CN110625580B - Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform - Google Patents
Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform Download PDFInfo
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- CN110625580B CN110625580B CN201910943139.2A CN201910943139A CN110625580B CN 110625580 B CN110625580 B CN 110625580B CN 201910943139 A CN201910943139 A CN 201910943139A CN 110625580 B CN110625580 B CN 110625580B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/18—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in inclination
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Abstract
The invention discloses a fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of a circular track platform, which comprises a coaxiality flexible clamping adjusting device forming a plane parallel adjusting mechanism and a levelness pose adjusting device forming a 1T2R parallel mechanism; the coaxiality flexible clamping adjusting device is in flexible contact with the cylinder wall, multiple contact supporting points are formed by jacking the cylinder wall through the flexible top plate, the container is tightly held by extrusion counter force, the flexible top plate is iteratively adjusted to jack the cylinder wall through the multiple supporting points, tooth section gaps are finely adjusted through threads, then the adjustment of the coaxiality and the roundness of the track is realized, the high-precision positioning of the levelness of the circular ring track can be realized by adjusting the length of an adjusting branched chain of the levelness pose adjusting device, and meanwhile, the fixed supporting point arbitrariness adjustment of the track can be realized through the vacuum chuck. The invention has high adjustment precision of the levelness/coaxiality of the circular ring track, high speed, convenient and quick operation, time and labor saving and good application prospect.
Description
Technical Field
The invention belongs to the technical field of equipment platform adjustment, relates to a fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of a circular ring track platform, and particularly relates to an adjusting mechanism for realizing high-precision positioning of a large circular ring track platform based on a parallel mechanism.
Background
Mechanical equipment, especially container equipment, is equipment widely used in petroleum, chemical industry, steel, medicine, food and other industries. In the above application scenarios, once explosion or leakage occurs, disastrous accidents such as fire and poisoning often occur due to the high pressure of high temperature, low temperature, inflammable, explosive, virulent or corrosive media, which is required to be borne, thereby bringing loss and harm to social economy and people's life.
In view of this, strict regulations and requirements are imposed on the design, manufacture and use of such container equipment at home and abroad, and nondestructive testing is required to be carried out on the various container equipment at regular intervals during manufacture and service so as to prevent the container equipment from failure conditions such as corrosion, environmental cracking, mechanical damage and the like. Support testing platform often need set up when container equipment carries out nondestructive test, and always, in this kind of high accuracy platform installation operation, platform installation precision has decisive influence to the stationarity of equipment operation and the holistic implementation effect of equipment, and to columniform container equipment, its support testing platform generally is the ring gear track, and it is complicated at the installation of barrel outer wall, and it often is difficult to reach the requirement to take a photograph its installation precision altogether.
Therefore, the dynamic fulcrum combination parallel mechanism is developed, and the rapid high-precision positioning of the circular track platform is realized, so that the dynamic fulcrum combination parallel mechanism has practical significance.
Disclosure of Invention
The invention aims to overcome the defects that the installation of a large-scale circular ring platform on the outer wall of a cylinder body is complex and the precision is difficult to meet the requirement in the prior art, and provides a parallel mechanism adjusting device which has economical and functional properties and can effectively improve the installation positioning precision.
