CN107052782A - A kind of assembly method of Three-degree-of-freedom motion platform - Google Patents
A kind of assembly method of Three-degree-of-freedom motion platform Download PDFInfo
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- CN107052782A CN107052782A CN201611074876.6A CN201611074876A CN107052782A CN 107052782 A CN107052782 A CN 107052782A CN 201611074876 A CN201611074876 A CN 201611074876A CN 107052782 A CN107052782 A CN 107052782A
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- electric jar
- motion platform
- articulated device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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Abstract
The assembly method of Three-degree-of-freedom motion platform disclosed in the invention; fixed platform (1) is installed including order; fixed universal articulated device (4) is installed; servo electric jar is installed; install and move universal articulated device (11); control cabinet (18) is installed; rotation-preventing mechanism is installed; connection cable is installed; cable protection lid (3) is installed; adjustment servo electric jar reaches initialization length, the step of installing motion platform (12) and connection rotation-preventing mechanism；Control cabinet can be carried out before and after servo electric jar and dynamic universal articulated device (9) or fixed universal articulated device (4) assembling, even carried out after rotation-preventing mechanism (11) installation steps, the step of installing rotation-preventing mechanism should perform prior to installing before motion platform step；Realize that Three-degree-of-freedom motion platform assembles the uniformity and accuracy of result by the guarantee of each step key point.
Description
Technical field
The present invention relates to the guarantee of the assembly technology of plant equipment, and in particular to a kind of assembling side of Three-degree-of-freedom motion platform
Method.
Background technology
Three-degree-of-freedom motion platform be one kind in certain space run, realize three degree of freedom in space (Z axis translate and
X, Y-axis rotation) motion electromechanical integration equipment；Servo electric jar between motion platform, fixed platform, two platforms,
Rotation-preventing mechanism and control system composition, by main operation controller motion control arithmetic, control stretching for each servo electric jar
Contracting length and stretching speed and acceleration, realize the motion of motion platform three degree of freedom in space, so as to realize
On motion platform fixture lift, overturn in space, inclined athletic posture conversion process.
Three-degree-of-freedom motion platform stability in use and precision have much relations with assembling process.If dress
Sequence ligand is improper, may increase assembly difficulty, or can not be assembled, even if completing assembling, ultimately causes whole equipment
Stability and accuracy decline.
The content of the invention
This method is to provide a kind of assembly method, it is ensured that the uniformity of Three-degree-of-freedom motion platform assembling result and accurate
Degree.
The invention is achieved through the following technical solutions：
The assembly method of the Three-degree-of-freedom motion platform of the invention, comprises the following steps：
The 1st, fixed platform is installed, hangs the sling point of fixed platform simultaneously using hanging device, aligns the spiral shell of fixed platform
Fixing bolt on keyhole and smooth rear installation base surface, using fastener by installation base surface where fixing bolt and fixed platform bottom
Face, which is close together, provides stable immobilizing foundation for fixed platform；
The 2nd, fixed universal articulated device is installed, the fixing end of surely universal articulated device is placed on to the fixed universal articulated device of fixed platform
On support base, to fixing end fixing hole and the screwed hole on fixed universal articulated device support base of the universal articulated device of positive definite, using tight
Firmware is uniformly compressed；
The 3rd, servo electric jar is installed, hangs the two ends of servo electric jar, aligns the screw thread at the decelerator end of servo electric jar
The fixing hole of the movable end of the universal articulated devices of Kong Yuding, is uniformly compressed using fastener；
4th, install and move universal articulated device, the guide rod screwed hole of stud and servo electric jar to the universal articulated device of positive drive, spiral shell
Post is completely screwed into after guide rod screwed hole, is reversely screwed out 45-90 ° to move universal articulated device relative motion and is reserved certain space；
The 5th, control cabinet is installed, by one side of the control cabinet without fixed ear just to the anti-pivoted frame opening in fixed platform centre position simultaneously
Slowly steadily it is pushed into anti-pivoted frame, until the fixation ear of control cabinet is close to the support post of anti-pivoted frame；Fastened using fastener
The fixation ear of control cabinet limits the position of control cabinet with anti-pivoted frame；
The 6th, rotation-preventing mechanism is installed, one end of the unassembled universal articulated device of rotation-preventing mechanism is faced to the anti-rotation of anti-rotation top of the trellis
