A six-degree-of-freedom adjustment platform

Abstract

The present invention discloses a six-degree-of-freedom adjustment platform, comprising a fixed platform, a fixed seat is provided on the upper surface of the fixed platform, a feed screw is installed on the fixed seat, a coupling is provided at one end of the feed screw, a planetary reducer is provided at one end of the coupling, one end of the planetary reducer is connected to the output end of the front and rear feed servo motors, a feed nut is sleeved on the feed screw, and a sliding platform is provided at the upper end of the feed nut. The platform of the present invention does not require high adjustment accuracy, but requires load-bearing capacity, so the aforementioned spiral pairs all use trapezoidal screws that can be self-locked, which is convenient for maintaining position and improving load rate when the machine is stopped. The present invention can realize the posture adjustment of the six degrees of freedom of the workpiece, and can quickly adjust the workpiece posture into place, with high efficiency, low labor intensity, and safe and reliable mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of space position and space attitude adjustment equipment, and specifically to a six-degree-of-freedom adjustment platform. Background Art

[0002] Flexible assembly systems have been widely used in the fields of industrial automation, aerospace, rail transportation, defense equipment, etc., such as engine assembly, planetary reducer assembly, turbine assembly, etc. All flexible assembly applications require assembly tools to have multi-station, multi-process, and movable integrated characteristics. Taking the automobile industry, where the application of flexible assembly systems is relatively mature, as an example, the system integrates equipment such as balanced power cranes, rotating cranes, suspension conveyor lines, and rail cars. The degree of freedom of posture adjustment that each device can provide is relatively scattered, resulting in low workshop space utilization for some processes.

[0003] In order to increase the degree of freedom of posture adjustment of a single device, people use a positioner with expansion tooling to achieve a single-machine five-degree-of-freedom solution; or a front and rear combined frame car to achieve a split three-degree-of-freedom and a combined six-degree-of-freedom solution; or a Stewart parallel mechanism to achieve a single-machine six-degree-of-freedom solution. Among them, the positioner solution is simple and easy to use, but its disadvantage is that its carrying capacity is weak; the combined frame car solution has a strong carrying capacity, but its disadvantage is that it requires more precise synchronous control; the Stewart parallel mechanism is currently a more ideal single-machine six-degree-of-freedom solution, but it requires a large height space to achieve heavy-load capacity.

[0004] To this end, we provide a six-degree-of-freedom adjustment platform to solve the problems raised in the above technologies. Summary of the invention

[0005] The purpose of the present invention is to provide a six-degree-of-freedom adjustment platform to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a six-degree-of-freedom adjustment platform, comprising a fixed platform, a fixed seat is provided on the upper surface of the fixed platform, a feed screw is installed on the fixed seat, a coupling is provided at one end of the feed screw, a planetary reducer is provided at one end of the coupling, one end of the planetary reducer is connected to the output end of the front and rear feed servo motors, a feed nut is sleeved on the feed screw, a sliding platform is provided at the upper end of the feed nut, a lifting servo motor is provided on the upper surface of the sliding platform, two-stage planetary reducers are symmetrically provided on both sides of the lifting servo motor, a long coupling is provided at the output end of the two-stage planetary reducer, a cross commutator is provided at one end of the long coupling, and the cross commutator A short coupling is provided at one end of the deflector, a screw elevator 1 is provided at one end of the short coupling, an electromagnetic clutch is provided on the rear surface of the screw elevator 1, a screw elevator 1 is provided at one end of the electromagnetic clutch, the output ends of the screw elevators 1 on both sides respectively pass through the two sides of the box body, the output ends of the two screw elevators 1 are sleeved with slidable thrust bearing assemblies, and the two screw elevators 1 are located on the front side of the upper surface of the box body, the outer sleeves of the two slidable thrust bearing assemblies are sleeved with copper sleeves, and the copper sleeves are arc-shaped, the output ends of the two screw elevators 1 are sleeved with fixed thrust bearing assemblies, and the two screw elevators 1 are located on the rear side of the upper surface of the box body, and a horizontal feed servo motor is provided inside the box body. The output end of the horizontal feed servo motor is provided with a right-angle reducer, one end of the right-angle reducer is provided with an extension rod screw elevator, the output end of the extension rod screw elevator is provided with a bearing seat, a horizontal feed nut is sleeved on the screw of the extension rod screw elevator, the upper surface of the horizontal feed nut is provided with a slide, the middle part of the lower surface of the slide is provided with a flat motor, the output end of the flat motor passes through the slide, and the output end of the flat motor is provided with a harmonic reducer, the upper surface of the harmonic reducer is rotatably connected with the lower surface of the car, one side of the car is provided with a rolling servo motor, the output end of the rolling servo motor is provided with a reducer 1, one end of the reducer 1 is provided with a rolling screw elevator, the output end of the rolling screw elevator passes through The interior of the car is symmetrically provided with roller assemblies, and a clamping half ring is provided above the car, and the lower surface of the clamping half ring is rollingly connected to the upper surfaces of the two roller assemblies, and a rolling drive nut is sleeved on the screw rod of the rolling screw elevator inside the car, and a rolling fork is sleeved on the outer side of the rolling drive nut, and the upper end of the rolling fork is connected to the inner side of the clamping half ring, and clamping hands are symmetrically provided at both ends of the upper surface of the clamping half ring, and the two clamping hands are respectively hinged to the clamping half ring, and clamping cylinders are symmetrically provided on both side surfaces of the clamping half ring, and the two clamping cylinders are respectively hinged to the two side surfaces of the clamping half ring, and one end of the two clamping cylinders is respectively hinged to the outer side surfaces of the two clamping hands.