In order to achieve the purpose, the invention provides the following technical scheme:
the fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform comprises a coaxiality flexible clamping adjusting device and a levelness pose adjusting device;
the coaxiality flexible clamping adjusting device comprises a plurality of flexible clamping mechanisms, and the plurality of flexible clamping mechanisms form a plane parallel adjusting mechanism;
the flexible clamping mechanism comprises a fixed supporting piece, a flexible top plate and a precession rod, the fixed supporting piece is connected with the circular ring track, a threaded hole for connecting the precession rod is formed in the fixed supporting piece, the other end of the precession rod is in contact with the flexible top plate, the flexible top plate is positioned on the inner side of the circular ring track, and the coaxiality of the circular ring track can be positioned at high precision by adjusting the precession rod;
the levelness pose adjusting device comprises at least three adjusting branched chains positioned below the circular ring track, the at least three adjusting branched chains form a set of 1T2R parallel mechanism, and the moving freedom degree in one direction and the rotating freedom degrees in the other two directions are reserved;
the at least three regulatory branches comprise at least two SPS regulatory branches and one PRR regulatory branch, or, comprise at least three SPS regulatory branches;
the SPS adjusting branched chain comprises a first branch chain fixing piece used for being fixed with the circular ring track, a first branch chain telescopic rod and a first vacuum sucker used for being fixed with a container to be tested, the first branch chain telescopic rod can be stretched in the axial direction of the first branch chain telescopic rod, and the first branch chain fixing piece and the first vacuum sucker are connected through a spherical hinge;
the PRR adjusting branched chain comprises a second branched chain fixing piece for fixing with the circular track, a second branched chain telescopic rod and a second vacuum sucker for fixing with a container to be tested, the second branched chain telescopic rod can axially extend and retract, a horizontal adjusting connecting hinge is arranged at the upper end of the second branched chain telescopic rod and is connected with a horizontal cross shaft, the second branched chain fixing piece is connected with the horizontal cross shaft through a second branched chain fixing piece connecting piece, and the lower end of the second branched chain telescopic rod is connected with the second vacuum sucker;
the horizontal degree of the circular ring track can be positioned with high precision by adjusting the length of the adjusting branch chain.
In the invention, in the face of the requirement of precise attitude adjustment on a circular ring platform under the working condition of high-precision installation, the problem of platform space six-dimensional error adjustment is decomposed into two types of platform levelness adjustment and platform coaxiality adjustment, and a levelness pose adjusting device (parallel mechanism) and a coaxiality flexible clamping adjusting device (parallel mechanism) are respectively designed;
wherein, the levelness pose adjusting device realizes the levelness pose adjustment of the track platform by adjusting three degrees of freedom of translation in the Z-axis direction of the circular track and rotation in the X, Y-axis direction, the upper and lower rotary rods and the middle rotary rod are designed into reverse spirals, the extension of the branched chain is realized by the rotation in one direction, the shortening of the branched chain is realized by the rotation in the opposite direction, the levelness adjusting operation is realized by manually adjusting the middle rotary rod in three branched chains of the parallel mechanism, the vacuum chuck can be firmly adsorbed on the cylinder wall based on the Bernoulli effect to form a fixed pivot which can be adjusted at will, thereby providing reliable support for the levelness adjustment and greatly shortening the levelness adjusting time of the track platform, and the quick disassembly and the quick assembly can be realized by utilizing an air valve (switch air source), meanwhile, the quick clamps are designed at the joints of the branched chains and the track, the flexible positioning of the branched chains is realized integrally by utilizing the characteristic, the levelness adjustment can be carried out with the continuous adjustment of the supporting points for fast iterative adjustment, and finally higher horizontal precision is achieved;
the coaxiality flexible clamping adjusting device realizes the adjustment of the coaxiality pose of the track platform by adjusting three degrees of freedom of rotation in the Z-axis direction and translation in the X, Y-axis direction of the circular ring track, the whole coaxiality adjustment is regarded as a plane device operation, the wall surface of the cylinder body is used as a fulcrum of the device, and the deformation of the flexible material is regarded as two R pairs of series connection effects. When the flexible clamping device works, the rotating rod is rotated to push the flexible clamping top plate to move linearly, so that the flexible material gasket is contacted with the outer wall of the cylinder body, the friction force between the flexible material gasket and the wall surface of the cylinder body is utilized to provide supporting force for the circular ring platform, and the adjusting distance between the flexible clamping mechanisms can be utilized to adjust the coaxiality of the track;
according to the invention, the levelness of the platform can be adjusted with high precision under the combined action of the three branched chains, and the positions of the branched chains can be flexibly adjusted to carry out iterative fine adjustment by utilizing the disassembly and assembly convenience brought by the vacuum chuck and the quick clamp, so that the adjustment with higher speed and higher precision is realized;
the invention solves the problem of rapid adjustment of the poses of various high-precision external circular ring track platforms, and can ensure the precision required by the adjusted circular ring platform; the device has the advantages of simple structure, easy operation, adjustment and decoupling, and can be widely applied to pose adjustment of various annular platforms.
As a preferred technical scheme:
the fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform is characterized in that the adjusting branched chains and the flexible clamping mechanisms are distributed around the circumference of the circular track.
