CN107965645A - A kind of six degree of freedom series connection platform - Google Patents
A kind of six degree of freedom series connection platform Download PDFInfo
- Publication number
- CN107965645A CN107965645A CN201711153857.7A CN201711153857A CN107965645A CN 107965645 A CN107965645 A CN 107965645A CN 201711153857 A CN201711153857 A CN 201711153857A CN 107965645 A CN107965645 A CN 107965645A
- Authority
- CN
- China
- Prior art keywords
- degree
- freedom
- series connection
- axis
- platform according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007704 transition Effects 0.000 claims abstract description 30
- 230000008878 coupling Effects 0.000 claims abstract description 24
- 238000010168 coupling process Methods 0.000 claims abstract description 24
- 238000005859 coupling reaction Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 241000237858 Gastropoda Species 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000012085 test solution Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of large-scale six degree of freedom series connection platform, which is made of Three Degree Of Freedom linear platform and Three Degree Of Freedom rotating platform.Three Degree Of Freedom linear platform is installed successively by base, X transition seats, Y transition seats.Support is used as by secondary be installed on each transition seat of guide rail slide block, taper roll bearing and deep groove ball bearing fix ball-screw, ball-screw drives the movement of Three Degree Of Freedom linear platform as transmission, servomotor, retarder, shaft coupling connection ball-screw as driving.Three Degree Of Freedom rotating platform is made of workbench, inner axis, turntable bearing, middle frame, center axis, outer framework, outline border axis, ear mount, Z transition seats, counterweight, angular contact ball bearing, angular encoder, corner locating device, worm couple, shaft coupling, retarder, servomotor.Three Degree Of Freedom rotating platform is installed on Z transition seats, is formed six degree of freedom series connection platform with Three Degree Of Freedom linear platform, is connected by cable with electric-control system.
Description
Technical field
The present invention is a kind of six degree of freedom series connection platform, belongs to technical field of measurement and test, can carry the negative of more than 200kg
Carry, while the tilting moment of more than 1000Nm can be born, while there is very high positioning accuracy.
Background technology
With the fast development of modern weapons equipment technology, inertial navigation test is widely used in navigating with motion simulation equipment
Every field and each stage during sky, space flight, naval technology and weapons SoS.Wherein six degree of freedom platform is extensive
Apply in digit ctrol machine tool field, robot, medical instrument and large-scale production line on ground.More complicated experimental enviroment demand with it is more
The production and processing of dimension, greatly accelerates the development of six degree of freedom platform.For heavy load, big tilting moment can be born, together
When the six degree of freedom platform with very high position precision it is also more urgent.
The content of the invention
The present invention is exactly to design for above-mentioned prior art requirement and provide a kind of six degree of freedom series connection platform, its purpose
The purpose for being is to propose that one kind can simulate actual application environment, has that easy to operate, composite type is more, and can be born negative greatly
Carry, big tilting moment, and the six degree of freedom series connection platform that precision is high.
The purpose of the present invention is what is be achieved through the following technical solutions：
1st, a kind of six degree of freedom series connection platform, including electric-control system and mechanical system two parts, it is characterised in that：Machinery system
System includes Three Degree Of Freedom linear platform (1) and Three Degree Of Freedom rotating platform (2), the Three Degree Of Freedom linear platform (1) including according to
Base (11), X transition seats (12), the Y transition seats (13) of secondary installation, are installed on each transition seat by guide rail slide block secondary (14)
As support, taper roll bearing (15) and the fixed ball-screw (17) of deep groove ball bearing (16), ball-screw (17) is as biography
Dynamic, servomotor (20), retarder (21), shaft coupling (22) connection ball-screw (17) drive Three Degree Of Freedom straight as driving
Line platform (1) moves, and feedback device of the grating scale (18) as Three Degree Of Freedom linear platform (1), three degree of freedom is mounted on
Straight line limiting device (19)；
The Three Degree Of Freedom rotating platform (2) includes workbench (31), inner axis (32), turntable bearing (33), middle frame
(34), center axis (35), outer framework (36), outline border axis (37), ear mount (38), Z transition seats (39), counterweight (40), angular contact ball
Bearing (41), angular encoder (42), corner locating device (43), worm couple (44), shaft coupling (45), retarder
(46), servomotor (47), workbench (31) are installed on inner axis (32), and inner axis (32) is installed on turntable bearing (33)
On, turntable bearing (33) is connected with middle frame (34), and middle frame (34) is connected by center axis (35) with outer framework (36), outline border
Frame (36) is connected by outline border axis (37) with ear mount (38), and ear mount (38) is fixed on Z transition seats (39), and each axis passes through angular contact
The fixed support of ball bearing (41), angular encoder (42) are used as angle measurement element, and have corner locating device (43) protection, pass through
Center shafting is carried out trim by counterweight (40), worm couple (44) connect each axis and with shaft coupling (45), retarder (46), watch
Take the driving that motor (47) is connected as each axis.
