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Underwater three-degree-of-freedom attitude adjustment parallel device

A technology with degrees of freedom and attitude, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of the overall device structure being not sealed, and achieve the effect of easy control, simple and compact device, and high precision

Active Publication Date: 2020-04-21
中国船舶重工集团有限公司第七一0研究所
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the overall device structure in the above-mentioned patent is not sealed, so it is difficult to be used underwater

Method used

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  • Underwater three-degree-of-freedom attitude adjustment parallel device
  • Underwater three-degree-of-freedom attitude adjustment parallel device
  • Underwater three-degree-of-freedom attitude adjustment parallel device

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Embodiment Construction

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] The invention provides an underwater three-degree-of-freedom attitude adjustment parallel device, such as figure 1 As shown, it includes: a drum 1, a moving platform 2, and three branch chains with the same structure and symmetrical distribution connected between the inner bottom surface of the drum 1 and the moving platform 2; with the side of the moving platform 2 as the front end, the drum 1 side is the rear end;

[0027] Branched chain structure such as figure 2 As shown, including the rotation mechanism and the length adjustment mechanism;

[0028] The length adjustment mechanism includes an outer telescopic tube 71, an inner telescopic tube 72, a drive motor 73, a leading screw pair 74 and a guide rail pair 75.

[0029] The driving motor 73 is affixed to the inside of the outer telescopic tube 71, and the driving end of the driving motor 7...

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Abstract

The invention discloses an underwater three-degree-of-freedom posture adjustment parallel device and relates to the technical field of mechanical structures. Underwater three-degree-of-freedom postureadjustment is supported, and the device can be applied to an underwater environment by adding a sealing device. The device comprises a barrel, a movable platform and three branch chains which are connected between an inner bottom surface of the barrel and the movable platform and have the same structure and are symmetrically distributed. Each branch chain comprises a rotating mechanism and a length adjusting mechanism. The length adjusting mechanism comprises an outer telescopic pipe, an inner telescopic pipe, a driving motor, a lead screw pair and a guide rail pair. The driving motor is fixedly connected into the outer telescopic pipe, and a driving end of the driving motor is fixedly connected with the lead screw pair. The guide rail pair is axially and fixedly connected outside the inner telescopic pipe, and the outer telescopic pipe is connected with the inner telescopic pipe through the lead screw pair and the guide rail pair; the rotating mechanism comprises a ball pair and a rotating pair, a front end face of the outer telescopic pipe is connected with the ball pair through the rotating pair, and the ball pair is fixedly connected with the movable platform.

Description

technical field [0001] The invention relates to the technical field of mechanical structures, in particular to an underwater three-degree-of-freedom attitude adjustment parallel device. Background technique [0002] Due to the advantages of high rigidity, small error accumulation and good dynamic performance of the parallel mechanism, it has been widely used in attitude adjustment devices, bionic mechanisms, hybrid machine tools and other fields. Among them, the attitude adjustment mechanism with few degrees of freedom of the parallel mechanism can realize the movement of the moving platform by adjusting the parallel branch chain, so as to adjust the space attitude. Chinese patent CN101653944A discloses a three-degree-of-freedom parallel mechanism for attitude adjustment. Through analysis, it can be seen that it has three branches with the same structure and size. The drive motors on the branches are fixed on the base, and the The ball cooperates with the groove on the end ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 刘方刘延平方巍芦廷彬林江
Owner 中国船舶重工集团有限公司第七一0研究所
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