[0007] Preferably, linear slide rails are symmetrically provided on both sides of the upper surface of the fixed platform, and the fixed seat is located between the two linear slide rails, sliding parts one are symmetrically provided on both sides of the lower surface of the sliding platform, the two sliding parts one are respectively matched with the two linear slide rails, and the two sliding parts one are respectively slidably connected with the two linear slide rails, slide rail one is symmetrically provided on the bottom surface of the inner part of the box body, and the flat motor and the extension rod spiral elevator are located between the two slide rails one, and sliding parts two are symmetrically provided on both sides of the lower surface of the slide, the two sliding parts two are respectively matched with the two slide rails one, and the two sliding parts two are respectively slidably connected with the two slide rails one.

[0008] Preferably, a reducer bracket 1 is provided between the coupling 1 and the planetary reducer 1, a reducer bracket 2 is provided at the output end of the two-stage planetary reducer, and the output end of the two-stage planetary reducer passes through the reducer bracket 2, a right-angle reducer bracket is provided between the right-angle reducer and the extended rod screw elevator, an elevator bracket is mounted on the extended rod screw elevator, and a reducer bracket 3 is provided between the reducer 1 and the rolling screw elevator.

[0009] Preferably, a plurality of load-bearing balls are evenly distributed on both sides of the upper surface of the slide, and the plurality of load-bearing balls are located on both sides of the harmonic reducer, and wear-resistant gaskets are provided on the upper surfaces of the plurality of load-bearing balls.

[0010] Preferably, the two fixed thrust bearing assemblies and the two slidable thrust bearing assemblies have the same structure, and the fixed thrust bearing assembly includes a stepped nut, which is sleeved on the output end of the screw elevator, and the outer part of the stepped nut is sleeved with a thrust spherical bearing, and the outer part of the thrust spherical bearing is sleeved with a shell.

[0011] Preferably, cam follower limiters are symmetrically provided on the front and rear surfaces of the car, and the upper side surfaces of the cam follower limiters are rollingly connected to the front and rear surfaces of the clamping half ring, and the number of the cam follower limiters is at least 4.

[0012] Preferably, the front and rear surfaces of the rolling drive nut are provided with protrusions, and the front and rear surfaces of the inner side of the rolling fork are provided with sliding grooves matching the protrusions.

