CN102632377B - Five-free-degree rotary trimming mechanism - Google Patents
Five-free-degree rotary trimming mechanism Download PDFInfo
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- CN102632377B CN102632377B CN 201210130098 CN201210130098A CN102632377B CN 102632377 B CN102632377 B CN 102632377B CN 201210130098 CN201210130098 CN 201210130098 CN 201210130098 A CN201210130098 A CN 201210130098A CN 102632377 B CN102632377 B CN 102632377B
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Abstract
Aiming at solving the defects of low operation precision and poor efficiency when instrument equipment and goods bags are arranged in an airship in the prior art, the invention provides a five-free-degree rotary trimming mechanism. The five-free-degree rotary trimming mechanism comprises a butt joint support, a rotary support, a screw mechanism, a moving support, a first push rod component, a lifting mechanism, a supporting arm and a second push rod component, wherein the rotary support can rotate around a Y axis by a driving gear, the forward/backward pitching of the butt joint support can be realized by rotating the screw mechanism, the butt joint support can deflect left and right by adjusting one push rod component, and the forward/backward pitching of the butt joint support can be realized by synchronously adjusting the two push rod components. If the push rod components and the screw mechanism are synchronously adjusted, the forward/backward horizontal movement of the butt jointsupport can be realized. The lifting mechanism adopts a lead screw nut structure to drive a lead screw to rotate, and drive the moving support to move up and down. The trimming mechanism disclosed bythe invention is compact in structure, flexible to operate, safe, and reliable, so that the space five-free-degree trimming movement can be realized, and the operation precision and efficiency can beimproved.
Description
Technical field
The present invention relates to a kind of fixing or detent mechanism of workpiece, specifically a kind of fine tuning structure that can in the package of cargo ship and the total process of assembling of instrument and equipment, finely tune.
Background technology
According to the manned space program of China, following China will set up the space station of oneself in space, and will have the spacefarer to garrison in the space station for a long time.Spacefarer's required material supply and instrument and equipment in the space station regularly supplied with by cargo ship, finishes package in the cargo ship and the quick assembling of instrument and equipment in this just needs at the appointed time.
Major part all is operating personnel's carrying and installation when craft's interior installs instruments equipment and package at present, if the instrument load is heavier, when profile is larger, need to be in the cabin and lay out of my cabin and slide guide rail, and with heavily loaded apparatus installation on the dolly with roller, promoting dolly slides at guide rail, after arriving assigned address, install.The shortcoming of this mounting means: the security of operation depends on operating personnel's strength and harmony, and the uncertain factor in the operating process is more, and the accuracy of operation is low, and the while installation time also takies more, and efficient is low.Along with the increase of package and instrument and equipment dimensional weight, the limitation of assembling mode just more highlights.
Summary of the invention
The objective of the invention is to solve low, the inefficient shortcoming of manipulation accuracy that exists when installing instruments equipment and package in the present airship, a kind of five degree of freedom revolution micro-adjusting mechanism is provided.
For achieving the above object, the technical solution used in the present invention is:
A kind of five degree of freedom revolution micro-adjusting mechanism comprises docking support, rotary support, screw mechanism, traversing carriage, the first push-rod assembly, elevating mechanism, support arm and the second push-rod assembly.
The docking mid-stent is provided with annular buttcover plate, and annular buttcover plate is provided with sector gear, is fixed with the pinion that cooperates with sector gear on the rotary support, is fixed with turntable bearing on the annular buttcover plate, and rotary support is connected with the docking support by turntable bearing.
Traversing carriage is arranged at the rotary support inboard, and the two ends of screw mechanism are connected with the rotary support top middle portion with the traversing carriage top middle portion respectively by universal joint.
The first push-rod assembly and the second push-rod assembly are feed screw nut's structure, the first push-rod assembly and the second push-rod assembly are articulated in respectively two ends, rotary support bottom, the housing of the first push-rod assembly is articulated in traversing carriage bottom one end, and the housing of the second push-rod assembly is bolted in the traversing carriage bottom other end.
Support arm is arranged at the traversing carriage inboard, is connected by elevating mechanism between traversing carriage and the support arm, and elevating mechanism adopts screw-nut body, and leading screw is fixed on the support arm, and nut is fixed on the traversing carriage.
In use, at first package or instrument and equipment are installed on the docking support, then five degree of freedom is turned round micro-adjusting mechanism near the installation site, at last by adjusting screw mechanism, rotary support, the first push-rod assembly, the second push-rod assembly, until to be installed in the face of till together with the interface of package or instrument and equipment and cabin body.