Fixed disk, adjustment rotation-preventing mechanism makes its three lever arms be respectively facing the centre position of two adjacent servo electric jars, aligns
The fixing hole of rotation-preventing mechanism and the screwed hole of anti-rotation fixed disk, fastening is uniformly compressed using fastener makes rotation-preventing mechanism and anti-pivoted frame
Connection；
The 7th, connection cable is installed, servo electric jar is connected plug with the servomotor on control cabinet and is corresponding in turn to numbering,
Connection cable two ends connect the servomotor connection plug on the servo electric jar and control cabinet of reference numeral, locking connection respectively
Plug；Numbering needs the station number of Corresponding matching servo-driver in control cabinet；
The 8th, cable protection lid is installed, by cable protection cover gab facing to fixed platform, around the splicing of fixed platform edge
Into a circle, the connection cable of each servo electric jar is from nearest line outlet outlet, and remaining is arranged in cable protection lid；Use
Fastener connection cable protection cap and fixed platform；
9th, adjustment servo electric jar reaches initialization length, is powered to control cabinet, starts control system, each is measured respectively
The guide rod extension elongation of servo electric jar, records each servo electric jar and reaches the coding that initialization length uses servomotor
Device readings, is written in control system, is used as basic parameter；
The 10th, motion platform is installed, the sling point of motion platform is hung simultaneously using hanging device, motion platform is aligned and solid
Move universal articulated device support base on fixed platform, motion platform to contact with moving universal articulated device, the fixation to the universal articulated device of positive drive
Hole uniformly compresses connection using fastener with moving the screwed hole on universal articulated device support base on motion platform；
11st, rotation-preventing mechanism is connected, the lever arm of rotation-preventing mechanism is lifted and touches the anti-rotation on motion platform bottom surface and consolidates
Reservation, adjustment motion platform Shi Qi centers are on fixed platform central point vertical line；Universal articulated device makes on adjustment rotation-preventing mechanism
Its fixing hole is aligned with the fixing hole in anti-rotation fixed seat, is fastened using fastener, connection rotation-preventing mechanism and motion platform.
Preferably to implement the invention, fasten before universal articulated device, the pouring orifice of surely universal articulated device need to be adjusted
Relative to fixed platform outwardly facing upper.
Preferably to implement the invention, during lifting servo electric jar, servo-electric cylinder surfaces need to be protected；And fastening
The connection plug of preceding servo electric jar should be relative to fixed platform forward direction outwardly.
Preferably to implement the invention, fastening is moved before universal articulated device, need to adjust the pouring orifice of dynamic universal articulated device
Relative to fixed platform outwardly.
Preferably to implement the invention, motion platform center is on fixed platform central point vertical line, angular error
No more than ± 0.5 °, site error is no more than ± 2mm.
Preferably to implement the invention, the cable protection lid uses metal material.
Preferably to implement the invention, the initialization length of the servo electric jar refers to put down in three-degree-of-freedom motion
After platform starts, the length to be reached when servo electric jar initialization is completed；After the completion of being initialized with Three-degree-of-freedom motion platform, fortune
Each free degree range of movement of moving platform is reached on the basis of maximum.
Further, when needs use three degree of freedom simultaneously, the initialization length adjustment of described servo electric jar is arrived
Servo electric jar stroke mid-point position；When the free degree for needing to use up and down motion, the initialization of described servo electric jar
Length adjustment is to the most long or most short position of servo electric jar stroke；When needing the free degree of banking motion, described servo is electric
The initialization length adjustment of dynamic cylinder is to making the inclined servo electric jar travel position of motion platform.
Preferably to implement to hold after the completion of the invention, the either step that step 5 can be between step 1 and step 6
OK.
Preferably to implement the invention, step 6 is not limited only to perform after step 5, to ensure sufficient operation
Space, is performed prior to step 10.
The invention passes through above-mentioned technical proposal, it is ensured that Three-degree-of-freedom motion platform assembles the uniformity and essence of result
Exactness.
Brief description of the drawings
Fig. 1 is the assembling schematic diagram of the invention Three-degree-of-freedom motion platform；
Fig. 2 is the schematic diagram of the init state one of the invention Three-degree-of-freedom motion platform；
Fig. 3 is the schematic diagram of the init state two of the invention Three-degree-of-freedom motion platform；
Embodiment
With reference to the invention preferred embodiment and accompanying drawing 1-3, the invention is further illustrated.
