CN205766113U - Six degree of freedom device for assembled large area air supporting support platform - Google Patents
Six degree of freedom device for assembled large area air supporting support platform Download PDFInfo
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Abstract
This utility model provides a kind of six degree of freedom device for assembled large area air supporting support platform, and the X stacked the most successively including base and position is to platform, Y-direction platform and Z axis revolving dial；X is to being provided with X between platform and base to motion, and X is driven on base along X to slip to motion by X to platform；Y-direction platform and X are provided with Y-direction motion between platform, and Y-direction platform is driven by Y-direction motion and slides along Y-direction on platform at X；Being provided with Z axis slew gear between Z axis revolving dial and Y-direction platform, Z axis revolving dial is driven can be rotated relative to Y-direction platform on Y-direction platform by Z axis slew gear；Base is installed with multiple elevating mechanism, and elevating mechanism is distributed in X to, all sides of Y-direction, Z axis revolving dial.This utility model can be by adjusting position and the attitude of singular piece of granite platform to the regulation of six degree of freedom, it is possible to the locus of the assembled air supporting support platform of efficiently and accurately and attitude.
Description
Technical field
This utility model belongs to auxiliary equipment field, especially relates to a kind of six degree of freedom device for assembled large area air supporting support platform.
Background technology
Along with space technology develops rapidly, for ensureing that spacecraft the most effectively runs, build the important leverage that relevant supporting ground simulation test system is Developing Space technology.Large-scale super flat support platform, as very important large-scale precision testing equipment, provides test platform for orbital rendezvous and docking full physical simulation pilot system.
Large-scale super flat support platform is to be spliced by polylith granite surface plate, provides stable high level of accuracy supporting surface for test load, and its performance directly determines the full physics of spacecraft, the confidence level of semi-physical simulation.In order to up to a hundred pieces of granite surface plate are spliced into an entirety fast and accurately, and meeting piece width, podium level and requirement for horizontality, granite surface plate splicing body must possess six free regulating powers.
Before the present utility model, granite surface plate joining method mainly has two kinds, and a kind of method is to be placed on ball bearing by platform, by manpower crowbar, granite surface plate is moved to correct position；Another kind of method is to use air cushion to be floated by platform, and artificial promotion platform is to installation site.Both joining methods the most only have Three Degree Of Freedom, it is impossible to adjusting lifting platform and the pitching of both direction, the motility of platform splicing is low, and before and after leveling, piece change width is relatively big, and splicing efficiency and reliability low, easily bump to platform.Wherein air cushion splicing has particular/special requirement to ground, and therefore above two method can not meet the splicing requirement of large area platform efficiently and accurately, need to re-start development and design.
Utility model content
In view of this, this utility model is directed to a kind of six degree of freedom device for assembled large area air supporting support platform, to meet the splicing requirement of large area platform efficiently and accurately.
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
A kind of six degree of freedom device for assembled large area air supporting support platform, the X stacked the most successively including base and position is to platform, Y-direction platform and Z axis revolving dial；
Described X is slidably connected with described base to platform, and is provided with X between the two to motion, and described X is driven on described base along X to slip to motion by described X to platform；
Described Y-direction platform is slidably connected to platform with described X, and is provided with Y-direction motion between the two, and described Y-direction platform is driven by described Y-direction motion and slides along Y-direction on platform at described X；Described X is mutually perpendicular to Y-direction；
Described Z axis revolving dial is rotationally connected with described Y-direction platform, and is provided with Z axis slew gear between the two, and described Z axis revolving dial is driven can be rotated relative to Y-direction platform on described Y-direction platform by described Z axis slew gear；
Described base is installed with multiple elevating mechanism, and described elevating mechanism is distributed in described X and can regulate respectively to platform, described Y-direction platform, all sides of described Z axis revolving dial, and the adjustable height of the elevating lever of described elevating mechanism.
Further, described X includes the first adjusting handle, first planet decelerator and the first screw pair to motion, rotate described first adjusting handle and moment is passed to the first screw pair by described first planet decelerator, nut in described first screw pair drive described X to platform along X to slip, described first planet decelerator is fixed on described base by a first fixing A, and described first screw pair is fixed on described base by a first fixing B.