The guide rail slide block secondary (14) has three kinds of different sizes and corresponding installation form：
The first：Two groups of horizontal linear guide rails are installed, every group of guide rail installs three sliding blocks on base (11)；
Second：Two groups of horizontal linear guide rails are installed, every group of guide rail installs two sliding blocks on X transition seats (12)；
The third：Four groups are provided with Y transition seats (13), and parallel line slideway, every group of guide rail install two two-by-two vertically
Sliding block.
The guide rail slide block secondary (14) is roller-type maximum type line slideway.
The taper roll bearing (15) and deep groove ball bearing (16) are installed on three linear degrees of freedom.
The ball-screw (17) has three kinds of different sizes：Diameter 100mm, length 2832mm；Diameter 100, length
1504mm；Diameter 80mm, length 798mm, are separately mounted on tri- linear degrees of freedom of X, Y, Z.
The servomotor (20) has two kinds of different sizes：
A kind of is servomotor of the Z-direction straight line lifting using a moment of torsion 6Nm
Another kind be X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) three rotary freedoms using
The servomotor of moment of torsion 1.7Nm, totally five；
The retarder (21) has two kinds of different sizes：
One kind is the lifting of Z-direction straight line using a worm type of reduction gearing；
Another kind is that three rotary freedoms of X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) respectively use
It is planet wheel decelerator, totally five.
The shaft coupling (22) has two kinds of different sizes：
A kind of is the shaft coupling that the lifting of Z-direction straight line installs that bore dia is 50mm using a both ends；
Another kind is that three rotary freedoms of X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) respectively use
It is motor side installation bore dia 16mm, the shaft coupling of leading screw end installation bore dia 35mm, totally five.
The grating scale (18) is absolute type linear grating ruler, and three linear degrees of freedom post.
The straight line limiting device (19) includes mechanical position limitation or electric limiting.
The turntable bearing (33) is crossed roller turntable bearing.
The counterweight (40) is filling lead counterweight.
The angular contact ball bearing (41) has two kinds of different sizes 7032AC and 7040AC, the both ends axis hole of outer framework (26)
Each installation a pair of 7032AC bearings, then the middle frame (34) for being provided with center axis (35) is penetrated into axis hole and fixation, play support
The effect of middle frame (34)；The ear mount (38) on both sides respectively installation a pair of 7040AC bearings, then the outer of outline border axis (37) will be provided with
Frame (26) penetrates ear mount and fixation, plays the role of supporting outer framework (26).
The angular encoder (42) is absolute angle coder, is respectively mounted on three rotary freedoms.
The limiting device (43) includes mechanical position limitation or electric limiting, is respectively mounted on three rotary freedoms.
The worm couple (44) is made of worm gear and worm screw, there is two kinds of different sizes：
A kind of centre-to-centre spacing is 200mm, gearratio 82, and the lower end of inner axis (32) is fixed on by screw-driving,
Rotary worm drives the operating of inside casing shafting；
Another centre-to-centre spacing is 280mm, and gearratio 71, center axis (35) and outline border are fixed on by screw-driving
The shaft end of axis (37), rotary worm drive center shafting and the operating of outline border shafting.
The shaft coupling (45) installs bore dia 16mm for motor side, the shaft coupling of leading screw end installation bore dia 35mm, and three
It is respectively mounted on a rotary freedom.
The retarder (46) is planet wheel decelerator, is respectively mounted on three rotary freedoms.
The servomotor (47) is the servomotor of moment of torsion 1.7Nm, is respectively mounted on three rotary freedoms.