The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform is characterized in that the first branch chain fixing part and the second branch chain fixing part are the same, the first branch chain telescopic rod and the second branch chain telescopic rod are the same, and the first vacuum chuck and the second vacuum chuck are the same.
The fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform is characterized in that the first fulcrum fixing piece is a quick-handed clamp;
the quick-handle clamp comprises a movable part and a fixed part;
the movable part comprises a quick-hand clamp handle, a quick-hand clamp first branched chain, a quick-hand clamp second branched chain, a quick-hand clamp third branched chain and a chuck, the quick-hand clamp third branched chain is fixedly connected with the chuck, the quick-hand clamp first branched chain, the quick-hand clamp second branched chain and the quick-hand clamp third branched chain are sequentially connected with the quick-hand clamp second hinge and the quick-hand clamp third hinge, and the quick-hand clamp second hinge is also connected with the quick-hand clamp handle;
the fixing part comprises a quick-hand clamp base, a quick-hand clamp support and a bottom baffle parallel to the chuck, the base is integrally plate-shaped, the middle part of the base is fixedly provided with the quick-hand clamp support wrapped outside a third branched chain of the quick-hand clamp, the quick-hand clamp support is connected with the bottom baffle and is L-shaped after being connected, and the first branched chain of the quick-hand clamp is connected with the quick-hand clamp base through a first quick-hand clamp hinge;
the distance between the chuck and the bottom baffle can be changed by moving the handle of the quick-hand clamp to clamp or loosen. The specific structure of the branched chain fixing member of the present invention is not limited thereto, and those skilled in the art can select the structure according to the actual situation, and other connecting structures such as a universal joint can be applied to the present invention.
The installation process of the quick-handle clamp is as follows:
firstly, fixing a fast-hand clamp support on a fast-hand clamp base through a bolt, then primarily installing a third fast-hand clamp branched chain on the fast-hand clamp support, installing one end of the first fast-hand clamp branched chain together with the fast-hand clamp base through a first fast-hand clamp hinge, installing one end of a third fast-hand clamp branched chain together with one end of a second fast-hand clamp branched chain through a second fast-hand clamp hinge, and finally installing the first fast-hand clamp branched chain, the second fast-hand clamp branched chain and a fast-hand clamp handle together through a third fast-hand clamp hinge.
The fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform comprises an upper rotating rod, a middle rotating rod and a lower rotating rod which are sequentially connected from top to bottom;
go up the swing arm and pass through threaded connection with middle swing arm down with the swing arm, go up the swing arm opposite with the screw thread direction of swing arm down, the change that first branch chain telescopic link extension or shorten can be realized to rotatory middle swing arm.
According to the fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform, the first vacuum chuck is connected with the air source, the air source is started to provide suction force, and the first vacuum chuck is adsorbed on the surface of a container to be tested through the Bernoulli (Bernoulli) effect. The vacuum chuck is adopted as a reliable transient fulcrum for adjusting the branched chain, and the suction force can be controlled by switching on and off the air source.
The fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform is characterized in that the first supporting telescopic rod is connected with the first supporting fixing piece through an upper spherical hinge and connected with the first vacuum chuck through a lower spherical hinge;
the lower spherical hinge is connected with the first vacuum sucker through a first branched chain telescopic rod connecting piece;
and the lower rotary rod of the second branched chain telescopic rod is connected with a second vacuum sucker through a second branched chain telescopic rod connecting piece.
The fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform comprises an upper track and a lower track;
the flexible clamping mechanism is located between the upper track and the lower track and is connected with the upper track and the lower track through bolts, and the first branched chain fixing piece or the second branched chain fixing piece is connected with the lower track.
The fulcrum dynamic combination parallel mechanism for realizing the high-precision positioning of the circular track platform comprises a precession rod, a linear guide rod, a fixed support, a flexible top plate and a linear bearing;
the fixed support is integrally U-shaped, is fixedly connected with the upper track and the lower track through bolts, is provided with a threaded hole for mounting a precession rod and a unthreaded hole for mounting a linear bearing, the other end of the precession rod is in spherical contact with a flexible top plate, the linear bearing is mounted on the fixed support, and the flexible top plate is positioned on the inner side of the gear ring track and is in sliding connection with the fixed support through a linear guide rod and a linear bearing;
the linear guide rod is parallel to the precession rod, one end of the linear guide rod is connected with the fixed support piece in a sliding mode through a linear bearing, the other end of the linear guide rod is fixedly connected with the flexible top plate, and the linear bearing is installed on the fixed support piece and located on two sides of the precession rod;
the flexible top plate is provided with a flexible material gasket along the inner side of the circular ring track, so that the circular ring track is in flexible contact with the wall of the container to be detected, and the wall surface of the container is prevented from being damaged.