[0013] Compared with the prior art, the beneficial effects of the present invention are: a six-degree-of-freedom adjustment platform, the setting of the fixed platform can play a supporting role, the setting of the fixed seat can facilitate the fixing of the feed screw and facilitate the operation of the device, the setting of the coupling one can facilitate the transmission of the power source output by the planetary reducer one to the feed screw, the setting of the planetary reducer one can achieve the deceleration effect, the speed of the output of the front and rear feed servo motors is reduced by the action of the planetary reducer one, thereby weakening the power source after the output of the front and rear feed servo motors to achieve the deceleration effect, the feed nut one and the feed screw form a spiral pair, and the feed screw is driven by the front and rear feed servo motors to drive the feed nut one through the spiral pair transmission mode to perform feeding operation. The lifting servo motor is a double-axis type. The devices arranged on the entire sliding platform are U-shaped. The electromagnetic clutch uses a power-off friction plate type. It is not suitable to use a toothed disc type to avoid virtual constraints at the meshing teeth when the toothed disc type is attracted, which is easy to disengage and cause setbacks. The interior of the cross commutator is vertically converted by the bevel gear pair mechanism. The cross commutator selects different bevel gear arrangement directions according to the different directions of the shaft extension set on the lifting servo motor, and finally realizes the synchronous lifting of four spiral elevators. The fixed thrust bearing assembly is fixedly set on the box body, the copper sleeve is fixedly set on the box body, and the slidable thrust bearing assembly is set on the box body through the copper sleeve and can slide along the radial direction of the copper sleeve. , through the thrust spherical bearings used in pairs, the axis of the step nut can swing less than 3 degrees relative to the axis of the shell. When adjusting the pitch angle of the workpiece, the two electromagnetic clutches are disconnected, and only the two screw elevators connected to the cross commutator can be lifted. Suppose one of the two screw elevators is a lifting group, and the other two screw elevators are self-locked and stay at the current height. Suppose one of the two screw elevators is a holding group. At this time, the box can be tilted according to the height difference of the step nuts in the lifting group and the holding group to adjust the pitch angle of the workpiece. When the heights of the step nuts in the lifting group and the holding group are the same, the length of the center of gravity connection line is fixed. When the heights of the step nuts in the lifting group and the holding group are not the same, the length of the center of gravity connection line must be greater than the heights of the step nuts in the same group. The length of the extension rod screw elevator is slid along the radial direction of the copper sleeve through the slidable thrust bearing assembly. The setting of the bearing seat can facilitate the fixing of the extension rod screw elevator, which is convenient for the operation of the device. The setting of the right-angle reducer can achieve the deceleration effect. The speed of the output of the horizontal feed servo motor is reduced by the right-angle reducer, so that the power source after the output of the horizontal feed servo motor is weakened to achieve the deceleration effect. The horizontal feed nut and the extension rod screw elevator form a spiral pair. The extension rod screw elevator is driven by the horizontal feed servo motor and drives the horizontal feed nut to feed through the spiral pair transmission mode, and drives the slide to feed. The steel wheel of the harmonic reducer is fixed on the upper surface of the car, and a flexible wheel is provided inside the rigid wheel of the harmonic reducer.The outer sleeve of the steel wheel of the harmonic reducer is provided with a bearing, and the flat motor is connected to the wave generator of the harmonic reducer. The flat motor drives the wave generator to make the flexible wheel drive the rigid wheel to rotate, and the steel wheel rotates in the bearing, thereby driving the car to rotate, realizing the rotation of the car and achieving the effect of fine-tuning. The setting of the bearing seat can facilitate the fixing of the extension rod screw elevator, which is convenient for the operation of the device. The setting of the right-angle reducer can achieve the effect of deceleration. The output speed of the horizontal feed servo motor is reduced by the action of the right-angle reducer, thereby weakening the power source after the output of the horizontal feed servo motor to achieve the effect of deceleration. The horizontal feed nut and the extension rod screw elevator form a spiral pair. The extension rod screw elevator is driven by the horizontal feed servo motor and drives the horizontal feed nut to feed through the spiral pair transmission mode, and drives the slide to feed. The steel wheel of the harmonic reducer is fixed on the upper surface of the car. The surface, a flexible wheel is arranged inside the rigid wheel of the harmonic reducer, a bearing is arranged outside the steel wheel of the harmonic reducer, and a flat motor is connected to the wave generator of the harmonic reducer. The flat motor drives the wave generator to make the flexible wheel drive the rigid wheel to rotate, and the steel wheel rotates in the bearing, thereby driving the car to rotate, realizing the rotation of the car and achieving the effect of fine-tuning. The arrangement of the clamping half ring and the clamping hand can facilitate the clamping of the workpiece by the device, and the arrangement of the two clamping cylinders can facilitate the fixing of the clamped workpiece, that is, the clamping half ring and the two clamping hands are fixed by two clamping cylinders. The platform of the present invention does not require high adjustment accuracy, but requires load-bearing capacity, so the aforementioned spiral pairs all use trapezoidal screws that can be self-locked, which is convenient for maintaining the position and increasing the load rate when the machine is stopped. The present invention can realize the posture adjustment of the six degrees of freedom of the workpiece, and can quickly adjust the posture of the workpiece into place, with high efficiency, low labor intensity, and safe and reliable mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a front structural schematic diagram of the present invention;

[0015] Figure 2 It is a front structural schematic diagram of the fixed platform of the present invention;

[0016] Figure 3 It is a front structural schematic diagram of the sliding platform of the present invention;

[0017] Figure 4 It is a front structural schematic diagram of the box body of the present invention;

[0018] Figure 5 It is a schematic diagram of the top structure of the box body of the present invention;

[0019] Figure 6 It is a front schematic diagram of the internal structure of the box body of the present invention;

[0020] Figure 7 It is a front schematic diagram of the internal structure of the elevator car of the present invention.