The assembly method of the Three-degree-of-freedom motion platform of this preferred embodiment, comprises the following steps：
The step of installing fixed platform 1, three hangings of the fixed platform 1 in 120 ° of distributions are hung using hanging device simultaneously
Point 26, so that the uniform force of each sling point 26 of fixed platform 1, reduces the influence that hoisting process is deformed to fixed platform；Then
Fixed platform 1 is moved to fixing bolt on the smooth rear installation base surface for installing fixed platform 1 just to direction, adjustment is fixed flat
The posture of platform 1, makes the fixed bolt hole of fixed platform 1 and fixing bolt just right, and then slow mobile fixed platform 1, makes fixation
Bolt passes through all fixed bolt holes of fixed platform 1, and finally fixed platform is uniformly compressed with bolt using nut and is connected one
Rise, fixed platform 1 is close together with installation base surface where fixing bolt.Due to the operation in Three-degree-of-freedom motion platform
Cheng Zhong, the different parts stress size and Orientation of fixed platform 1 is not uniform equivalent, it is necessary to the branch support group of fixed platform 1
Plinth is that installation base surface provides stable immobilizing foundation for fixed platform where fixing bolt, and whole three can be reduced by being close together
The deformation of free degree motion platform fixed platform 1 in use, reduction is because fixed platform 1 deformation of itself is to whole three
The influence of accuracy when free degree motion platform works, improves the accuracy of whole Three-degree-of-freedom motion platform motion.
The step of installing fixed universal articulated device 4, the direction of the fixed universal articulated device 4 of adjustment and angle, make its pouring orifice relative
In fixed platform 1 outwardly facing upper, filling lubricant operation is carried out in use to facilitate, and reduction used middle attendant
Operation difficulty, improve used in maintenance efficiency；Surely universal articulated device 4 is placed on to the fixed universal articulated of fixed platform 1
On device support base 2, make each screwed hole of the fixing hole and fixed universal articulated device support base 2 of surely universal articulated device 4 just right, then
The fixing hole of fixed universal articulated device 4 is passed through to be screwed into the screwed hole of surely universal articulated device support base 2 with bolt, uniform compress makes
Fixed universal articulated device 4 is connected with fixed platform 1；The fixed universal articulated device of others is connected by method with 4 fixed platforms 1 according to this
Together.
The step of installing servo electric jar (15,6,13), servo electric jar (15,6,13) is sling using suspender belt, during
It should protect, to prevent plowing from the surface of servo electric jar (15,6,13)；Hang the two of servo electric jar (15,6,13) simultaneously
End, makes it not fall off and tilt during handling；The angle of servo electric jar (15,6,13) is adjusted, makes servo electric jar
The connection plug of (15,6,13) is positive relative to fixed platform 1 outwardly, to facilitate the installation grafting of connection cable, while being also
Good operation basis is left using the maintenance and maintenance of process；By the screwed hole at servo electric jar (15,6,13) decelerator end
Align, screwed in after passing through the fixed universal movable end fixing hole of articulated device 4 using bolt with the fixing hole of the surely universal movable end of articulated device 4
In the screwed hole at servo electric jar (15,6,13) decelerator end, after whole bolt installations, uniformly being compressed using instrument makes to watch
Electric cylinder (15,6,13) is taken to link together with fixed universal articulated device 4.
Install move universal articulated device 9 the step of, by move universal articulated device 9 stud 8 face servo electric jar (15,6,
13) the screwed hole of guide rod 7, the stud 8 for moving universal articulated device 9 screws in the screwed hole of guide rod 7 of servo electric jar (15,6,13), directly
To stud 8 completely into screwed hole, 45-90 ° is then reversely screwed out again, and make the pouring orifice of universal articulated device 9 relative to solid
Fixed platform 1 outwardly, carries out filling lubricant operation to facilitate, reduces and used the operation of middle attendant difficult in use
Degree, improves the maintenance efficiency in using；Certain angle is reversely screwed out, is on the one hand assembled for ensuing motion platform 10
When, move universal articulated device 9 and reserve certain adjustment space, on the other hand during the use of Three-degree-of-freedom motion platform, one
A little spatial movement actions can cause dynamic universal articulated device 9 to occur relative motion with servo electric jar (15,6,13), and this is reversely screwed out
Certain angle also reserve certain space for this relative motion, the anti-universal articulated device 9 of stop and servo electric jar (15,6,13)
It is locked because of relative motion in use, cause equipment fault or accuracy to decline.
