CN106886227A - A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR - Google Patents
A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR Download PDFInfo
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- CN106886227A CN106886227A CN201611215429.8A CN201611215429A CN106886227A CN 106886227 A CN106886227 A CN 106886227A CN 201611215429 A CN201611215429 A CN 201611215429A CN 106886227 A CN106886227 A CN 106886227A
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- hinge
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The present invention relates to it is a kind of based on 6RRRPRR six degree of freedom high accuracy adjustment alignment system, its mechanical structure by static fixed platform, movable moving platform and 6 linear motion support bar groups into.Every support bar is moved by connection, the rotary gemel of fixed platform and linear actuator are constituted.Rotary gemel structure type is connected with dynamic, fixed platform using biasing universal coupling by flange.Linear actuator part linear motion is realized using ball screw assembly, using this design, the relative rotation between screw mandrel and nut can be utilized to provide the axial rotation free degree, so as to meet the free degree relations of distribution, guiding mechanism need not be set, structure design can be simplified, support bar kinematic accuracy is improved.Realize that the high accuracy of the six degree of freedom of moving platform adjusts positioning by flexible and biasing universal coupling the rotation of six straight support bars.
Description
Technical field
The present invention relates to a kind of alignment system, and in particular to a kind of six degree of freedom high accuracy based on 6RRRPRR adjusts fixed
Position system, the adjustment alignment system can be used to carry out accurate adjustment to optical module pose in the large-scale optics load in space.
Background technology
Optical element accurate adjustment technology is one of key technology of high-quality imaging in large space camera.Due to being subject to
Delivered in emission process condition (such as shock and vibration, overload) and in orbit when environmental condition (such as pressure, temperature, microgravity
Deng) change influence, in space camera optical element pose can occur in various degree skew, cause image quality to decline.In order to
Ensure image quality, it is necessary to be modified to optical element pose variable quantity in space camera.Therefore, design high accuracy, Gao Wen
Qualitatively adjustment mechanism is very necessary.
Stewart types 6 DOF fine-regulation system is because of its high accuracy, without spies such as accumulated error, high rigidity and high bearing capacities
Point, plays an important role during the adjustment of giant optical telescope optical module.Based on Six Degree-of-Freedom Parallel Platform
At home and abroad heavy caliber ground telescope has been widely used adjustment mechanism, and is applied to space large space optics load light
Component pose adjustment mechanism is learned at home and abroad there is not yet report.
Large space optics load optical module pose adjustment mechanism generally has the free degree, stroke, precision and shading-area
Deng performance requirement.For six degree of freedom high accuracy adjustment system, it is applied to the master that the adjustment of optical module pose faces
It is the carrying non-deformability that high-precision fixed capability and ground are debug to want technical difficulty.
The content of the invention
It is an object of the invention to provide a kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR, the adjustment
Alignment system has high-precision attitude adjustment capability, and with high bearing capacity, can be to light in large-scale optics load
Learn element pose variable quantity to be modified, keep the stability of image quality.
To achieve these goals, technical scheme is specific as follows：
A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR, including：Moving platform, fixed platform and six
Support bar；
The moving platform is connected with the fixed platform by six symmetrical support bars；
It is connected through the hinge respectively between the moving platform and the fixed platform and the support bar, each hinge is distributed in
On upper and lower two different circles；Wherein, 6 upper hinge lines constitute a symmetrical hexagon, 6 lower hinge lines also structure
Into a symmetrical hexagon, upper and lower hinge midpoint line is in 120 ° of distributions.
In the above-mentioned technical solutions, each described support bar includes a ball screw assembly, and two universal hinges of biasing respectively
Chain, two biasing universal couplings are connected by ball screw assembly,；Two biasing universal couplings and a ball screw assembly, composition
RRRPRR type side chains, ball screw assembly, is allowed to move axially and circumferentially rotated；
Driving is applied in the axial movement of ball screw assembly, the rotation of cradle head and ball in biasing universal coupling
The rotation of lead screw pair is passive link with movement；Can be realized by six coordinated movements of various economic factors of the motor of the support bar
High-accuracy posture adjustment.