Further, described Y-direction motion includes the second adjusting handle, the second planetary reduction gear and the second screw pair, rotate described second adjusting handle and moment is passed to the second screw pair by described second planetary reduction gear, nut in described second screw pair drives described Y-direction platform to slide along Y-direction, described second planetary reduction gear is fixed on described base by a second fixing A, and described second screw pair is fixed on described base by a second fixing B.
Further, 90 degree of diverters it are provided with between described second planetary reduction gear and described second screw pair, described second planetary reduction gear output torque passes to 90 degree of diverters by polished rod and passes to described second screw pair again, and described second planetary reduction gear is vertical with described second screw pair.
Further, described Z axis slew gear includes the 3rd adjusting handle, third planet decelerator, 3rd screw pair and revolution push rod, one end of described revolution push rod is connected on the nut in described 3rd screw pair, the other end is connected on described Z axis revolving dial, rotate described 3rd adjusting handle and moment is passed to the 3rd screw pair by described third planet decelerator, nut in described 3rd screw pair promotes revolution push rod to make Z axis revolving dial rotate about the z axis, described third planet decelerator is fixed on described base by a 3rd fixing A, described 3rd screw pair is fixed on described base by a 3rd fixing B.
Further, described elevating mechanism regulates adjustable height by lifting handwheel, described elevating mechanism is three, being respectively the first elevating mechanism, the second elevating mechanism and the 3rd elevating mechanism, described first elevating mechanism, described second elevating mechanism and described 3rd elevating mechanism present position are positioned at three summits of isosceles triangle.
Further, described X is slidably connected by X direction guiding rail with described base to platform, and described Y-direction platform is connected by Y-direction slide to platform with described X, and described Z axis revolving dial is rotationally connected by floating bearing with described Y-direction platform.
Further, described base and described X are parallel to each other to platform, described Y-direction platform and described Z axis revolving dial and centrage overlaps when initial position, and the axial line of described floating bearing overlaps with the centrage of described Z axis revolving dial.
Further, described Y-direction platform is provided with nut limit base.Described nut limit base position can guarantee that Z axis revolving dial turns round ± 2 ° about the z axis.
Further, described base lower surface is fixed with four Moving casters.
Relative to prior art, the six degree of freedom device for assembled large area air supporting support platform described in the utility model has the advantage that
(1) the six degree of freedom device for assembled large area air supporting support platform described in the utility model, compact conformation, carrying greatly, only need two people the most operable in trench, and the lower all directions of heavy duty regulate easy and flexible, it is capable of six degree of freedom regulation, fully meets the splicing requirement of platform.
(2) elevating mechanism described in the utility model is regulated by lifting handwheel.The lifting that is made up of three elevating mechanisms, tilt adjustment system, use and regulate manually.For alleviating hand labor intensity, each elevating mechanism is by Worm Wheel System.
(3) system being made up of line slideway, floating bearing and leading screw described in the utility model is capable of the function that X moves to, Y-direction and turns round about the z axis, and each several part is to be cascaded, non-interference during regulation.Increase primary planet decelerator at leading screw end, reduce input torque.
(4) Y-direction platform described in the utility model is provided with nut limit base.By making revolution push rod promote revolving dial to rotate within the required range the spacing of leading screw top nut.
(5) the six degree of freedom device for assembled large area air supporting support platform described in the utility model be capable of X to the ± fine setting of 80mm, the fine setting of Y-direction ± 50mm, the fine setting of Z-direction lifting 70mm, revolution ± 2 ° about the z axis, around X, Y-axis tilt adjustment ± 1 °.
Accompanying drawing explanation
The accompanying drawing constituting a part of the present utility model is further appreciated by of the present utility model for providing, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the six degree of freedom device for assembled large area air supporting support platform described in the utility model
Structural representation；
Fig. 2 is the six degree of freedom device front view for assembled large area air supporting support platform described in the utility model；
Fig. 3 is the six degree of freedom device top view for assembled large area air supporting support platform described in the utility model；
Fig. 4 is that the six degree of freedom device X for assembled large area air supporting support platform described in the utility model is to motion partial view；
Fig. 5 is the six degree of freedom device Y-direction motion partial view for assembled large area air supporting support platform described in the utility model；
Fig. 6 is the six degree of freedom device Z axis slew gear partial view for assembled large area air supporting support platform described in the utility model.