The step of installing control cabinet 21, one side of the control cabinet 21 without fixed ear is just prevented the centre position of fixed platform 1
Pivoted frame 28 is open, and then control cabinet 21 is slowly and steadily pushed into anti-pivoted frame 28, until the fixation ear 20 of control cabinet 21 is with preventing
The support post of pivoted frame 28 is mutually close to, and the fixing hole 19 fixed through control cabinet 21 on ear 20 is then followed closely using self-tapping screw, will
Control cabinet 21 is fixed together with anti-pivoted frame 28, limits the position of control cabinet 21, prevents the use in Three-degree-of-freedom motion platform
During accidentally slip out, damage the cable of its connection, normal the using of influence Three-degree-of-freedom motion platform.
The step of installing rotation-preventing mechanism 11, anti-pivoted frame is faced by one end of the unassembled universal articulated device 12 of rotation-preventing mechanism 11
The anti-rotation fixed disk 17 at 28 tops, adjusts the angle of rotation-preventing mechanism 11, three lever arms of rotation-preventing mechanism 11 is respectively facing phase
The centre position of two adjacent servo electric jars, during in the position, three cursors 14 and servo electric jar of rotation-preventing mechanism
(15,6,13) form complementary on mechanics and kinematics, have given full play to the performance of rotation-preventing mechanism 11, anti-rotation best results；Together
When the fixing hole of rotation-preventing mechanism 11 is aligned screwed hole on anti-rotation fixed disk 17, the fixation of rotation-preventing mechanism 11 is passed through using bolt
Hole is screwed in the screwed hole of anti-rotation fixed disk 17, and after whole bolt installations, uniformly being compressed using instrument makes rotation-preventing mechanism 11
Linked together with anti-pivoted frame 28.
The step of installing connection cable, by the servo electric jar (15,6,13) of the nearly position of 21 attaching plug of control cabinet 22
Numbering is 1 (marked as 15), from the end of guide rod 7 of servo electric jar (15,6,13) to decelerator end in terms of, turn to counterclockwise by servo
It is that servomotor on 2 (marked as 6), 3 (marked as 13), same control cabinet (21) connects that electric cylinder (15,6,13) is numbered respectively
Connecing cable plug (23,24,25), also regular number consecutively is 1 (marked as 23), 2 (marked as 24), 3 (marked as 25) according to this；
According to connection cable that is incremented by successively or successively decreasing is numbered, the servo electric jar (15,6,13) of two ends connection reference numeral is with controlling
Corresponding servomotor connection cable plug 5 on case 21, then using retaining mechanism locking cable plug, to prevent from using
Connection cable comes off in journey；When cable plug on servo electric jar (15,6,13) and control cabinet 21 numbers (23,24,25),
The station number with servo-driver in control cabinet 21 is needed to match；I.e. no matter three whose numbering change, two other is required to
Correspondence changes, during the use that could ensure whole Three-degree-of-freedom motion platform, and actual athletic performance and instruction motion is dynamic
Work is consistent, and position, posture and exercise performance reach the expection situation that instruction is required.In real work, servo-drive in principle
The station number of device first determines, therefore it may only be necessary to Corresponding matching other both.Servo electric jar (15,6,13) and control cabinet
Corresponding servomotor connection cable plug (23,24,25) matching is to ensure that whole Three-degree-of-freedom motion platform is normally transported on 21
Dynamic important assembly node, on the other hand, different batches and different size equipment can be improved using unified and matching numbering
Uniformity, maintenance and maintenance during convenient use improve maintenance and maintenance efficiency, reduction maintenance and maintenance cost.