In the above-mentioned technical solutions, each described biasing universal coupling includes：Axle on hinge, hinge lower axle, hinge block and
Angular contact bearing；Angular contact bearing is arranged in hinge block, and axle axis freely revolves with hinge lower axle axis in hinge block around hinge
Turn, axle axis is non-intersect with hinge lower axle axis cross on hinge, axis centre vertical range is amount of bias, its axis bias amount
It is 5mm.
In the above-mentioned technical solutions, the radius of the circle that upper hinge is constituted is 135mm, and the angle between adjacent two hinge is
95°；The radius of the circle that lower hinge is constituted is 175mm, and the angle between adjacent two hinge is 30 °.
In the above-mentioned technical solutions, the straight driven portions of the support bar include：Brake, motor, harmonic speed reducer,
Reducer output shaft set, encoder, angular contact ball bearing, precision ball screw and feed screw nut；
By being placed in after screw at the motor side, the motor output end connects the harmonic reduction to the brake
Device, the precision ball screw is rigidly connected by the reducer output shaft set and the harmonic speed reducer, the angular contact
Ball bearing inner race supports the precision ball screw, the angular contact ball bearing outer ring to be fixed on the joint outer part of supporting leg,
The encoder is directly connected to the precision ball screw, and the precision ball screw is real by rotating with the feed screw nut
Now move along a straight line.
In the above-mentioned technical solutions, the precision ball screw and feed screw nut of the support bar are coupled to rotate with movement
Ball-screw auxiliary structure.
The high accuracy adjustment of the six degree of freedom based on the 6RRRPRR alignment system that the present invention is provided has compared with prior art
Advantages below：
(1) the hinge arrangement form of support bar of the present invention is two ends biasing universal coupling, the driving of intermediate ball lead screw pair
The characteristics of RRRPRR configurations, offset hinge is that universal coupling two axial lines not meet at a bit, but has certain side-play amount, referred to as
RR hinges.Compared with U hinges, RR hinges are easier processing and manufacturing, are not also limited by geometric configuration, and be obtained in that larger
Working space, and using angular contact bearing to hinge radial-axial pretension to reduce gap, the biasing universal coupling can
The function of small―gap suture, low friction, long-life, high rigidity is realized in the case of low-speed motion.
(2) it is then rotation and the mobile ball screw assembly, being coupled that the RP of support bar of the present invention is secondary, and its coupled relation is rolling
The secondary helical pitch of ballscrew, i.e. leading screw often rotate 2 π rad nuts and move a helical pitch.Using this design, can be rolled using accurate
Relative rotation between ballscrew and feed screw nut provides the axial rotation free degree, so as to meet the free degree relations of distribution, it is not necessary to
Guiding mechanism is set, structure design can be simplified, improve transmission accuracy.
(3) precision ball screw of the invention from high accuracy, small lead screw, with angular contact ball bearing adopt by feed screw nut
Gap is eliminated with the mode of double nut pretension, rolling bearing applies appropriate pretightning force and eliminate gap using touch is hinged, to ensure
Structure precision.
(4) DC brushless motor of the invention drives precision ball screw after slowing down through harmonic speed reducer, using 17 absolutely
Formula encoder is done and is fed back, realize precision positioning function.Brake is placed on motor rear end, accordingly even when producing one in braking
Fixed rotation, due to the effect of harmonic speed reducer so that being delivered to the rotation at precision ball screw end also becomes sufficiently small, can be with
Ignore.
Brief description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the six degree of freedom high accuracy adjustment alignment system overall structure diagram based on 6RRRPRR of the invention；
Fig. 2 is the structural representation of support bar of the invention；
Fig. 3 is dynamic, fixed platform biasing universal coupling hinge distribution schematic diagram of the invention；
Fig. 4 is biasing Universal hinge structure schematic diagram of the invention；
Fig. 5 is support bar straight driven portions cut-away view of the invention.
Reference is expressed as in figure：
1- moving platforms；2- fixed platforms；3- support bars；
31- biases universal coupling；32- ball screw assembly,s；
Axle on 311- hinges；312- hinge blocks；313- hinge lower axles；314- angular contact bearings；
321- brakes；322- motors；323- harmonic speed reducers；324- reducer output shaft sets；325- encoders；326-
Angular contact ball bearing；327- precision ball screws；328- feed screw nuts.