Rotary support is realized rotate around Y-axis by driven wheel, and push-rod assembly support deflection that can achieve a butt joint is regulated in can the achieve a butt joint front and back pitching of support of rotating screw mechanism, the support front and back pitching that can achieve a butt joint of two push-rod assemblies of adjusted in concert.If push-rod assembly and screw mechanism adjusted in concert, the horizontal shifting of the support that can achieve a butt joint.Elevating mechanism adopts screw-nut structure, drives the leading screw rotation, drives traversing carriage and moves up and down.Has interlock function between each free degree.
Five degree of freedom of the present invention revolution micro-adjusting mechanism is reasonable in design, compact conformation, flexible operation, safe and reliable, can implementation space five degree of freedom fine setting motion, and applicability and highly versatile have improved performance accuracy and efficient.
Description of drawings
Fig. 1 is the structural representation of five degree of freedom revolution micro-adjusting mechanism of the present invention.
Fig. 2 is the structural representation of docking support.
Fig. 3 is the structural representation of trimming part.
Fig. 4 is the structural representation of screw mechanism.
Fig. 5 is the second push-rod assembly structural representation.
Fig. 6 is the structural representation of traversing carriage.
Fig. 7 is the structural representation of support arm and elevating mechanism.
Fig. 8 is five degree of freedom revolution micro-adjusting mechanism regulated quantity schematic diagram of the present invention.
Fig. 9 is five degree of freedom revolution micro-adjusting mechanism schematic diagram of the present invention.
Among the figure: 1-docks support; The 2-rotary support; The 3-screw mechanism; The 4-traversing carriage; 5-the first push-rod assembly; The 6-elevating mechanism; The 7-support arm; 8-the second push-rod assembly, the 9-turntable bearing, the 10-sector gear, the 11-pinion, the 12-decelerator,
The 301-threaded rod, the 302-screw shell, the 501-housing, the 502-nut, the 503-screw mandrel, the 504-push rod, the 601-leading screw, the 602-nut, the 603-guide rail, the 604-slide block,
The L-moving sets; The R-revolute; The S-spherical pair; The H-Hooke's hinge.
The specific embodiment
Below in conjunction with accompanying drawing technical solutions according to the invention are described further.
As shown in Figure 1, a kind of five degree of freedom revolution micro-adjusting mechanism of the present invention comprises docking support 1, rotary support 2, screw mechanism 3, traversing carriage 4, the first push-rod assembly 5, elevating mechanism 6, support arm 7 and the second push-rod assembly 8,
As shown in Figure 2, docking support 1 middle part is provided with annular buttcover plate, and annular buttcover plate is provided with sector gear 10, is fixed with the pinion 11 that cooperates with sector gear 10 on the rotary support 2, be fixed with turntable bearing 9 on the annular buttcover plate, rotary support 2 is connected with docking support 1 by turntable bearing 9.Docking support 1 mainly is comprised of buttcover plate, directly is connected with package or instrument and equipment, realizes crawl and the installation of package or instrument and equipment, requires docking support 1 satisfying under the condition of strength and stiffness, has lighter quality.Docking support 1 middle part is provided with annular buttcover plate; have circular groove on the annular buttcover plate; circular groove is embedded in turntable bearing 9; circular groove and turntable bearing 9 outer rings are spirally connected with screw; the annular buttcover plate surface angle that is spirally connected is 115 ° sector gear 10; and between sector gear 10 and buttcover plate, adding one deck polyfluortetraethylene plate, the protection buttcover plate improves the engagement width between the gear when preventing from scratching and installing, as shown in Figure 2.The modulus of sector gear 10 is 5, and the number of teeth is 144.
It is fixing that rotary support 2 middle parts are provided with annular fixed head and turntable bearing 9, rotary support 2 be provided with dock support 1 on the pinion 11 of sector gear 10 engagements, the number of teeth of pinion 11 is 19.Pinion 11 is connected with decelerator 12 on being fixed in rotary support 2, and decelerator 12 adopts worm type of reduction gearings, has at an arbitrary position auto-lock function, can prevent effectively that the load effect from causing the rotation of buttcover plate.
Turntable bearing 9 plays transition and connects between docking support 1 and rotary support 2, require to have enough rigidity and intensity, and controls quality in 30kg, and turntable bearing 9 is critical components that revolute function is realized.The outer ring of buttcover plate and turntable bearing 9 is spirally connected, and rotary support 2 is spirally connected with turntable bearing 9 inner rings, is fixed in pinion 11 on the rotary support 2 by driving, and docking support 1 is rotated around Y-axis 0-90 degree.