The step of installing cable protection lid 3, by the opening surface of cable protection lid 3 towards fixed platform 1, around fixed platform 1
Edge is spliced into a circle, while make the connection cable of each servo electric jar (15,6,13) from nearest line outlet outlet, remaining
Connection cable is arranged in cable protection lid 3；Then cable protection lid 3 is connected to fixed platform 1 using self-tapping screw nail
Together；Each connection cable can be protected using the one side of cable protection lid 3, not protect connection cable in use not
Damaged by applied external force；On the other hand, using the cable protection lid 3 of metal material, signal shielding protection can be played
Effect, prevent connection cable transmit signal disturbed by external signal interference signal source, be also prevented from three-degree-of-freedom motion put down
In use, the signal of connection cable transmission interferes with the facility beyond Three-degree-of-freedom motion platform to platform；Secondly, cable is protected
The connection cable limited location effect that protecting cover 3 is also walked to its inside, prevents it from arbitrarily being moved；Using suitable spraying face
After the parts of color and other Three-degree-of-freedom motion platforms are arranged in pairs or groups, also decorative appearance is acted on, and is visually seemed more beautiful
See.
With reference to Fig. 2, Fig. 3, the step of adjustment servo electric jar (15,6,13) reaches initialization length supplies to control cabinet 21
Electricity, starts control system, the guide rod extension elongation of each servo electric jar (15,6,13) is measured respectively, controls each servo electricity
Dynamic cylinder (15,6,13) reaches initialization length, records the volume that now each servo electric jar (15,6,13) uses servomotor
Code device readings, is then written in control system, the basic parameter being controlled as control system.Described servo electric jar
Initialization length that (15,6,13) reach refers to by calculating, simulating or be empirically derived, in Three-degree-of-freedom motion platform
During use, after reaching that optimal use effect, Three-degree-of-freedom motion platform start, the length to be reached when initialization is completed
Degree；To reach more preferably using effect, user can adjust initialization length, and the foundation of adjustment is in Three-degree-of-freedom motion platform
After the completion of initialization, each free degree range of movement of Three-degree-of-freedom motion platform is up to maximum, and being reached with this can reach most
Good using effect：Than if desired for simultaneously use three degree of freedom, it is necessary to will initialization length adjustment to servo electric jar (15,
6th, stroke mid-point position 13)；The free degree of up and down motion is needed to use for another example, then needs to arrive initialization length adjustment
Servo electric jar (15,6,13) most long or most short position of stroke；The free degree of banking motion is needed to use for another example, then is needed
Initialization length adjustment is made into the inclined servo electric jar of motion platform 10 (15,6,13) travel position.
The step of installing motion platform 10, the sling point of motion platform is hung using hanging device simultaneously, so that motion is flat
Each sling point uniform force of platform, reduces the influence that hoisting process is deformed to motion platform；Translational motion platform 10 is put down to fixed
Platform 1 just to direction, then move to move universal articulated device 9 contact, adjustment move universal articulated device 9 pivot angle angle and the anglec of rotation
Degree, makes the fixing hole of universal articulated device 9 just right with moving the screwed hole on universal articulated device support base 29 on motion platform 10, makes
The fixing hole for moving universal articulated device 9 is passed through to be screwed into the screwed hole of dynamic universal articulated device support base 29 with bolt, then uniformly
Compression makes universal articulated device 9 be connected with motion platform 10；Others are moved universal articulated device 9 and put down with motion by method according to this
Platform 10 is connected.
Rotation-preventing mechanism 11 is connected, the lever arm 14 of rotation-preventing mechanism 11 is lifted and touches preventing on the bottom surface of motion platform 10
Turn fixed seat 30, adjust position and the angle of motion platform 10, make motion platform center 10 in the central point vertical line of fixed platform 1
On, straight line error is no more than ± 2mm, and angular error is no more than ± 0.5 °；If rigging error is excessive, motion platform 10 can be caused
Position precision decline, or even do not reach the accuracy of use requirement；Adjust the angle of universal articulated device 12 on rotation-preventing mechanism 11
Degree, makes the fixing hole pair of the fixing hole and universal articulated device 12 on rotation-preventing mechanism 11 in the anti-rotation fixed seat 30 on motion platform 10
Just, passed through using bolt in the anti-rotation fixed seat 30 on rotation-preventing mechanism 11 on the fixing hole and motion platform 10 of universal articulated 12
Nut is loaded onto after fixing hole, after whole screw bolt and nut installations, uniformly being compressed using instrument makes rotation-preventing mechanism 11 and motion
Platform 10 links together.