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Present embodiment, the six degree of freedom high accuracy adjustment positioning based on 6RRRPRR of the invention are illustrated with reference to Fig. 1 to 5
System includes：Moving platform 1, fixed platform 2 and six support bars 3, moving platform 1, fixed platform 2 are symmetrical by six from top to bottom
Support bar 3 be connected.Specific mounting means is moving platform 1, fixed platform 2 is connected through the hinge respectively with support bar 3, moving platform 1,
Each hinge of fixed platform 2 is distributed on upper and lower two different circles, wherein, 6 upper hinge PiLine constitutes one symmetrical six
Side shape, 6 lower hinge BiLine also constitutes a symmetrical hexagon, and upper and lower hinge midpoint line is in 120 ° of distributions.Fixed platform 2 is
The connection unit of the adjustment alignment system and pedestal；Moving platform 1 is the movement output ends of the adjustment alignment system, with optics
Component is connected, and realizes sextuple precision adjustment motion.
As shown in Fig. 2 a kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR of the invention, each branch
Strut 3 includes a ball screw assembly, 32 and two biasing universal couplings 31, and two biasing universal couplings 31 pass through ball wire
Thick stick secondary 32 is connected.Two biasing universal couplings 31 and a composition RRRPRR type side chain of ball screw assembly, 32, ball screw assembly, 32
Two the coupling free degree, i.e., one axial movement are allowed to be circumferentially rotated with one.The driving of the adjustment alignment system is applied to
In the axial movement of ball screw assembly, 32, the rotation and the rotation of ball screw assembly, 32 of cradle head in biasing universal coupling 31
Passive link is with movement.High-accuracy posture adjustment can be realized by six coordinated movements of various economic factors of the motor of support bar 3.
A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR of the invention, biasing universal coupling 31
Hinge distributing position is as shown in Figure 3.Biasing universal coupling 31 is in the lower surface of moving platform 1 and the connection of the upper surface of fixed platform 2
The hinge distributing position at place as shown in figure 3, moving platform 1, each hinge of fixed platform 2 are distributed on upper and lower two different circles, its
In, 6 upper hinge PiLine constitutes a symmetrical hexagon, 6 lower hinge BiLine also constitutes a symmetrical hexagon, upper,
Lower hinge midpoint line is in 120 ° of distributions.Upper hinge PiThe circle of composition with OP as the center of circle, radius RPBe 135mm, adjacent two hinge it
Between angleIt is 95 °, lower hinge BiThe circle of composition with OB as the center of circle, radius RBIt is 175mm, the angle between adjacent two hingeIt is 30 °.
As shown in figure 4, a kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR of the invention, each is inclined
Putting universal coupling 31 includes：Axle 311, hinge lower axle 313, hinge block 312 and angular contact bearing 314 on hinge.Angular contact bearing
314 are arranged in hinge block 312, and hinge block 312 can be rotated freely with the axis of axle in around hinge 311 with the axis of hinge lower axle 313,
The axis of axle 311 is non-intersect with the axis cross of hinge lower axle 313 on hinge, and axis centre vertical range is amount of bias, and its axis is inclined
The amount of putting is 5mm.
As shown in figure 5, a kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR of the invention, support bar 3
Straight driven portions by brake 321, motor 322, harmonic speed reducer 323, reducer output shaft set 324, encoder 325,
Angular contact ball bearing 326, precision ball screw 327 and feed screw nut 328 are constituted.Brake 321 is by being placed in motor after screw
At 322 ends, the output end of motor 322 connection harmonic speed reducer 323, precision ball screw 327 by reducer output shaft cover 324 and
Harmonic speed reducer 323 is rigidly connected, the inner ring of angular contact ball bearing 326 support precision ball screw 327, angular contact ball bearing 326
Outer ring is fixed on the joint outer part of supporting leg, and encoder 325 is directly connected to the lead screw shaft of precision ball screw 327, reduces
Due to the error that the power down of motor 322 and transmission mechanism backlash cause, transmission accuracy is improved.Precision ball screw 327 and leading screw spiral shell
Female 328, by rotating realization linear motion, instead of the linear motion form of guide rail slide block, can simplify structure design, reduce
Error source, improves precision.