[0021] In the figure: 1-fixed platform, 2-fixed seat, 3-feed screw, 4-coupling 1, 5-planetary reducer 1, 6-feed servo motor, 7-feed nut 1, 8-sliding platform, 9-lifting servo motor, 10-two-stage planetary reducer, 11-long coupling, 12-cross commutator, 13-short coupling, 14-screw elevator 1, 15-electromagnetic clutch, 16-box, 17-slidable bearing assembly, 18-copper sleeve, 19-fixed thrust bearing assembly, 20-horizontal feed servo motor, 21-right angle reducer, 22-extended rod screw elevator, 23-bearing seat, 24-horizontal feed nut, 25-slide, 26-flat electric Machine, 27-harmonic reducer, 28-car, 29-rolling servo motor, 30-reducer one, 31-rolling screw elevator, 32-roller assembly, 33-clamping half ring, 34-rolling drive nut, 35-rolling fork, 36-gripping hand, 37-clamping cylinder, 38-linear slide rail, 39-sliding part one, 40-slide rail one, 41-sliding part two, 42-reducer bracket one, 43-reducer bracket two, 44-right angle reducer bracket, 45-lifting machine bracket, 46-reducer bracket three, 47-bearing ball, 48-wear-resistant gasket, 49-cam follower limiter, 50-bump, 51-slide groove, 52-groove, 53-stand. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-7The present invention provides a technical solution: a six-degree-of-freedom adjustment platform, comprising a fixed platform 1, a fixed seat 2 is provided on the upper surface of the fixed platform 1, a feed screw 3 is installed on the fixed seat 2, a coupling 4 is provided at one end of the feed screw 3, a planetary reducer 305 is provided at one end of the coupling 4, one end of the planetary reducer 305 is connected to the output end of the front and rear feed servo motor 6, a feed nut 7 is sleeved on the feed screw 3, a sliding platform 8 is provided at the upper end of the feed nut 7, the setting of the fixed platform 1 can play a supporting role, the setting of the fixed seat 2 can facilitate the fixing of the feed screw 3 and the operation of the device, and the setting of the coupling 4 can facilitate the dynamic output of the planetary reducer 305 The force source is transmitted to the feed screw 3, and the setting of the planetary reducer 305 can achieve the effect of deceleration. The speed of the output of the front and rear feed servo motor 6 is reduced through the action of the planetary reducer 305, thereby weakening the power source after the output of the front and rear feed servo motor 6 to achieve the effect of deceleration. The feed nut 7 and the feed screw 3 form a spiral pair. The feed screw 3 is driven by the front and rear feed servo motors 6 to drive the feed nut 7 to perform feeding movement through the spiral pair transmission mode, and drives the sliding platform 8 to perform feeding movement. The upper surface of the sliding platform 8 is provided with a lifting servo motor 9, and two-stage planetary reducers 10 are symmetrically provided on both sides of the lifting servo motor 9. The output end of the two-stage planetary reducer 10 is provided with a long coupling shaft. A cross commutator 12 is provided at one end of the long coupling 11, a short coupling 13 is provided at one end of the cross commutator 12, a screw elevator 14 is provided at one end of the short coupling 13, an electromagnetic clutch 15 is provided on the rear surface of the screw elevator 14, a screw elevator 14 is provided at one end of the electromagnetic clutch 15, a lifting servo motor 9 is a double-output shaft form, and the device arrangement on the entire sliding platform 8 is U-shaped. The electromagnetic clutch 15 uses a power-off suction friction plate type, and it is not suitable to use a tooth plate type to avoid the tooth plate type generating virtual constraints at the meshing teeth when it is sucked in, which is easy to disengage and cause setbacks. The interior of the cross commutator 12 is vertically converted by the motion direction of the bevel gear pair mechanism. The cross commutator 12 is based on Different directions of the shaft extension of the lifting servo motor 9 are set, and different bevel gear arrangement directions are selected to finally realize the synchronous lifting of four spiral elevators 14. The output ends of the spiral elevators 14 on both sides respectively pass through the two sides of the box body 16. The output ends of the two spiral elevators 14 are sleeved with a slidable thrust bearing assembly, and the two spiral elevators 14 are located on the front side of the upper surface of the box body 16. The outer sleeves of the two slidable thrust bearing assemblies are sleeved with a copper sleeve 18, and the copper sleeve 18 is arc-shaped. The output ends of the two spiral elevators 14 are sleeved with a fixed thrust bearing assembly 19, and the two spiral elevators 14 are located on the rear side of the upper surface of the box body 16. The fixed thrust bearing assembly 19 is fixedly arranged on the box body 16.The copper sleeve 18 is fixedly arranged on the housing 16, and the slidable thrust bearing assembly is arranged on the housing 16 through the copper sleeve 18 and can slide along the radial direction of the copper sleeve 18. The thrust spherical bearings used in pairs can make the axis of the step nut swing less than 3 degrees relative to the axis of the housing. When adjusting the pitch angle of the workpiece, the two electromagnetic clutches 15 are disconnected, and only the two screw elevators 14 connected to the cross commutator 12 can be lifted. The two screw elevators 14 are set as a lifting group, and the other two screw elevators 14 are self-locked and stay at the current height. The two screw elevators 14 are set as a retaining group. At this time, the housing 16 can be tilted according to the height difference between the step nuts in the lifting group and the retaining group to adjust the pitch angle. The pitch angle of the workpiece, when the heights of the step nuts of the lifting group and the holding group are the same, the length of the center of gravity connection line is fixed, when the heights of the step nuts of the lifting group and the holding group are not the same, the length of the center of gravity connection line is greater than the length when the heights are the same, and the slidable thrust bearing assembly slides along the radial direction of the copper sleeve 18, and a horizontal feed servo motor 206 is provided inside the box body 16, and a right-angle reducer 21 is provided at the output end of the horizontal feed servo motor 206, and an extension rod screw elevator 22 is provided at one end of the right-angle reducer 21, and a bearing seat 23 is provided at the output end of the extension rod screw elevator 22, and a horizontal feed nut 24 is sleeved on the screw of the extension rod screw elevator 22, and a slide 25 is provided on the upper surface of the horizontal feed nut 24 A flat motor 26 is provided in the middle of the lower surface of the slide 25, and the output end of the flat motor 26 runs through the slide 25, and a harmonic reducer 27 is provided at the output end of the flat motor 26, and the upper surface of the harmonic reducer 27 is rotatably connected to the lower surface of the car 28. The setting of the bearing seat 23 can facilitate the fixing of the extension rod screw elevator 22, which is convenient for the operation of the device. The setting of the right-angle reducer 21 can achieve the effect of deceleration. The speed of the output of the horizontal feed servo motor 206 is reduced by the action of the right-angle reducer 21, thereby weakening the power source after the output of the horizontal feed servo motor 206 to achieve the effect of deceleration. The horizontal feed nut 24 and the extension rod screw elevator 22 form a spiral pair, and the extension rod screw The rotary lift 22 is driven by the horizontal feed servo motor 206, and drives the horizontal feed nut 24 to perform feed motion through the spiral pair transmission mode, and drives the slide 25 to perform feed motion. The steel wheel of the harmonic reducer 27 is fixed on the upper surface of the car 28. The rigid wheel of the harmonic reducer 27 is provided with a flexible wheel inside, and the steel wheel of the harmonic reducer 27 is provided with a bearing outside. The flat motor 26 is connected to the wave generator of the harmonic reducer 27. The flat motor 26 drives the wave generator to make the flexible wheel drive the rigid wheel to rotate, and the steel wheel rotates in the bearing, thereby driving the car 28 to rotate, realizing the rotation of the car 28 and achieving the effect of fine-tuning. A roll servo motor 29 is provided on one side of the car 28, and a reducer 30 is provided at the output end of the roll servo motor 29.A rolling screw elevator 31 is provided at one end of the reducer 30, and the output end of the rolling screw elevator 31 passes through the interior of the car 28. The interior of the car 28 is symmetrically provided with roller assemblies 32. The upper surface of the car 28 is provided with an arc groove 52 used to match the clamping half ring 33. An inverted concave platform 53 is installed inside the arc groove 52, and the clamping half ring 33 is located above the inverted concave platform 53. The lower surface of the clamping half ring 33 is rollingly connected with the upper surfaces of the two roller assemblies 32. A rolling drive nut 34 is sleeved on the lead screw of the rolling screw elevator inside the car 28, and a rolling fork 35 is sleeved on the outer side of the rolling drive nut 34. The roll drive nut 34 is slidably connected with the roll fork 35, and the upper end of the roll fork 35 passes through the upper surface of the inverted concave frame 53, and the upper end of the roll fork 35 is connected to the inner side of the clamping half ring 33. The setting of the reducer 30 can achieve the deceleration effect. The output speed of the roll servo motor 29 is reduced by the reducer 30, so that the power source after the output of the roll servo motor 29 is weakened to achieve the deceleration effect. A rolling bearing is arranged between the roll fork 35 and the clamping half ring 33 inside the clamping half ring 33, so as to facilitate the clamping half ring 33 to perform its own rotation fine-tuning movement. Because the roll drive nut 34 is slidably connected with the roll fork 35, The rolling drive nut 34 and the rolling screw elevator form a spiral pair. The rolling screw elevator is driven by the rolling servo motor 29, and the rolling drive nut 34 is driven to move through the spiral pair transmission mode. The rolling drive nut 34 drives the rolling fork 35 to move together. The rolling fork 35 drives the clamping half ring 33 in the arc-shaped groove 52 on the car 28, and rolls under the action of the roller assembly 32. Clamping hands 36 are symmetrically provided at both ends of the upper surface of the clamping half ring 33, and the two clamping hands 36 are respectively hinged to the clamping half ring 33. Clamping cylinders 37 are symmetrically provided on both side surfaces of the clamping half ring 33, and the two clamping cylinders 37 are respectively hinged to the two side surfaces of the clamping half ring 33. One end of the two clamping cylinders 37 is hinged to the outer side of the two clamping hands 36 respectively. The arrangement of the clamping half ring 33 and the clamping hands 36 can facilitate the clamping of the workpiece by the device. The arrangement of the two clamping cylinders 37 can facilitate the fixation of the clamped workpiece, that is, the clamping half ring 33 and the two clamping hands 36 are fixed by the two clamping cylinders 37. The platform of the present invention does not require high adjustment accuracy, but requires load-bearing capacity, so the aforementioned spiral pairs all use self-locking trapezoidal screws, which are convenient for maintaining position and improving load rate when the machine is stopped. The present invention can realize the posture adjustment of the six degrees of freedom of the workpiece, and can quickly adjust the workpiece posture into place, with high efficiency, low labor intensity, and safe and reliable mechanism.