The assemble sequence of above preferred embodiment is A orders, wherein, during as another embodiment, adjust servo electric jar
The step of the step of (15,6,13) reach initialization length is with installing motion platform 10 can exchange, and with respect to A orders, first carry out
The step of installing motion platform performs the step of adjustment servo electric jar (15,6,13) reaches initialization length again, is assembling
Into after motion platform 10, motion platform 10 from gravity can by move universal articulated device 9 be applied to servo electric jar (15,6,13)
Guide rod on, then perform adjustment servo electric jar (15,6,13) reach initialization length the step of corresponding operation when may
Cause the uncontrollable collapsing length change of servo electric jar (15,6,13), increase potential safety hazard, be unfavorable for the life in assembling process
Production safety.
Servo electric jar (15,6,13) step is installed and moves the universal step interchangeable of articulated device 9 with installing, or servo electricity is installed
Dynamic cylinder (15,6,13) step and the fixed universal step interchangeable of articulated device 4 of installation, with respect to A orders, servo electric jar (15,6,13)
Do not assemble individually, now the combiner includes the weight of dynamic universal articulated device 9 or fixed universal articulated device 4, can increase
Difficulty during assembling, reduces efficiency of assembling.
It is sequencing that control cabinet step, which is installed, with installing connection cable step, but is not order immediately, installs control
Performed after the completion of the either step that case step can be between step 1 and step 6, i.e., control cabinet 21 can be in servo electric jar
(15,6,13) and dynamic universal articulated device 9 or fixed universal articulated device 4 assemble front and rear progress, or even after rotation-preventing mechanism installation steps
Carry out, without producing materially affect to whole assembling effect.Meanwhile, rotation-preventing mechanism 11 is installed and is not limited only to that control cabinet is being installed
Performed after step, but installation personnel has the operating space of abundance during for ease of installing rotation-preventing mechanism 11, installs rotation-preventing mechanism 11
The step of should prior to install motion platform step before perform, and will not to assembling effect produce materially affect.
Claims (10)
1. a kind of assembly method of Three-degree-of-freedom motion platform, it is characterized in that：Comprise the following steps：
1) fixed platform (1), is installed, the sling point (26) of fixed platform is hung simultaneously using hanging device, aligns fixed platform
Bolt hole (27) and smooth rear installation base surface on fixing bolt, using fastener by installation base surface where fixing bolt with it is solid
Fixed platform (1) bottom surface, which is close together, provides stable immobilizing foundation for fixed platform (1)；
2) fixed universal articulated device (4), is installed, the fixing end of surely universal articulated device (5) is placed on the fixed universal of fixed platform (1)
On articulated device support base (2), the fixing end fixing hole of articulated device (4) universal to positive definite is with determining on universal articulated device support base (2)
Screwed hole, uniformly compressed using fastener；
3) servo electric jar (15,6,13), is installed, the two ends of servo electric jar is hung, aligns the decelerator end of servo electric jar
Screwed hole and the movable end of fixed universal articulated device (4) fixing hole, uniformly compressed using fastener；
4), install and move universal articulated device (9), the stud (8) of articulated device (9) universal to positive drive and the guide rod (7) of servo electric jar
Screwed hole, stud is completely screwed into after guide rod (7) screwed hole, reversely screws out 45-90 ° to move universal articulated device relative motion reserved one
Fixed space；
5) control cabinet (21), is installed, the anti-pivoted frame by one side of the control cabinet (21) without fixed ear just to fixed platform centre position
(28) opening is simultaneously slow is steadily pushed into anti-pivoted frame (28), until the support of the fixation ear (20) of control cabinet and anti-pivoted frame (28) is vertical
Post is close to；The fixation ear (20) of control cabinet is fastened using fastener and anti-pivoted frame (28) limits the position of control cabinet；
6) rotation-preventing mechanism (11), is installed, one end (17) of the unassembled universal articulated device of rotation-preventing mechanism (11) is faced into anti-pivoted frame
(28) the anti-rotation fixed disk (17) at the top of, adjustment rotation-preventing mechanism (11) makes its three lever arms (14) be respectively facing adjacent two
The centre position of servo electric jar (15,6,13), aligns the fixing hole of rotation-preventing mechanism (11) and the screw thread of anti-rotation fixed disk (17)
Hole, fastening is uniformly compressed using fastener makes rotation-preventing mechanism (11) be connected with anti-pivoted frame (28)；