Six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR of the invention, can reduce the overall structure of equipment,
Structure is compact, and floor space is relatively small, further improves the rigidity of system.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to the restriction of implementation method.It is right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change.There is no need and unable to be exhaustive to all of implementation method.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (6)
1. a kind of six degree of freedom high accuracy based on 6RRRPRR adjusts alignment system, it is characterised in that including：Moving platform (1),
Fixed platform (2) and six support bars (3)；
The moving platform (1) is connected with the fixed platform (2) by six symmetrical support bars (3)；The moving platform (1)
It is connected through the hinge respectively and the fixed platform (2) and the support bar (3) between, each hinge is distributed in upper and lower two differences
Circle on；Wherein, 6 upper hinge lines constitute a symmetrical hexagon, and 6 lower hinge lines also constitute symmetrical six side
Shape, upper and lower hinge midpoint line is in 120 ° of distributions.
2. the six degree of freedom high accuracy based on 6RRRPRR according to claim 1 adjusts alignment system, it is characterised in that
Each described support bar (3) includes a ball screw assembly, (32) and two biasings universal coupling (31), two biasings ten thousand respectively
Connected by ball screw assembly, (32) to hinge (31)；Two biasings universal coupling (31) and ball screw assembly, (32) composition
RRRPRR type side chains, ball screw assembly, (32) is allowed to move axially and circumferentially rotated；
Driving is applied in the axial movement of ball screw assembly, (32), bias universal coupling (31) interior cradle head rotation and
The rotation of ball screw assembly, (32) is passive link with movement；By six coordinations of the motor of the support bar (3)
High-accuracy posture adjustment is realized in motion.
3. the six degree of freedom high accuracy based on 6RRRPRR according to claim 2 adjusts alignment system, it is characterised in that
Each described biasing universal coupling (31) includes：Axle (311), hinge lower axle (313), hinge block (312) and angular contact on hinge
Bearing (314)；Angular contact bearing (314) in hinge block (312), in hinge block (312) around hinge axle (311) axis with
Hinge lower axle (313) axis is rotated freely, and axle (311) axis is non-intersect with hinge lower axle (313) axis cross on hinge, axis
Center vertical range is amount of bias, and its axis bias amount is 5mm.
4. the six degree of freedom high accuracy based on 6RRRPRR according to claim 1 adjusts alignment system, it is characterised in that
The radius of the circle that upper hinge is constituted is 135mm, and the angle between adjacent two hinge is 95 °；The radius of the circle that lower hinge is constituted is
175mm, the angle between adjacent two hinge is 30 °.
5. the six degree of freedom high accuracy based on 6RRRPRR according to claim 1 adjusts alignment system, it is characterised in that
The straight driven portions of the support bar (3) include：Brake (321), motor (322), harmonic speed reducer (323), decelerator
Output sleeve (324), encoder (325), angular contact ball bearing (326), precision ball screw (327) and feed screw nut (328)；
By being placed in after screw at the motor (322) end, motor (322) output end connects institute to the brake (321)
Harmonic speed reducer (323) is stated, the precision ball screw (327) is by the reducer output shaft set (324) and the harmonic wave
Decelerator (323) is rigidly connected, and angular contact ball bearing (326) inner ring supports the precision ball screw (327), the angle
Contact ball bearing (326) outer ring is fixed on the joint outer part of supporting leg, the encoder (325) and the precision ball screw
(327) it is directly connected to, the precision ball screw (327) realizes linear motion with the feed screw nut (328) by rotating.