[0024] Specifically, linear guide rails 38 are symmetrically arranged on both sides of the upper surface of the fixed platform 1, and the fixed seat 2 is located between the two linear guide rails 38. Sliding members 39 are symmetrically arranged on both sides of the lower surface of the sliding platform 8. The two sliding members 39 are respectively matched with the two linear guide rails 38 for use, and the two sliding members 39 are respectively slidably connected with the two linear guide rails 38. The arrangement of the two linear guide rails 38 and the two sliding members 39 can facilitate the sliding platform 8 to feed and slide on the fixed platform 1. The two sliding members 39 can drive the sliding platform 8 to move on the two linear guide rails 38 and can slide along the movement direction of the feed nut 7. The box A slide rail 40 is symmetrically arranged on the bottom surface inside the box 16, and the flat motor 26 and the extension rod spiral elevator 22 are located between the two slide rails 40, and sliding parts 2 41 are symmetrically arranged on both sides of the lower surface of the slide 25, and the two sliding parts 2 41 are respectively matched with the two slide rails 40 for use, and the two sliding parts 2 41 are respectively slidably connected with the two slide rails 40, and the arrangement of the two slide rails 40 and the two sliding parts 2 41 can facilitate the slide 25 to feed and slide on the slide rail 40 inside the box body 16, and the two sliding parts 2 41 can drive the slide 25 to move on the two slide rails 40, and can slide along the movement direction of the horizontal feed nut 24.