Has the advantages that:
(1) according to the fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular ring track platform, the fixed fulcrum arbitrary adjustment of track levelness is realized by adopting the vacuum chuck by utilizing the Bernoulli effect, so that the high-precision adjustment of the levelness of the circular ring track can be ensured on one hand, and the operation is convenient and rapid, and time and labor are saved on the other hand;
(2) the fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular ring track platform, the coaxiality flexible clamping adjusting device and the levelness pose adjusting device endow the circular ring track with the six-degree-of-freedom adjusting capability, the method is high in adjusting speed and precision, can be used for adjusting the circular ring track under various conditions, and has a great application prospect.
Drawings
FIG. 1 is a schematic diagram of a fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of a circular ring track platform and a circular ring track after connection;
FIG. 2 is a schematic view of the levelness pose adjustment apparatus of the present invention;
FIG. 3 is a schematic representation of a PRR modulating arm of the present invention;
FIG. 4 is a schematic representation of an SPS regulatory arm of the present invention;
FIG. 5 is a schematic structural view of a quick-action clamp according to the present invention;
FIG. 6 is a schematic view of a quick-action clamp clamping process of the present invention;
FIG. 7 is a schematic diagram of vacuum chuck suction;
FIG. 8 is a schematic structural view of a flexible clamping mechanism;
FIG. 9 is a schematic view of the pivot dynamic combination parallel mechanism and the circular track connected and fixed on the cylinder;
wherein, 1-circular orbit, 2-flexible clamping mechanism, 3-levelness pose adjusting device, 31-PRR adjusting branched chain, 311-fast hand clamp handle (PRR), 312-fast hand clamp base (PRR), 313-horizontal axis, 314-second branched chain fixing piece connecting piece, 315-horizontal adjusting connecting hinge, 316-upper rotary rod (PRR), 317-middle rotary rod (PRR), 318-lower rotary rod (PRR), 319-branched chain telescopic rod connecting Piece (PRR), 3110-vacuum chuck (PRR), 32-SPS adjusting branched chain, 321-fast hand clamp handle (SPS), 322-fast hand clamp base (SPS), 323-upper spherical hinge, 324-upper rotary rod (SPS), 325-middle rotary rod (SPS), 326-lower rotary rod (SPS), 327-lower spherical hinge, 328-branched chain telescopic rod connecting piece (SPS), 329-vacuum chuck (SPS), 4-vent hole, 5-adsorbed piece, 61-linear bearing, 62-precession rod, 63-linear guide rod, 64-fixed support piece, 65-flexible top plate, 66-flexible material gasket, 71-fast hand clamp handle, 72-fast hand clamp base, 73-fast hand clamp first hinge, 74-fast hand clamp first branched chain, 75-fast hand clamp second branched chain, 76-fast hand clamp third branched chain, 77-fast hand clamp support, 78-fast hand clamp third branched chain and 79-fast hand clamp second hinge.
Detailed Description
The following further describes the embodiments of the present invention with reference to the attached drawings.