The present invention has the advantage that is with beneficial effect：
For the present invention using the structure design of six-freedom degree series connection, more heavy load, bigger tilting moment can be born by having
Ability, and kinematic accuracy is very high.It is also more easy to operate in automatically controlled control due to being the six degree of freedom platform of series connection,
The exercise test solution calculating for simulating Spatial Multi-Dimensional degree is also more directly perceived simple.One degree of freedom can be individually controlled, can also
Multiple degrees of freedom is controlled at the same time, there is a variety of movement combination types, be more nearly actual application environment.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention
Fig. 2 is Three Degree Of Freedom linear platform structure sectional view
Fig. 3 is Three Degree Of Freedom rotating platform structure sectional view
Embodiment
Technical solution of the present invention is further described below with reference to drawings and examples：
Referring to shown in attached drawing 1~3, the present invention is a kind of large-scale six degree of freedom series connection platform, including electric-control system and machinery
System two parts, its mechanical system are made of Three Degree Of Freedom linear platform 1 and 2 two large divisions of Three Degree Of Freedom rotating platform.
1 framework of Three Degree Of Freedom linear platform is on base 11, and face installation guide rail slide block pair 14, is two groups on the pedestal 11
Horizontal linear guide rail, has three sliding blocks, total of six sliding block above every group of line slideway.Ball-screw 17 passes through as transmission
Taper roll bearing 15 and deep groove ball bearing 16 are fixed among base 11, and two groups of horizontal linear guide rails are symmetrical with respect to its.X
Transition seat 12 is fixed on this six sliding blocks, while is connected with ball-screw 17.Servomotor 20 slows down through retarder 21
Afterwards, driving moment is passed to by ball-screw 17 by shaft coupling 22, can moves X transition seats 12.In 12 upper surface of X transition seats
Guide rail slide block pair 14 is installed, is two groups of horizontal linear guide rails, has two sliding blocks, total of four sliding block above every group of line slideway.
Ball-screw 17 is fixed among X transition seats 12, two as transmission by taper roll bearing 15 and deep groove ball bearing 16
Group horizontal linear guide rail is symmetrical with respect to its.Y transition seats 13 are fixed on this four sliding blocks, while connect with ball-screw 17
Connect.Driving moment is passed to ball-screw 17 by shaft coupling 22, can make Y mistakes by servomotor 20 after the deceleration of retarder 21
Seat 13 is crossed to move.There are four bearings on Y transition seats 13, in bearing upper mounting rail sliding block pair 14, put down two-by-two vertically for four groups
Capable line slideway, has two sliding blocks, total of eight sliding block above every group of line slideway.Ball-screw 17 passes through as transmission
Taper roll bearing 15 and deep groove ball bearing 16 are fixed among Y transition seats 13, and four groups of horizontal linear guide rails are right with respect to its
Claim.Three linear motions of Three Degree Of Freedom linear platform 1 post grating scale 18 and are fed back as signal, and are mounted on straight line
Limiting device 19.
Three Degree Of Freedom rotating platform 2 is to be installed on 32 upper end of inner axis by workbench 31, and inner axis 32 is installed on turntable shaft
Hold on 33, and turntable bearing is connected with middle frame 34, worm couple 44, angular encoder 42, corner locating device 43 according to
It is secondary to be installed on 32 lower end of inner axis, servomotor 47 after the deceleration of retarder 46, by shaft coupling 45 by driving moment be driven to
Driving moment is delivered to worm gear by worm screw, worm screw by big speed ratio again, and worm gear drives the movement of inside casing shafting.Pacify at 34 both ends of middle frame
Center axis 35 is filled, is installed to by angular contact ball bearing 41 on outer framework 36, because center shafting has bias, needs to exist
34 lower end of middle frame installs some counterweights 40 and carries out balancing, and 35 one end of center axis is provided with angular encoder 42 and corner locating
Device 43, respectively as angle measurement element and protective device.35 other end of center axis is provided with worm couple 44, passes through servo electricity
For machine 47 after the deceleration of retarder 46, driving moment is delivered to worm and gear, the shafting movement of driving center by shaft coupling 45.Outer framework
36 both ends installation outline border axis 37, is installed in ear mount 38 by bearing, and 37 one end of outline border axis is provided with angular encoder 42 and turns
Angle limiting device 43, respectively as angle measurement element and protective device.37 other end of outline border axis is provided with worm couple 44, passes through
For servomotor 47 after the deceleration of retarder 46, driving moment is delivered to worm and gear, the shafting movement of driving outline border by shaft coupling 45.