[0025] Specifically, a reducer bracket 42 is provided between the coupling 4 and the planetary reducer 305, a reducer bracket 2 43 is provided at the output end of the two-stage planetary reducer 10, and the output end of the two-stage planetary reducer 10 passes through the reducer bracket 2 43, a right-angle reducer 21 bracket is provided between the right-angle reducer 21 and the extended rod spiral elevator 22, an elevator bracket 45 is mounted on the extended rod spiral elevator 22, a reducer bracket 3 46 is provided between the reducer 30 and the rolling spiral elevator, and the arrangement of the reducer bracket 42, the two reducer brackets 2, the reducer bracket 3 46, the right-angle reducer 21 bracket and the elevator bracket 45 can play a supporting and fixing effect.

[0026] Specifically, a number of load-bearing balls 47 are evenly distributed on both sides of the upper surface of the slide 25, and a number of the load-bearing balls 47 are located on both sides of the harmonic reducer 27. Wear-resistant gaskets 48 are provided on the upper surfaces of a number of the load-bearing balls 47. The wear-resistant gaskets 48 and the load-bearing balls 47 are for non-load-bearing purposes. In order to compensate for the deflection generated when the car 28 is subjected to the offset load of an irregular workpiece, a harder wear-resistant gasket 48 is used to prevent long-term wear from producing irregular grooves and pits that cause rotation jamming. The wear-resistant gasket 48 can protect the car 28, avoid damage to the original parts of the car 28, and extend the service life of the device.

[0027] Specifically, the two fixed thrust bearing assemblies 19 and the two slidable thrust bearing assemblies have the same structure. The fixed thrust bearing assembly 19 includes a step nut, which is sleeved on the output end of the spiral elevator. The outer sleeve of the step nut is provided with a thrust spherical bearing, and the outer sleeve of the thrust spherical bearing is provided with a shell. The step nut is used in conjunction with the spiral elevator. The step nut is provided with thrust spherical bearings on both sides of the axial step. The thrust spherical bearings and the step nut are arranged inside the shell together. The spiral elevator is installed together with the step nut. The step nut moves up and down along the spiral elevator, and at the same time drives the elevator car 28 to move up and down. The thrust spherical bearings used in pairs can make the axis of the step nut swing less than 3 degrees relative to the axis of the shell.