Description of reference numerals:
1-base；2-the first elevating mechanism；3-X is to platform；4-Y is to platform；5-X is to motion；6-Z axle revolving dial；7-the second elevating mechanism；8-Z axle slew gear；9-the 3rd elevating mechanism；10-Y is to motion；11-X direction guiding rail；12-Y direction guiding rail；13-floating bearing；14-Moving caster；15-first lifts handwheel；16-second lifts handwheel；17-the 3rd lifts handwheel；18-nut limit base；501-the first adjusting handle；502-first planet decelerator；The fixing A of 503-first；504-the first screw pair；The fixing B of 505-first；801-the 3rd adjusting handle；802-third planet decelerator；The fixing A of 803-the 3rd；804-the 3rd screw pair；The fixing B of 805-the 3rd；806-turns round push rod；1001-the second adjusting handle；1002-the second planetary reduction gear；The fixing A of 1003-second；1004-polished rod；1005-90 degree diverter；The fixing B of 1006-second；1007-the second screw pair；1008-second fixes seat.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in this utility model and the feature in embodiment can be mutually combined.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", on " ", D score, " front ", " afterwards ", " left ", " right ", " vertically ", " level ", " push up ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, the feature defining " first ", " second " etc. can express or implicitly include one or more this feature.In description of the present utility model, except as otherwise noted, " multiple " are meant that two or more.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in this utility model can be understood by concrete condition.
Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Six degree of freedom device for assembled large area air supporting support platform described in the utility model, the X stacked the most successively including base 1 and position is to platform 3, Y-direction platform 4 and Z axis revolving dial 6；Described X is slidably connected with described base 1 to platform 3, and is provided with X between the two to motion 5, and described X is driven on described base 1 along X to slip to motion 5 by described X to platform 3；Described Y-direction platform 4 is slidably connected to platform 3 with described X, and is provided with Y-direction motion 10 between the two, and described Y-direction platform 4 is driven by described Y-direction motion 10 and slides along Y-direction on platform 3 at described X；Described X is mutually perpendicular to Y-direction；Described Z axis revolving dial 6 is rotationally connected with described Y-direction platform 4, and is provided with Z axis slew gear 8 between the two, and described Z axis revolving dial 6 is driven can be rotated relative to Y-direction platform 4 on described Y-direction platform 4 by described Z axis slew gear 8；Described base 1 is installed with multiple elevating mechanism, and described elevating mechanism is distributed in described X and can regulate respectively to platform 3, described Y-direction platform 4, all sides of described Z axis revolving dial 6, and the adjustable height of the elevating lever of described elevating mechanism.
This utility model regulative mode: 1. lift adjustment.Rotate the first lifting handwheel 15, second and lift handwheel the 16, the 3rd lifting handwheel 17, first elevating mechanism the 2, second elevating mechanism the 7, the 3rd elevating mechanism 9 is raised and lowered identical height simultaneously.2. around X-axis beat.Rotate the second lifting handwheel 16 and the 3rd lifting handwheel 17, raise the second elevating mechanism 7 and reduce the 3rd elevating mechanism 9, or reduce the second elevating mechanism 7 and raise the 3rd elevating mechanism 9.3. around Y-axis beat.Rotate the first lifting handwheel 15, second and lift handwheel 16 and the 3rd lifting handwheel 17, raise the first elevating mechanism 2 and reduce the second elevating mechanism 7 and the 3rd elevating mechanism 9, or reduce the first elevating mechanism 2 and raise the second elevating mechanism 7 and the 3rd elevating mechanism 9.4. X is to movement.Utilizing X to motion 5, rotate the first adjusting handle 501, by first planet decelerator 502, input torque is delivered to the first screw pair 504, nut drives X to move along X direction guiding rail 11 to platform 3.5. Y-direction moves.Utilize Y-direction motion 10, rotate the second adjusting handle 1001, by the second planetary reduction gear 1002, input torque being delivered to polished rod 1004, and transmits torque to the second screw pair 1007 by 90 degree of diverters 1005, nut drives Y-direction platform 4Y direction guiding rail 12 to move.Turn round the most about the z axis.Utilize Z axis slew gear 8, rotate the 3rd adjusting handle 801, by third planet decelerator 17, input torque is delivered to the 3rd screw pair 19, and nut drives revolution push rod 806 to move, and revolution push rod 806 promotes Z axis revolving dial 6 to be rotated by floating bearing 13 simultaneously.