Example 1
A fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of a circular ring track platform is shown in figure 1 and comprises a levelness pose adjusting device 3 and a coaxiality flexible clamping adjusting device which are shown in figure 2;
the levelness pose adjusting device 3 comprises two SPS adjusting branched chains 32 and a PRR adjusting branched chain 31 which are positioned below the circular ring orbit 1 and distributed around the circumference of the circular ring orbit 1, the three SPS adjusting branched chains form a set of 1T2R parallel mechanism, and the levelness of the circular ring orbit can be accurately positioned by adjusting the lengths of the adjusting branched chains;
the SPS adjustment branched chain 32 is shown in fig. 4, and includes a quick-hand clamp (SPS) for fixing with a lower track of a circular orbit, which is sequentially connected, and includes a quick-hand clamp handle (SPS)321, a quick-hand clamp base (SPS)322, an upper spherical hinge 323, an upper rotating rod (SPS)324, a middle rotating rod (SPS)325, a lower rotating rod (SPS)326, a lower spherical hinge 327, a branched telescopic rod connector (SPS)328, and a vacuum chuck (SPS)329, wherein the upper rotating rod (SPS)324, the lower rotating rod (SPS)326 and the middle rotating rod (SPS)325 are connected through threads, the upper rotating rod (SPS)324 and the lower rotating rod (SPS)326 have opposite thread directions, the middle rotating rod (SPS)325 can realize the extension or shortening change of the assembly (the upper rotating rod (SPS) 324), the middle rotating rod (SPS) 325) and the lower rotating rod (SPS)326), a vacuum vent hole 4 of the vacuum chuck (SPS) is connected with a gas source, and the gas source is started to provide suction force, a vacuum chuck (SPS)229 is adsorbed on the surface of the container to be tested (the adsorbed member 5) by Bernoulli (Bernoulli) effect, and the adsorption principle diagram of the vacuum chuck is shown in fig. 7;
as shown in fig. 3, the PRR adjusting branched chain 31 includes a fast hand clamp (PRR) for fixing to the lower track of the circular track, which includes a fast hand clamp handle (PRR)311 and a fast hand clamp base (PRR)312, a second branched chain fixing member connecting member 314, a horizontal cross shaft 313, a horizontal adjusting connecting hinge 315, an upper rotary rod (PRR)316, a middle rotary rod (PRR)317, a lower rotary rod (PRR)318, a branched chain telescopic rod connecting member (PRR)319, and a vacuum chuck (PRR)3110, the upper rotary rod (PRR)316 is provided with a horizontal adjusting connecting hinge 315 at the upper end, the horizontal adjusting connecting hinge 315 is connected to the horizontal cross shaft 313, the fast hand clamp (PRR) is connected to the horizontal cross shaft 313 through the second branched chain fixing member connecting member 314, the upper rotary rod (PRR)316 and the lower rotary rod (PRR)317 are connected to the middle rotary rod (PRR)318 through a screw thread, the upper rotary rod (PRR)316 and the lower rotary rod (PRR)318 are in opposite directions, the change of the extension or contraction of the assembly (upper rotary rod (PRR)316+ middle rotary rod (PRR)317+ lower rotary rod (PRR)318) can be realized by rotating the middle rotary rod (PRR)317, the vacuum chuck (PRR)3110 is connected with a gas source, the suction force can be provided by opening the gas source, and the vacuum chuck (PRR)3110 is adsorbed on the surface of the container to be tested through the Bernoulli effect;
the quick-hand clamp (PRR) and the quick-hand clamp (SPS) have the same structure, as shown in fig. 5, and include a movable portion and a fixed portion;
the movable part comprises a fast hand clamp handle 71, a fast hand clamp first branched chain 74, a fast hand clamp second branched chain 75, a fast hand clamp third branched chain 76 and a chuck, the fast hand clamp third branched chain 76 is fixedly connected with the chuck, the fast hand clamp first branched chain 74, the fast hand clamp second branched chain 75 and the fast hand clamp third branched chain 76 are connected with the fast hand clamp third hinged chain sequentially through a fast hand clamp second hinge 79, and the fast hand clamp second hinge 79 is also connected with the fast hand clamp handle 71;
the fixing part comprises a quick-hand clamp base 72, a quick-hand clamp support 77 and a bottom baffle plate parallel to the chuck, the base is integrally plate-shaped, the middle part of the base is fixedly provided with the quick-hand clamp support 77 wrapped outside a third branch chain 78 of the quick-hand clamp, the quick-hand clamp support is connected with the bottom baffle plate and is L-shaped after being connected, and a first quick-hand clamp branch chain 74 is connected with the quick-hand clamp base 72 through a first quick-hand clamp hinge 73;
as shown in fig. 6, the distance between the chuck and the bottom baffle can be changed to clamp or loosen by moving the quick-hand clamp handle 1;
the coaxiality flexible clamping adjusting device comprises a plurality of flexible clamping mechanisms 2 distributed around the circumference of the circular ring track 1, and the plurality of flexible clamping mechanisms 2 form a plane parallel adjusting mechanism;
the flexible clamping mechanism 2 comprises a screw-in rod 62, a linear guide rod 63, a fixed support 64, a flexible top plate 65 and a linear bearing 61, as shown in fig. 8; the fixed support 64 is U-shaped as a whole, is positioned between the upper track and the lower track of the circular track, is connected with the upper track and the lower track through bolts, is provided with a threaded hole for connecting a screw rod, and the other end of the screw rod 62 is contacted with the flexible top plate 65;
the linear guide rod 63 is parallel to the precession rod 62, one end of the linear guide rod is connected with the fixed support 64 in a sliding way through the linear bearing 61, the other end of the linear guide rod is fixedly connected with the flexible top plate 65, and the linear bearing 61 is arranged on the fixed support 64 and positioned at two sides of the precession rod 62;
the flexible top plate 65 is located the ring track 1 inboard, and the flexible top plate is equipped with flexible material gasket 66 along the ring track inboard, can carry out high accuracy location to ring track 1's axiality through adjustment precession pole 62.