[0028] Specifically, cam follower limiters 49 are symmetrically provided on the front and rear surfaces of the car 28, and the upper end side surfaces of the cam follower limiters 49 are rollingly connected to the front and rear surfaces of the clamping half ring 33. The number of the cam follower limiters 49 is at least 4. The setting of the four cam follower limiters 49 can play a limiting role to prevent the clamping half ring 33 from rolling on the arc groove 52 of the car 28, resulting in insufficient stability and affecting the use effect of the device. The cam follower limiter 49 adopts an eccentric structure to make up for the errors caused by different processing accuracies. The rolling connection can facilitate the operation of the device. First, it can avoid the use of square parts to cause damage to parts when the device is used. Second, it can avoid the use of square parts to cause jamming when the device is used. By increasing the number of cam follower limiters 49, the support stability of the clamping half ring 33 when clamping the workpiece is enhanced, avoiding the use effect of the device being affected by excessive workpieces and uneven force.

[0029] Specifically, the front and rear surfaces of the rolling drive nut 34 are provided with protrusions 50, and the front and rear surfaces on the inner side of the rolling fork 35 are provided with sliding grooves 51 that match the protrusions 50. Since the protrusions 50 are slidingly connected with the sliding grooves 51, the rolling drive nut 34 is slidingly connected with the rolling fork 35. The setting of the protrusions 50 and the sliding grooves 51 can facilitate enhancing the connection stability between the drive nut and the rolling fork 35 and play a limiting function. The driving nut drives the sliding connection of the rolling fork 35. When the driving nut drives the rolling fork 35 to move, a slight position difference will occur between the rolling fork and the driving nut. This setting can facilitate the connection stability between the driving nut and the rolling fork 35 and enhance the use effect of the device.