7), install connection cable, by servo electric jar (15,6,13) be connected with the servomotor on control cabinet (21) plug (23,
24th, numbering 25) is corresponding in turn to, connection cable two ends connect the servo electric jar (15,6,13) and control cabinet of reference numeral respectively
On servomotor connection plug (23,24,25), locking connection plug；Numbering needs Corresponding matching servo-drive in control cabinet
The station number of device；
8) cable protection lid (3), is installed, by cable protection cover gab facing to fixed platform (1), spelled around fixed platform edge
A circle is connected into, the connection cable of each servo electric jar (15,6,13) is from nearest line outlet outlet, and remaining is arranged at cable guarantor
In protecting cover；Use fastener connection cable protection cap (3) and fixed platform (1)；
9), adjustment servo electric jar (15,6,13) reaches initialization length, is powered to control cabinet (21), starts control system, point
Guide rod (7) extension elongation of each servo electric jar (15,6,13) is not measured, is recorded each servo electric jar (15,6,13) and is arrived
The encoder readings of servomotor is used up to initialization length, is written in control system, is used as basic parameter；
10) motion platform (10), is installed, the sling point of motion platform (10) is hung simultaneously using hanging device, it is flat to positive motion
Universal articulated device support base (29) is moved on platform (10) and fixed platform (1), motion platform (10) to connect with moving universal articulated device (9)
Touch, the fixing hole of articulated device (9) universal to positive drive is with moving the screw thread on universal articulated device support base (29) on motion platform (10)
Hole, connection is uniformly compressed using fastener；
11), connection rotation-preventing mechanism (11), the lever arm (14) of rotation-preventing mechanism is lifted and touched on motion platform (10) bottom surface
Anti-rotation fixed seat (30), adjustment motion platform (10) Shi Qi centers on fixed platform central point vertical line；The anti-favourable turn of adjustment
Universal articulated device (12) makes its fixing hole be aligned with the fixing hole in anti-rotation fixed seat (30) on structure (11), tight using fastener
Gu, connection rotation-preventing mechanism (11) and motion platform (10).
2. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：Fasten universal articulated device
(4) before, the pouring orifice (18) of surely universal articulated device (4) need to be adjusted relative to fixed platform (1) outwardly facing upper.
3. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：Lift by crane servo electric jar
When (15,6,13), servo electric jar (15,6,13) surface need to be protected；And the wiring of the preceding servo electric jar (15,6,13) of fastening
Plug (5) should be relative to fixed platform (1) forward direction outwardly.
4. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：Universal articulated device is moved in fastening
(9) before, the pouring orifice of dynamic universal articulated device (9) need to be adjusted relative to fixed platform (1) outwardly.
5. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：Motion platform (10) center
On fixed platform (1) central point vertical line, angular error is no more than ± 0.5 °, and site error is no more than ± 2mm.
6. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：The cable protection lid
(3) metal material is used.
7. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：The servo electric jar
The initialization length of (15,6,13) refers to that after Three-degree-of-freedom motion platform starts servo electric jar (15,6,13) has been initialized
Into when the length to be reached；After the completion of being initialized with Three-degree-of-freedom motion platform, each free degree motion model of motion platform (10)
Enclose up on the basis of maximum.
8. the assembly method of Three-degree-of-freedom motion platform according to claim 7, it is characterized in that：When needs use three simultaneously
The individual free degree, the initialization length adjustment of described servo electric jar (15,6,13) is into servo electric jar (15,6,13) stroke
Between put position；When the free degree for needing to use up and down motion, the initialization length adjustment of described servo electric jar (15,6,13)
To servo electric jar (15,6,13) the most long or most short position of stroke；When needing the free degree of banking motion, described servo is electric
The initialization length adjustment of dynamic cylinder (15,6,13) is to making motion platform (10) inclined servo electric jar (15,6,13) stroke
Put.
9. the assembly method of Three-degree-of-freedom motion platform according to claim 1, it is characterized in that：Step 5 can be in step 1
With being performed after the completion of the either step between step 6.
10. the assembly method of the Three-degree-of-freedom motion platform according to claim 1 or 9, it is characterized in that：Step 6 is not only limited
In performing after step 5, to ensure sufficient operating space, performed prior to step 10.
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