Traversing carriage 4 is arranged at rotary support 2 inboards, is connected top middle portion with traversing carriage 4 top middle portion respectively by universal joint and is connected in the two ends of screw mechanism 3 with rotary support.Traversing carriage 4 works to support rotary support, trimming part as carrier, and traversing carriage adopts Al pipe butt welding to form.
The first push-rod assembly 5 and the second push-rod assembly 8 are feed screw nut's structure, the first push-rod assembly 5 and the second push-rod assembly 8 are articulated in respectively two ends, rotary support 2 bottom, the housing of the first push-rod assembly 5 is articulated in traversing carriage 4 bottoms one end, the housing of the second push-rod assembly 8 is bolted in the traversing carriage 4 bottom other ends, regulate push-rod assembly support deflection that can achieve a butt joint, the pitching before and after the support that can achieve a butt joint of two push-rod assemblies of adjusted in concert.If push-rod assembly and screw mechanism adjusted in concert, the horizontal shifting of the support that can achieve a butt joint (Fig. 8-a, 8-b, 8-c, 8-d).
The first push-rod assembly 5 and the second push-rod assembly 8 are except the housing contour structures is different, all the other structures are identical, as shown in Figure 5, the primary structure of the first push-rod assembly and the second push-rod assembly has housing 501, nut 502, screw mandrel 503 and push rod 504, nut 502 is embedded in the housing 501 by groove, constraint nut 502 rotates, and nut 502 is spirally connected with push rod 504, and leading screw 503 is converted into moving forward and backward of push rod 504 like this.
Elevating mechanism 6 also comprises guide rail 603 and slide block 604, and guide rail 603 is fixed on (as shown in Figure 6) on the traversing carriage 4, and the slide block 604 that cooperates with guide rail 603 is fixed on the support arm 7.Drive leading screw 601 rotations, drive traversing carriage 4 and move up and down.
Mechanism of the present invention has 5 and drives input port, and each drives input port is manual operation, and at 5 driving input ports encoder can be installed, and can conveniently read exercise data like this, thereby determine the attitude of adjustment.On some joints mechanics sensor can be installed, mechanics sensor is in order to detect the stressing conditions of this mechanism, and whether auxiliary operation makes things convenient for inspected object overweight.
As shown in Figure 9, the present invention adopts the supported at three point mode, and L1, L3, L4, L5, R2 are main the driving, and L1 is passive constraint, and whole mechanism freedom is 1, satisfies the mechanism kinematic condition.Slide block in the moving sets (L1, L2) is fixed on the load end, and guide rail is fixed on the traversing carriage 4.Traversing carriage 4 is spirally connected with moving sets L3, with moving sets L4 hinged (R1), is connected (H1) with moving sets L5 Hooke's hinge.Rotary support 2 is connected (S1, S2) with the screw rod ball pivot of moving sets L3, L4, is connected (H2) with the screw rod Hooke's hinge of moving sets L5.Rotary support 2 with dock support 1 and adopt chain connection (R2).Ball pivot S1, S2, Hooke's hinge H2 support whole rotary support 2.Moving sets (L1, L2) is realized whole mechanism along the movement of Z-direction, and the screw rod of single moving sets L3, L4 moves can realize the side direction rotation, and two screw rods are synchronized with the movement and can realize upset around X-axis.The screw rod of moving sets L5 moves the elevating movement that realizes around X-axis, and three screw rods are synchronized with the movement and realize the movement of Y-axis.Docking support 1 can be realized rotation around Y-axis by hinge R2.The motion of this mechanism is divided into gyration, five degree of freedom fine setting motion, and elevating movement, and independent mutually between each motion, but complement each other.