Ear mount 38 is fixedly connected with 39 screw of Z transition seats.Three Degree Of Freedom rotating platform 2 is finally passed through into Z transition seats 39 and Y
Eight sliding blocks installed on transition seat 13 are fixed, while are connected with ball-screw 17.Servomotor 20 through retarder 21 deceleration after,
Driving moment is passed to by ball-screw 17 by shaft coupling 22, Z transition seats 39 can be made to drive whole Three Degree Of Freedom rotating platform 2
Carry out elevating movement.
Claims (19)
1. a kind of six degree of freedom series connection platform, including electric-control system and mechanical system two parts, it is characterised in that：Mechanical system bag
Three Degree Of Freedom linear platform (1) and Three Degree Of Freedom rotating platform (2) are included, the Three Degree Of Freedom linear platform (1) includes pacifying successively
Base (11), X transition seats (12), the Y transition seats (13) of dress, are installed on each transition seat by guide rail slide block secondary (14) and are used as
The fixed ball-screw (17) of support, taper roll bearing (15) and deep groove ball bearing (16), ball-screw (17) are watched as transmission
Motor (20), retarder (21), shaft coupling (22) connection ball-screw (17) are taken as driving, drives Three Degree Of Freedom linear platform
(1) move, feedback device of the grating scale (18) as Three Degree Of Freedom linear platform (1), three degree of freedom is mounted on straight line limit
Position device (19)；
The Three Degree Of Freedom rotating platform (2) include workbench (31), inner axis (32), turntable bearing (33), middle frame (34),
Center axis (35), outer framework (36), outline border axis (37), ear mount (38), Z transition seats (39), counterweight (40), angular contact ball bearing
(41), angular encoder (42), corner locating device (43), worm couple (44), shaft coupling (45), retarder (46), watch
Motor (47) is taken, workbench (31) is installed on inner axis (32), and inner axis (32) is installed on turntable bearing (33), turntable shaft
Hold (33) with middle frame (34) to be connected, middle frame (34) is connected by center axis (35) with outer framework (36), and outer framework (36) is logical
Cross outline border axis (37) with ear mount (38) to be connected, ear mount (38) is fixed on Z transition seats (39), and each axis passes through angular contact ball bearing
(41) fixed support, angular encoder (42) are used as angle measurement element, and have corner locating device (43) protection, pass through counterweight
(40) center shafting is subjected to trim, each axis of worm couple (44) connection is simultaneously electric with shaft coupling (45), retarder (46), servo
The driving that machine (47) is connected as each axis.
2. six degree of freedom series connection platform according to claim 1, it is characterised in that：The guide rail slide block secondary (14) has three kinds
Different size and corresponding installation form：
The first：Two groups of horizontal linear guide rails are installed, every group of guide rail installs three sliding blocks on base (11)；
Second：Two groups of horizontal linear guide rails are installed, every group of guide rail installs two sliding blocks on X transition seats (12)；
The third：Four groups are provided with Y transition seats (13), and parallel line slideway, every group of guide rail install two cunnings two-by-two vertically
Block.
3. six degree of freedom series connection platform according to claim 1 or 2, it is characterised in that：The guide rail slide block secondary (14) is equal
For roller-type maximum type line slideway.
4. six degree of freedom series connection platform according to claim 1, it is characterised in that：The taper roll bearing (15) and depth
Ditch ball bearing (16) is installed on three linear degrees of freedom.
5. six degree of freedom series connection platform according to claim 1, it is characterised in that：The ball-screw (17) has three kinds not
Same specification：Diameter 100mm, length 2832mm；Diameter 100, length 1504mm；Diameter 80mm, length 798mm, is separately mounted to
X, on tri- linear degrees of freedom of Y, Z.
