Movable platform capable of realizing six-degree-of-freedom posture adjustment

Abstract

The invention provides a movable platform capable of realizing six-degree-of-freedom posture adjustment. The movable platform capable of realizing six-degree-of-freedom posture adjustment comprises a vehicle body, a walking device and a posture adjustment mechanism; the vehicle body comprises a vehicle frame, a walking mechanism arranged at the bottom of the vehicle frame and supporting wheels arranged at four corners of the vehicle frame, and the vehicle frame serves as an upper platform of the posture adjustment mechanism at the same time; the posture adjustment mechanism comprises a lower platform and six UPS driving branches; the lower platform, the six UPS driving branches and the vehicle frame jointly form the posture adjustment mechanism; a driving motor drives a lead screw to linearly move, and a lead screw nut is driven to move; then the lead screw nut drives four branches of a quadrilateral rod set connected to the two sides of the lead screw nut to move; and therefore, a U pair and an S pair connected to the first branch and the fourth branch are driven to move, the vehicle frame and the lower platform are made to move, and when the lower platform falls on the ground, the posture of the vehicle frame continues to be adjusted. The movable platform capable of realizing six-degree-of-freedom posture adjustment is compact in overall structure and low in height, and the high-precision six-degree-of-freedom posture adjustment platform for large-scale multi-degree-of-freedom satellite assembling can be achieved.

Description

technical field [0001] The invention relates to the field of multi-degree-of-freedom assembly docking and auxiliary assembly equipment under heavy load conditions, in particular to a movable platform capable of six-degree-of-freedom attitude adjustment. Background technique [0002] In the field of heavy assembly such as aerospace, ships, and electric power, the volume and quality of the components are large, and manual operation cannot be performed; in the field of aerospace, the working environment is not suitable for manual operation, so a movable attitude adjustment platform is required during handling and assembly auxiliary. At present, the common movable platforms are all wheeled trucks, which only have the function of plane movement. For the trucks equipped with Mecanum wheels, they can only realize three degrees of freedom of rotation around the normal line of the load-bearing platform, which cannot be zero. The attitude adjustment of the components provides precise...

AI Technical Summary

Problems solved by technology

[0003] A multi-degree-of-freedom parallel attitude adjustment platform is installed on the truck to realize six-degree-of-freedom attitude adjustment during transportation and assembly. However, because the height of a parallel mechanism is increased, the height of the entire truck is increased, which can meet some higher requirements. The installation conditions of the location, but it is not applicable to the installation and docking of some low space equipment

There are motion errors in both the transport vehicle and the parallel attitude adjustment mechanism. The motion errors generated by the two when they are working add up to each other, which reduces the motion accuracy of the working end of the mobile attitude adjustment platform and cannot perform high-precision docking and assembly.

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