanism according to claim 3 characterized in that the first contact pair (9), the second contact pair (10), the third contact pair (11), the fourth contact pair (12), the fifth contact pair (13) and the sixth contact pair (14) are all composed of permanent magnets (7) and positioning steel balls (8).
6. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 5, wherein the permanent magnet (7) and the positioning steel ball (8) are glued to the inner cavity wall surface of the positioning cavity (6).
7. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 5, wherein the permanent magnet (7) is made of neodymium iron boron material, and the positioning steel ball (8) is made of hard alloy material.
8. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 6, wherein the head of the permanent magnet (7) does not exceed the inner cavity wall surface of the positioning cavity (6).
9. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 6, wherein the head of the positioning steel ball (8) exceeds the inner cavity wall surface of the positioning cavity (6) by 0.07mm-0.1mm.
10. The high-precision quick six-degree-of-freedom positioning mechanism according to claim 6, wherein the diameter error of the positioning steel ball (8) is less than 0.01mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321979842.7U CN220362459U (en) | 2023-07-26 | 2023-07-26 | High-precision quick six-degree-of-freedom positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321979842.7U CN220362459U (en) | 2023-07-26 | 2023-07-26 | High-precision quick six-degree-of-freedom positioning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220362459U true CN220362459U (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321979842.7U Active CN220362459U (en) | 2023-07-26 | 2023-07-26 | High-precision quick six-degree-of-freedom positioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220362459U (en) |
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2023
- 2023-07-26 CN CN202321979842.7U patent/CN220362459U/en active Active
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