6. six degree of freedom series connection platform according to claim 1, it is characterised in that：The servomotor (20) has two kinds not
Same specification：
A kind of is servomotor of the Z-direction straight line lifting using a moment of torsion 6Nm
Another kind is three rotary freedoms of X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) using moment of torsion
The servomotor of 1.7Nm, totally five.
7. six degree of freedom series connection platform according to claim 1, it is characterised in that：The retarder (21) has two kinds of differences
Specification：
One kind is the lifting of Z-direction straight line using a worm type of reduction gearing；
Another kind is three rotary freedoms of X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) respectively using row
Planetary-gear speed reducer, totally five.
8. six degree of freedom series connection platform according to claim 1, it is characterised in that：The shaft coupling (22) has two kinds of differences
Specification：
A kind of is the shaft coupling that the lifting of Z-direction straight line installs that bore dia is 50mm using a both ends；
Another kind is three rotary freedoms of X and Y-direction linear degrees of freedom and Three Degree Of Freedom rotating platform (2) respectively using electricity
Generator terminal installation bore dia 16mm, the shaft coupling of leading screw end installation bore dia 35mm, totally five.
9. six degree of freedom series connection platform according to claim 1, it is characterised in that：The grating scale (18) is straight for absolute type
Line grating ruler, three linear degrees of freedom post.
10. six degree of freedom series connection platform according to claim 1, it is characterised in that：Straight line limiting device (19) bag
Include mechanical position limitation or electric limiting.
11. six degree of freedom series connection platform according to claim 1, it is characterised in that：The turntable bearing (33) is intersection
Roller turntable bearing.
12. six degree of freedom series connection platform according to claim 1, it is characterised in that：The counterweight (40) is filling lead counterweight.
13. six degree of freedom series connection platform according to claim 1, it is characterised in that：The angular contact ball bearing (41) has
Two kinds of different sizes 7032AC and 7040AC, the both ends axis hole of outer framework (26) respectively install a pair of of 7032AC bearings, then will installation
The middle frame (34) for having center axis (35) penetrates axis hole and fixation, plays the role of supporting middle frame (34)；The ear mount on both sides
(38) respectively installation a pair of 7040AC bearings, then the outer framework (26) for being provided with outline border axis (37) is penetrated ear mount and fixation, are played
Support the effect of outer framework (26).
14. six degree of freedom series connection platform according to claim 1, it is characterised in that：The angular encoder (42) is exhausted
To formula angular encoder, it is respectively mounted on three rotary freedoms.
15. six degree of freedom series connection platform according to claim 1, it is characterised in that：The limiting device (43) includes machine
Tool is spacing or electric limiting, is respectively mounted on three rotary freedoms.
16. six degree of freedom series connection platform according to claim 1, it is characterised in that：The worm couple (44) is by snail
Wheel and worm screw composition, there is two kinds of different sizes：
A kind of centre-to-centre spacing is 200mm, and gearratio 82, the lower end of inner axis (32) is fixed on by screw-driving, is rotated
Worm screw drives the operating of inside casing shafting；
Another centre-to-centre spacing is 280mm, and gearratio 71, center axis (35) and outline border axis are fixed on by screw-driving
(37) shaft end, rotary worm drive center shafting and the operating of outline border shafting.
17. six degree of freedom series connection platform according to claim 1, it is characterised in that：The shaft coupling (45) is motor side
Bore dia 16mm is installed, leading screw end installs the shaft coupling of bore dia 35mm, has installation on three rotary freedoms.
18. six degree of freedom series connection platform according to claim 1, it is characterised in that：The retarder (46) is planetary gear
Retarder, is respectively mounted on three rotary freedoms.