6. the six degree of freedom high accuracy based on 6RRRPRR according to claim 5 adjusts alignment system, it is characterised in that
The precision ball screw (327) and feed screw nut (328) of the support bar (3) are the ball screw assembly, that rotation is coupled with movement
Structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611215429.8A CN106886227A (en) | 2016-12-26 | 2016-12-26 | A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR |
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| CN201611215429.8A CN106886227A (en) | 2016-12-26 | 2016-12-26 | A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN109556517A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | The sufficient locating platform of one kind six end pose real-time measurement system |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN109719701A (en) * | 2017-10-31 | 2019-05-07 | 香港理工大学深圳研究院 | Mechanical arm configuration, numerically-controlled machine tool rest, numerically-controlled machine tool |
| CN110206428A (en) * | 2019-06-05 | 2019-09-06 | 中国科学院长春光学精密机械与物理研究所 | A kind of non-co-planar hinge of shaft and the robot with the hinge |
| CN111168653A (en) * | 2020-01-21 | 2020-05-19 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Parallel pose adjusting device |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN113119092A (en) * | 2019-12-30 | 2021-07-16 | 苏州丰达瑞自动化设备科技有限公司 | High-precision six-degree-of-freedom platform |
| CN113238254A (en) * | 2021-04-12 | 2021-08-10 | 上海卫星工程研究所 | Piezoelectric hydraulic high-precision positioning platform device |
| CN113551881A (en) * | 2021-07-16 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-degree-of-freedom optical component performance testing method |
| CN113864578A (en) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | Screen adjusting device, display device and vehicle |
| CN115097595A (en) * | 2022-06-30 | 2022-09-23 | 中国科学院长春光学精密机械与物理研究所 | Optical load parallel pose adjusting device based on flexible hinge |
| CN116766142A (en) * | 2023-08-23 | 2023-09-19 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
| CN116922360A (en) * | 2023-09-18 | 2023-10-24 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom parallel adjustment platform and macro-micro positioning control method thereof |
| CN116974157A (en) * | 2023-09-22 | 2023-10-31 | 苏州盛拓半导体科技有限公司 | Motion platform with universal double-shaft adjustment |
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| CN109719701A (en) * | 2017-10-31 | 2019-05-07 | 香港理工大学深圳研究院 | Mechanical arm configuration, numerically-controlled machine tool rest, numerically-controlled machine tool |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN109556517A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | The sufficient locating platform of one kind six end pose real-time measurement system |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110206428A (en) * | 2019-06-05 | 2019-09-06 | 中国科学院长春光学精密机械与物理研究所 | A kind of non-co-planar hinge of shaft and the robot with the hinge |
| CN110206428B (en) * | 2019-06-05 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Non-coplanar hinge of pivot and have robot of this hinge |
| CN113119092A (en) * | 2019-12-30 | 2021-07-16 | 苏州丰达瑞自动化设备科技有限公司 | High-precision six-degree-of-freedom platform |
| CN111168653A (en) * | 2020-01-21 | 2020-05-19 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Parallel pose adjusting device |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN112198344B (en) * | 2020-10-19 | 2021-11-19 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN113238254A (en) * | 2021-04-12 | 2021-08-10 | 上海卫星工程研究所 | Piezoelectric hydraulic high-precision positioning platform device |
| CN113551881A (en) * | 2021-07-16 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-degree-of-freedom optical component performance testing method |
| CN113551881B (en) * | 2021-07-16 | 2023-02-10 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-degree-of-freedom optical assembly performance test method |
| CN113864578A (en) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | Screen adjusting device, display device and vehicle |
| CN115097595A (en) * | 2022-06-30 | 2022-09-23 | 中国科学院长春光学精密机械与物理研究所 | Optical load parallel pose adjusting device based on flexible hinge |
| CN115097595B (en) * | 2022-06-30 | 2023-09-05 | 中国科学院长春光学精密机械与物理研究所 | Optical load parallel pose adjusting device based on flexible hinge |
| CN116766142A (en) * | 2023-08-23 | 2023-09-19 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
| CN116766142B (en) * | 2023-08-23 | 2024-02-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
| CN116922360A (en) * | 2023-09-18 | 2023-10-24 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom parallel adjustment platform and macro-micro positioning control method thereof |
| CN116922360B (en) * | 2023-09-18 | 2023-11-28 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom parallel adjustment platform and macro-micro positioning control method thereof |
| CN116974157A (en) * | 2023-09-22 | 2023-10-31 | 苏州盛拓半导体科技有限公司 | Motion platform with universal double-shaft adjustment |
| CN116974157B (en) * | 2023-09-22 | 2023-11-28 | 苏州盛拓半导体科技有限公司 | Motion platform with universal double-shaft adjustment |
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