The assembly process of the invention is as follows:
the method comprises the steps of firstly installing a flexible clamping mechanism on a circular ring track, then installing the circular ring track on a barrel, fixing an adjusting branched chain on a lower track of the circular ring track through a quick-handle clamp, finally opening an air source, adsorbing a vacuum chuck on the surface of the barrel to complete the fixation of the adjusting branched chain, installing all the adjusting branched chains by referring to the above operation, and enabling the installation to be as shown in figure 9.
According to verification, the fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular ring track platform adopts the vacuum chuck to realize fixed fulcrum arbitrariness of track levelness adjustment by utilizing the Bernoulli effect, so that high-precision adjustment of the levelness of the circular ring track can be guaranteed, and the mechanism is convenient and quick to operate, time-saving and labor-saving; the coaxiality flexible clamping adjusting device and the levelness pose adjusting device endow the circular ring track with the six-degree-of-freedom adjusting capacity, the method is high in adjusting speed and high in accuracy, can be used for adjusting the circular ring track under various conditions, and has a great application prospect.
Example 2
A fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of a circular orbit platform is basically the same as that in embodiment 1 in structure, and is different in that a levelness pose adjusting device is three SPS adjusting branched chains.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made without departing from the principles and spirit of the invention.
Claims (9)
1. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform is characterized by comprising a coaxiality flexible clamping adjusting device and a levelness pose adjusting device;
the coaxiality flexible clamping adjusting device comprises a plurality of flexible clamping mechanisms, and the plurality of flexible clamping mechanisms form a plane parallel adjusting mechanism;
the flexible clamping mechanism comprises a fixed supporting piece, a flexible top plate and a precession rod, the fixed supporting piece is connected with the circular ring track, a threaded hole for connecting the precession rod is formed in the fixed supporting piece, the other end of the precession rod is in contact with the flexible top plate, the flexible top plate is positioned on the inner side of the circular ring track, and the coaxiality of the circular ring track can be positioned at high precision by adjusting the precession rod;
the levelness pose adjusting device comprises at least three adjusting branched chains positioned below the circular ring track, and the at least three adjusting branched chains form a set of 1T2R parallel mechanism;
the at least three regulatory branches comprise at least two SPS regulatory branches and one PRR regulatory branch, or, comprise at least three SPS regulatory branches;
the SPS adjusting branched chain comprises a first branch chain fixing piece used for being fixed with the circular ring track, a first branch chain telescopic rod and a first vacuum sucker used for being fixed with a container to be tested, the first branch chain telescopic rod can be stretched in the axial direction of the first branch chain telescopic rod, and the first branch chain fixing piece and the first vacuum sucker are connected through a spherical hinge;
the PRR adjusting branched chain comprises a second branched chain fixing piece for fixing with the circular track, a second branched chain telescopic rod and a second vacuum sucker for fixing with a container to be tested, the second branched chain telescopic rod can axially extend and retract, a horizontal adjusting connecting hinge is arranged at the upper end of the second branched chain telescopic rod and is connected with a horizontal cross shaft, the second branched chain fixing piece is connected with the horizontal cross shaft through a second branched chain fixing piece connecting piece, and the lower end of the second branched chain telescopic rod is connected with the second vacuum sucker;
the horizontal degree of the circular ring track can be positioned with high precision by adjusting the length of the adjusting branch chain.