This utility model application note: 1. platform adjustment mechanism coordinate system is as shown in Figure 1；2. first elevating mechanism the 2, second elevating mechanism 7 and the 3rd elevating mechanism 9 are all to drive feed screw nut secondary motion by worm and gear, and wherein nut only rotates, leading screw only moves up and down；3. X is to drive feed screw nut secondary motion by planetary reduction gear to motion 5, Y-direction motion 10 and Z axis slew gear 8, and wherein leading screw only rotates, nut only does translational motion.
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. the six degree of freedom device for assembled large area air supporting support platform, it is characterised in that: include that X that base (1) and position stack the most successively is to platform (3), Y-direction platform (4) and Z axis revolving dial (6)；
Described X is slidably connected with described base (1) to platform (3), and it being provided with X between the two to motion (5), described X is driven on described base (1) along X to slip to motion (5) by described X to platform (3)；
Described Y-direction platform (4) is slidably connected to platform (3) with described X, and it being provided with Y-direction motion (10) between the two, described Y-direction platform (4) is driven by described Y-direction motion (10) and slides along Y-direction on platform (3) at described X；Described X is mutually perpendicular to described Y-direction；
Described Z axis revolving dial (6) is rotationally connected with described Y-direction platform (4), and it being provided with Z axis slew gear (8) between the two, described Z axis revolving dial (6) is driven above can be rotated relative to Y-direction platform (4) described Y-direction platform (4) by described Z axis slew gear (8)；
Described base (1) is installed with multiple elevating mechanism, described elevating mechanism is distributed in described X to platform (3), described Y-direction platform (4) and all sides of described Z axis revolving dial (6), and the adjustable height of the elevating lever of described elevating mechanism can regulate respectively.
nullSix degree of freedom device for assembled large area air supporting support platform the most according to claim 1，It is characterized in that: described X includes the first adjusting handle (501) to motion (5)、First planet decelerator (502) and the first screw pair (504)，The axis parallel of described first screw pair (504) in X to，Rotate described first adjusting handle (501) and moment is passed to the first screw pair (504) by described first planet decelerator (502)，Nut in described first screw pair (504) drive described X to platform (3) along X to slip，Described first planet decelerator (502) is fixed on described base (1) by a first fixing A (503)，Described first screw pair (504) is fixed on described base (1) by a first fixing B (505).
nullSix degree of freedom device for assembled large area air supporting support platform the most according to claim 1，It is characterized in that: described Y-direction motion (10) includes the second adjusting handle (1001)、Second planetary reduction gear (1002) and the second screw pair (1007)，The axis parallel of described second screw pair (1007) is in Y-direction，Rotate described second adjusting handle (1001) and moment is passed to the second screw pair (1007) by described second planetary reduction gear (1002)，Nut in described second screw pair (1007) drives described Y-direction platform (4) to slide along Y-direction，Described second planetary reduction gear (1002) is fixed on described base (1) by a second fixing A (1003)，Described second screw pair (1007) is fixed on described base (1) by a second fixing B (1008).