Claims (3)
1. a five degree of freedom turns round micro-adjusting mechanism, it is characterized in that: comprise docking support (1), rotary support (2), screw mechanism (3), traversing carriage (4), the first push-rod assembly (5), elevating mechanism (6), support arm (7) and the second push-rod assembly (8)
Docking support (1) middle part is provided with annular buttcover plate, the annular buttcover plate is provided with sector gear (10), be fixed with the pinion (11) that cooperates with sector gear (10) on the rotary support (2), be fixed with turntable bearing (9) on the annular buttcover plate, rotary support (2) is connected with docking support (1) by turntable bearing (9)
Traversing carriage (4) is arranged at rotary support (2) inboard, the two ends of screw mechanism (3) are connected 2 with traversing carriage (4) top middle portion with rotary support respectively by universal joint) top middle portion is connected, screw mechanism (3) comprises the threaded rod (301) that two rotation directions are opposite and the screw shell (302) that cooperates with threaded rod
The first push-rod assembly (5) is feed screw nut's structure with the second push-rod assembly (8), the first push-rod assembly (5) and the second push-rod assembly (8) are articulated in respectively two ends, rotary support (2) bottom, the housing of the first push-rod assembly (5) is articulated in traversing carriage (4) bottom one end, the housing of the second push-rod assembly (8) is bolted in traversing carriage (4) the bottom other end
Support arm (7) is arranged at traversing carriage (4) inboard, be connected by elevating mechanism (6) between traversing carriage (4) and the support arm (7), elevating mechanism (6) adopts screw-nut body, leading screw (601) is fixed on the support arm (7), and nut (602) is fixed on the traversing carriage (4).
2. five degree of freedom according to claim 1 turns round micro-adjusting mechanism, it is characterized in that: the primary structure of the first push-rod assembly and the second push-rod assembly has housing (501), nut (502), screw mandrel (503) and push rod (504), nut (502) is embedded in the housing (501) by groove, and nut (502) is spirally connected with push rod (504).
3. described five degree of freedom turns round micro-adjusting mechanism according to claim 1, it is characterized in that: elevating mechanism (6) also comprises guide rail (603) and slide block (604), guide rail (603) is fixed on the traversing carriage (4), and the slide block (604) that cooperates with guide rail (603) is fixed on the support arm (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210130098 CN102632377B (en) | 2012-04-28 | 2012-04-28 | Five-free-degree rotary trimming mechanism |
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| CN 201210130098 CN102632377B (en) | 2012-04-28 | 2012-04-28 | Five-free-degree rotary trimming mechanism |
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| CN102632377B true CN102632377B (en) | 2013-10-23 |
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| CN103176176B (en) * | 2013-03-19 | 2014-10-15 | 沈阳理工大学 | Liftable five-freedom-degree millimeter wave detecting device testing platform |
| CN103204249B (en) * | 2013-03-25 | 2015-06-10 | 大连理工大学 | Multi-shaft posture adjusting platform for airplane engine mounting |
| CN105750860A (en) * | 2016-03-07 | 2016-07-13 | 北京星航机电装备有限公司 | Stent vehicle for mounting solar battery plate |
| CN109304598A (en) * | 2018-11-18 | 2019-02-05 | 大连四达高技术发展有限公司 | Engine multiple degrees of freedom assemble mechanism |
| CN112113781B (en) * | 2020-08-19 | 2022-06-21 | 南京晨光集团有限责任公司 | Large-scale multi-degree-of-freedom pose adjusting device in vacuum low-temperature environment |
| CN113146179B (en) * | 2021-04-20 | 2022-09-20 | 贵州航天天马机电科技有限公司 | Installation method of multi-degree-of-freedom heavy rocket cabin section butt-joint parking device |
| CN114700965B (en) * | 2022-03-29 | 2024-04-12 | 燕山大学 | Multi-degree-of-freedom mixed posture adjustment assembly robot |
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| EP1188668A1 (en) * | 2000-09-18 | 2002-03-20 | Snecma Moteurs | Orientation device and on-board orientation system |
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| CN202539908U (en) * | 2012-04-28 | 2012-11-21 | 中国航天科技集团公司第五研究院第五一八研究所 | Five-freedom-degree rotation fine-adjusting mechanism |
| CN202574633U (en) * | 2012-04-17 | 2012-12-05 | 中国航天科技集团公司第五研究院第五一八研究所 | Large high-precision large-inertia rotating and assembling mechanical arm system |
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2012
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Patent Citations (6)
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| US5904317A (en) * | 1996-12-20 | 1999-05-18 | Trw Inc. | Method for adjusting stiffness and acoustic properties of an externally mountable spacecraft equipment module |
| EP1188668A1 (en) * | 2000-09-18 | 2002-03-20 | Snecma Moteurs | Orientation device and on-board orientation system |
| CN101296777A (en) * | 2005-10-26 | 2008-10-29 | 平田机工株式会社 | Assembly object article/component loading tray and assembling device |
| CN201913453U (en) * | 2010-12-21 | 2011-08-03 | 中国航天科技集团公司第五研究院第五一八研究所 | 6-DOF (degree of freedom) precision installation device for plate-type structures |
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