2. The dynamic combined fulcrum parallel mechanism for achieving high-precision positioning of the circular ring orbit platform as claimed in claim 1, wherein the adjusting branched chains and the flexible clamping mechanisms are distributed around the circumference of the circular ring orbit.
3. The dynamic combined fulcrum parallel mechanism for achieving high-precision positioning of the circular orbit platform of claim 1, wherein the first branch chain fixing part and the second branch chain fixing part are the same, the first branch chain telescopic rod and the second branch chain telescopic rod are the same, and the first vacuum chuck and the second vacuum chuck are the same.
4. The dynamic combined fulcrum parallel mechanism for realizing high-precision positioning of the circular track platform as claimed in claim 3, wherein the first fulcrum chain fixing member is a quick-handed clamp;
the quick-handle clamp comprises a movable part and a fixed part;
the movable part comprises a quick-hand clamp handle, a quick-hand clamp first branched chain, a quick-hand clamp second branched chain, a quick-hand clamp third branched chain and a chuck, the quick-hand clamp third branched chain is fixedly connected with the chuck, the quick-hand clamp first branched chain, the quick-hand clamp second branched chain and the quick-hand clamp third branched chain are sequentially connected with the quick-hand clamp second hinge and the quick-hand clamp third hinge, and the quick-hand clamp second hinge is also connected with the quick-hand clamp handle;
the fixing part comprises a quick-hand clamp base, a quick-hand clamp support and a bottom baffle parallel to the chuck, the base is integrally plate-shaped, the middle part of the base is fixedly provided with the quick-hand clamp support wrapped outside a third branched chain of the quick-hand clamp, the quick-hand clamp support is connected with the bottom baffle and is L-shaped after being connected, and the first branched chain of the quick-hand clamp is connected with the quick-hand clamp base through a first quick-hand clamp hinge;
the distance between the chuck and the bottom baffle can be changed by moving the handle of the quick-hand clamp to clamp or loosen.
5. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform as claimed in claim 3, wherein the first fulcrum expansion link comprises an upper swing link, a middle swing link and a lower swing link which are sequentially connected from top to bottom;
go up the swing arm and pass through threaded connection with middle swing arm down with the swing arm, go up the swing arm opposite with the screw thread direction of swing arm down, the change that first branch chain telescopic link extension or shorten can be realized to rotatory middle swing arm.
6. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular ring track platform as claimed in claim 3, wherein the first vacuum chuck is connected with a gas source, the suction force can be provided by starting the gas source, and the first vacuum chuck is adsorbed on the surface of the container to be tested through the Bernoulli effect.
7. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform as claimed in claim 1, wherein the first supporting telescopic rod is connected with the first supporting fixing piece through an upper spherical hinge and connected with the first vacuum chuck through a lower spherical hinge;
the lower spherical hinge is connected with the first vacuum sucker through a first branched chain telescopic rod connecting piece;
and the lower rotary rod of the second branched chain telescopic rod is connected with a second vacuum sucker through a second branched chain telescopic rod connecting piece.
8. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular track platform as claimed in claim 1, wherein the circular track comprises an upper track and a lower track;
the flexible clamping mechanism is located between the upper track and the lower track and is connected with the upper track and the lower track through bolts, and the first branched chain fixing piece or the second branched chain fixing piece is connected with the lower track.
9. The fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of the circular ring track platform as claimed in claim 8, wherein the flexible clamping mechanism comprises a precession rod, a linear guide rod, a fixed support, a flexible top plate and a linear bearing;
the fixed support piece is integrally U-shaped and is fixedly connected with the upper track and the lower track through bolts;
the linear guide rod is parallel to the precession rod, one end of the linear guide rod is connected with the fixed support piece in a sliding mode through a linear bearing, the other end of the linear guide rod is fixedly connected with the flexible top plate, and the linear bearing is installed on the fixed support piece and located on two sides of the precession rod;
and a flexible material gasket is arranged on the flexible top plate along the inner side of the circular ring track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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