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 3, it is characterized in that: between described second planetary reduction gear (1002) and described second screw pair (1007), be provided with 90 degree of diverters (1005), described second planetary reduction gear (1002) output torque passes to 90 degree of diverters (1005) by polished rod (1004) and passes to described second screw pair (1007) again, described second screw pair (1007) is fixed seat (1006) near one end of described 90 degree of diverters (1005) by second and is fixed on described base (1), described second planetary reduction gear (1002) and described second screw pair (1007) are vertical.
nullSix degree of freedom device for assembled large area air supporting support platform the most according to claim 1，It is characterized in that: described Z axis slew gear (8) includes the 3rd adjusting handle (801)、Third planet decelerator (802)、3rd screw pair (804) and revolution push rod (806)，One end of described revolution push rod (806) is connected on the nut in described 3rd screw pair (804)，The other end is connected on described Z axis revolving dial (6)，Rotate described 3rd adjusting handle (801) and moment is passed to the 3rd screw pair (804) by described third planet decelerator (802)，Nut in described 3rd screw pair (804) promotes revolution push rod (806) to make Z axis revolving dial (6) rotate about the z axis，Described third planet decelerator (802) is fixed on described base (1) by a 3rd fixing A (803)，Described 3rd screw pair (804) is fixed on described base (1) by a 3rd fixing B (805).
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 1, it is characterized in that: described elevating mechanism regulates adjustable height by lifting handwheel, described elevating mechanism is three, being respectively the first elevating mechanism (2), the second elevating mechanism (7) and the 3rd elevating mechanism (9), described first elevating mechanism (2), described second elevating mechanism (7) and described 3rd elevating mechanism (9) present position are positioned at three summits of isosceles triangle.
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 1, it is characterized in that: described X is slidably connected by X direction guiding rail (11) with described base (1) to platform (3), described Y-direction platform (4) is slidably connected by Y-direction guide rail (12) to platform (3) with described X, and described Z axis revolving dial (6) is rotationally connected by floating bearing (13) with described Y-direction platform (4).
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 1, it is characterized in that: described base (1) and described X are parallel to each other to platform (3), described Y-direction platform (4) and described Z axis revolving dial (6) and centrage overlaps when initial position, and the axial line of described floating bearing (13) overlaps with the centrage of described Z axis revolving dial (6).
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 1, it is characterized in that: described Y-direction platform (4) is provided with nut limit base (18), described nut limit base (18) position can guarantee that Z axis revolving dial (6) turns round ± 2 ° about the z axis.
Six degree of freedom device for assembled large area air supporting support platform the most according to claim 1, it is characterised in that: described base (1) lower surface is fixed with four Moving casters (14).
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| CN201620433293.7U CN205766113U (en) | 2016-05-12 | 2016-05-12 | Six degree of freedom device for assembled large area air supporting support platform |
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| CN106938832B (en) * | 2017-04-17 | 2022-09-23 | 扬州航鹰科技装备有限公司 | Six-degree-of-freedom lifting platform |
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| CN112309493B (en) * | 2020-10-29 | 2022-06-03 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN112309493A (en) * | 2020-10-29 | 2021-02-02 | 中国航空工业集团公司上海航空测控技术研究所 | Manual coordinate adjusting platform |
| CN113183054A (en) * | 2021-03-19 | 2021-07-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Panel movement device |
| CN113029612A (en) * | 2021-04-14 | 2021-06-25 | 中南大学 | Bogie rotation test bed of bogie snow icing wind tunnel test system |
| CN114274077A (en) * | 2021-11-25 | 2022-04-05 | 上海电气风电集团股份有限公司 | Assembling device for assembling speed reducer |
| CN114290023A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Six-degree-of-freedom low-stress assembly device for spacecraft |
| CN114290023B (en) * | 2021-12-30 | 2022-11-04 | 哈尔滨工业大学 | Six-degree-of-freedom low-stress assembly device for spacecraft |
| CN114228868A (en) * | 2022-01-21 | 2022-03-25 | 武汉天拓宇航智能装备有限公司 | Satellite transfer equipment and transfer method |
| CN114536284A (en) * | 2022-03-11 | 2022-05-27 | 无锡市星迪仪器有限公司 | Six-degree-of-freedom adjusting platform |
| CN114536284B (en) * | 2022-03-11 | 2023-09-01 | 无锡市星迪仪器有限公司 | Six-degree-of-freedom adjusting platform |
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