19. six degree of freedom series connection platform according to claim 1, it is characterised in that：The servomotor (47) is moment of torsion
The servomotor of 1.7Nm, is respectively mounted on three rotary freedoms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153857.7A CN107965645A (en) | 2017-11-17 | 2017-11-17 | A kind of six degree of freedom series connection platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153857.7A CN107965645A (en) | 2017-11-17 | 2017-11-17 | A kind of six degree of freedom series connection platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107965645A true CN107965645A (en) | 2018-04-27 |
Family
ID=62001320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711153857.7A Pending CN107965645A (en) | 2017-11-17 | 2017-11-17 | A kind of six degree of freedom series connection platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107965645A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108413206A (en) * | 2018-06-14 | 2018-08-17 | 哈尔滨工业大学 | Six degree of freedom based on stroke amplifying mechanism driving decouples submissive parallel connection platform |
| CN108760008A (en) * | 2018-07-18 | 2018-11-06 | 清华大学 | A kind of self-balancing mechanism |
| CN109373141A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | It is a kind of based on screw lifter realize three axis without magnetic turntable |
| CN109605299A (en) * | 2019-01-21 | 2019-04-12 | 北京卫星环境工程研究所 | Three Degree Of Freedom posture adjustment platform for the assembly of spacecraft large scale bay section |
| CN110450112A (en) * | 2019-08-28 | 2019-11-15 | 上海理工大学 | The mechanical micromotion platform of five degree of freedom |
| CN110624740A (en) * | 2019-09-02 | 2019-12-31 | 苏州市创诚金属制品有限公司 | Make things convenient for spray gun for spraying of angle modulation |
| CN111324152A (en) * | 2019-12-05 | 2020-06-23 | 广东工业大学 | Novel rigid-flexible coupling high-precision rotary platform and control method thereof |
| CN111805492A (en) * | 2020-07-29 | 2020-10-23 | 沈阳中德新松教育科技集团有限公司 | Six-degree-of-freedom adjusting platform |
| CN112828830A (en) * | 2020-12-25 | 2021-05-25 | 北京动力机械研究所 | Frock daughter board lifting device of flexible production line manual assembly platform of digitization |
| CN114198614A (en) * | 2021-12-08 | 2022-03-18 | 中林信达（北京）科技信息有限责任公司 | Photoelectric turntable suitable for automatic calibration of parallelism of optical axes of infrared and visible light cameras |
| CN114229409A (en) * | 2021-12-09 | 2022-03-25 | 中国船舶重工集团公司第七0三研究所 | Attitude adjustment control device under running state |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4607578A (en) * | 1983-06-02 | 1986-08-26 | Sumitomo Electric Industries Ltd. | Positioning mechanism |
| US5568993A (en) * | 1994-12-21 | 1996-10-29 | The United States Of America As Represented By The Secretary Of Commerce | Strut structure and rigid joint therefor |
| CN101794524A (en) * | 2009-12-15 | 2010-08-04 | 中国民航大学 | Aircraft attitude-simulating 3-degree-of-freedom electrical turntable |
| CN201787966U (en) * | 2010-05-13 | 2011-04-06 | 扬州大学 | Serial-parallel connection combined adjusting mechanism with six degrees of freedom |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN204118262U (en) * | 2014-08-29 | 2015-01-21 | 南京中网卫星通信股份有限公司 | A kind of Radar Servo turntable |
| CN104758035A (en) * | 2015-03-30 | 2015-07-08 | 北京航空航天大学 | Six-degree-of-freedom series- reduction robot for fracture of pelvis |
-
2017
- 2017-11-17 CN CN201711153857.7A patent/CN107965645A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4607578A (en) * | 1983-06-02 | 1986-08-26 | Sumitomo Electric Industries Ltd. | Positioning mechanism |
| US5568993A (en) * | 1994-12-21 | 1996-10-29 | The United States Of America As Represented By The Secretary Of Commerce | Strut structure and rigid joint therefor |
| CN101794524A (en) * | 2009-12-15 | 2010-08-04 | 中国民航大学 | Aircraft attitude-simulating 3-degree-of-freedom electrical turntable |
| CN201787966U (en) * | 2010-05-13 | 2011-04-06 | 扬州大学 | Serial-parallel connection combined adjusting mechanism with six degrees of freedom |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN204118262U (en) * | 2014-08-29 | 2015-01-21 | 南京中网卫星通信股份有限公司 | A kind of Radar Servo turntable |
| CN104758035A (en) * | 2015-03-30 | 2015-07-08 | 北京航空航天大学 | Six-degree-of-freedom series- reduction robot for fracture of pelvis |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108413206B (en) * | 2018-06-14 | 2019-09-13 | 哈尔滨工业大学 | Six degree of freedom based on stroke amplifying mechanism driving decouples submissive parallel connection platform |
| CN108413206A (en) * | 2018-06-14 | 2018-08-17 | 哈尔滨工业大学 | Six degree of freedom based on stroke amplifying mechanism driving decouples submissive parallel connection platform |
| CN108760008A (en) * | 2018-07-18 | 2018-11-06 | 清华大学 | A kind of self-balancing mechanism |
| CN109373141A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | It is a kind of based on screw lifter realize three axis without magnetic turntable |
| CN109605299A (en) * | 2019-01-21 | 2019-04-12 | 北京卫星环境工程研究所 | Three Degree Of Freedom posture adjustment platform for the assembly of spacecraft large scale bay section |
| CN110450112B (en) * | 2019-08-28 | 2022-11-04 | 上海理工大学 | Five-freedom-degree mechanical micro-motion platform |
| CN110450112A (en) * | 2019-08-28 | 2019-11-15 | 上海理工大学 | The mechanical micromotion platform of five degree of freedom |
| CN110624740A (en) * | 2019-09-02 | 2019-12-31 | 苏州市创诚金属制品有限公司 | Make things convenient for spray gun for spraying of angle modulation |
| CN111324152A (en) * | 2019-12-05 | 2020-06-23 | 广东工业大学 | Novel rigid-flexible coupling high-precision rotary platform and control method thereof |
| CN111324152B (en) * | 2019-12-05 | 2023-08-15 | 广东工业大学 | Rigid-flexible coupling high-precision rotating platform and control method thereof |
| CN111805492A (en) * | 2020-07-29 | 2020-10-23 | 沈阳中德新松教育科技集团有限公司 | Six-degree-of-freedom adjusting platform |
| CN112828830A (en) * | 2020-12-25 | 2021-05-25 | 北京动力机械研究所 | Frock daughter board lifting device of flexible production line manual assembly platform of digitization |
| CN114198614A (en) * | 2021-12-08 | 2022-03-18 | 中林信达（北京）科技信息有限责任公司 | Photoelectric turntable suitable for automatic calibration of parallelism of optical axes of infrared and visible light cameras |
| CN114229409A (en) * | 2021-12-09 | 2022-03-25 | 中国船舶重工集团公司第七0三研究所 | Attitude adjustment control device under running state |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107965645A (en) | A kind of six degree of freedom series connection platform | |
| US9016986B2 (en) | Translocation-simulating loading apparatus for gear grinding machine with shaped grinding wheel and detection method for stiffness distribution | |
| CN201281653Y (en) | Four-freedom-degree movement device | |
| CN106238980B (en) | Shot-blasting machine case weld accessory system assembly | |
| CN101118719A (en) | Gantry type four dimensional automatic measurement used for detecting display screen color performance | |
| CN106184833B (en) | A kind of horizontal multiple degrees of freedom air-floation follow-up device | |
| CN102476287A (en) | Movable beam type machine tool | |
| CN106078240A (en) | Bi-directional synchronization symmetry displacement slide unit | |
| CN107703719A (en) | A kind of coplanar vacuum preloading platform of air supporting | |
| CN109839268B (en) | Multi-gap gear rotor system test platform | |
| CN105522187A (en) | Machine tool | |
| CN107271182B (en) | Loading experiment device for simulating cutting force and action position of cutter | |
| CN204359598U (en) | A kind of force push rod device and Multi-axis high-precision load add carrier aircraft | |
| CN100402215C (en) | Gear machining equipment | |
| CN107186498B (en) | A kind of five-shaft numerical control drilling lathe for aircraft wing box numeric terminal | |
| CN203900891U (en) | Five-axis CNC machine tool | |
| CN107175655A (en) | A kind of five axis robots | |
| CN112605604A (en) | Adjusting device for profile cutting and fillet welding | |
| CN201529709U (en) | Novel six-axis numerical control stock stop used for numerical control plate bender | |
| CN207448112U (en) | Teaching type outer circle, plane dual-purpose grinding machine | |
| CN206331653U (en) | One kind is applied to flight simulation and tests Three-degree of Freedom Rotational Platform | |
| CN206046390U (en) | A kind of point gum machine | |
| CN203486152U (en) | Satellite universal unfolding support frame | |
| CN210605030U (en) | Mass body angular displacement experiment measuring device | |
| CN113588262B (en) | Machine tool spindle load working condition simulation device and dynamic torque application method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180427 |