[0030] Working principle: When the present invention is used, the front and rear feed servo motors 6 work to provide an output power source. The power source is reduced through the action of the planetary reducer 305 to reduce the output speed, thereby weakening the power source after the output of the front and rear feed servo motors 6 to achieve a deceleration effect. The weakened power source causes the feed screw 3 to rotate under the action of the coupling 4. The feed nut 7 and the feed screw 3 form a spiral pair. The feed screw 3 drives the feed nut 7 to perform feeding movement through the spiral pair transmission mode, and drives the sliding platform 8 to perform feeding movement. The linear slide rails 38 and the sliding member 39 play an auxiliary role. Under the action of the feed nut 7, the sliding member 39 drives the sliding platform 8 to move on the two linear slide rails 38, and can move along the feed. The nut 7 is slid in the moving direction to achieve horizontal forward and backward feed adjustment, and the lifting servo motor 9 works to provide output power source. The power source is reduced by the two-stage planetary reducer 10 to reduce the output speed, thereby weakening the power source after the lifting servo motor 9 outputs to achieve the deceleration effect. The weakened power source is transmitted in sequence through the long coupling 11, the cross commutator 12, the short coupling 13, the screw elevator 14, the electromagnetic clutch 15 and the screw elevator 14 to make the four screw elevators 14 work, and the four screw elevators 14 drive the box 16 to move up and down to achieve vertical up and down feed adjustment. When the pitch angle of the workpiece is adjusted, the two electromagnetic clutches 15 are disconnected and only connected to the cross commutator 12 The two screw elevators 14 can be lifted and lowered. The two screw elevators 14 are set as the lifting group, and the other two screw elevators 14 are self-locked and stay at the current height. The two screw elevators 14 are set as the holding group. At this time, the box 16 can be tilted according to the height difference of the step nuts in the lifting group and the holding group to adjust the pitch angle of the workpiece. When the step nuts of the lifting group and the holding group have the same height, the length of the center of gravity connection line is fixed. When the step nuts of the lifting group and the holding group are not the same height, the length of the center of gravity connection line is greater than the length when the height is the same. The slidable thrust bearing assembly slides along the radial direction of the copper sleeve 18 to realize the vertical pitch rotation feed adjustment. The horizontal feed servo motor 206 works to provide output The power source, the speed output by the horizontal feed servo motor 206 is reduced through the action of the right-angle reducer 21, so that the output speed is weakened, so as to achieve the deceleration effect. The weakened power source drives the extension rod screw elevator 22 to work, so that the horizontal feed nut 24 moves on the extension rod screw elevator 22. The horizontal feed nut 24 and the extension rod screw elevator 22 form a screw pair, which drives the horizontal feed nut 24 to feed through the screw pair transmission mode, and drives the slide 25 to feed. The slide rail 1 40 and the slide 2 41 play an auxiliary role. Under the action of the horizontal feed nut 24, the slide 2 41 drives the slide 25 to move on the two slide rails 1 40.And it can slide along the movement direction of the horizontal feed nut 24 to achieve horizontal left and right feed adjustment. The flat motor 26 works to provide a power source. The flat motor 26 is connected to the wave generator of the harmonic reducer 27. The flat motor 26 drives the wave generator to drive the flexible wheel to drive the rigid wheel to rotate, and the steel wheel rotates in the bearing, thereby driving the car 28 to rotate, so as to achieve the effect of fine-tuning and realize the horizontal yaw rotation feed adjustment. The roll servo motor 29 works to provide a power source. The output speed of the roll servo motor 29 is reduced by the reducer 30, so that the power source after the output of the roll feed servo motor 6 is weakened to achieve the deceleration effect. The weakened power source drives the roll screw elevator to work, so that The rolling drive nut 34 drives the rolling fork 35 to move, so that the rolling fork drives the clamping half ring 33 to roll on the roller assembly 32 inside the car 28. A rolling bearing is arranged between the rolling fork 35 inside the clamping half ring 33 and the clamping half ring 33, so as to facilitate the clamping half ring 33 to perform self-rotation fine-tuning movement, thereby realizing vertical rolling rotary feed adjustment. The driving nut drives the sliding connection of the rolling fork 35. When the driving nut drives the rolling fork 35 to move, there will be a slight position difference between the rolling fork and the driving nut. This arrangement can facilitate the connection stability of the driving nut and the rolling fork 35, and enhance the use effect of the device. Reducer bracket 1 42, two reducer brackets 2, reducer bracket 3 46, right-angle reducer 21 bracket and lifting The setting of the machine bracket 45 can play a supporting and fixing effect. The wear-resistant gasket 48 and the load-bearing ball 47 are non-load-bearing purposes. In order to compensate for the deflection caused by the offset load of the irregular workpiece when the car 28 is subjected to the irregular workpiece, a harder wear-resistant gasket 48 is used to prevent long-term wear from causing irregular grooves and pits to cause rotation jamming. The wear-resistant gasket 48 can protect the car 28, avoid damage to the original parts of the car 28, and extend the service life of the device. The step nut is used in conjunction with the spiral elevator. The step nut is provided with thrust spherical bearings on both sides of the axial step. The thrust spherical bearings and the step nut are arranged inside the shell together. The spiral elevator and the step nut are installed together. The step nut moves up and down along the spiral elevator, and at the same time drives the elevator car 28 to move up and down. The thrust spherical bearings used in pairs can make the axis of the step nut swing less than 3 degrees relative to the axis of the housing. The four cam follower limiters 49 can play a limiting role to prevent the clamping half ring 33 from rolling on the arc groove 52 of the car 28, resulting in insufficient stability and affecting the use effect of the device. The cam follower limiter 49 adopts an eccentric structure to make up for the errors caused by different processing accuracies. The rolling connection can facilitate the operation of the device. First, it can avoid the use of square parts to cause damage to parts when the device is used. Second, it can avoid the use of square parts to cause jamming when the device is used. By increasing the number of cam follower limiters 49, the support stability of the clamping half ring 33 when clamping the workpiece is enhanced to avoid the workpiece being too large.The uneven force affects the use effect of the device. The setting of the clamping half ring 33 and the clamping hand 36 can facilitate the clamping of the workpiece by the device. The setting of the two clamping cylinders 37 can facilitate the fixation of the clamped workpiece, that is, the clamping half ring 33 and the two clamping hands 36 are fixed by the two clamping cylinders 37. The platform of the present invention does not require high adjustment accuracy, but requires load-bearing capacity. Therefore, the aforementioned spiral pairs all use self-locking trapezoidal screws to facilitate maintaining position and increasing load rate when the machine is stopped. The present invention can realize the posture adjustment of the six degrees of freedom of the workpiece, and can quickly adjust the workpiece posture into place, with high efficiency, low labor intensity, and safe and reliable mechanism.

[0031] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom adjustment platform, comprising a fixed platform (1), characterized in that: The upper surface of the fixed platform (1) is provided with a fixed seat (2), a feed screw (3) is mounted on the fixed seat (2), one end of the feed screw (3) is provided with a coupling (4), one end of the coupling (4) is provided with a planetary reducer (5), one end of the planetary reducer (5) is connected to the output end of the front and rear feed servo motors (6), a feed nut (7) is sleeved on the feed screw (3), a sliding platform (8) is provided at the upper end of the feed nut (7), a lifting servo motor (9) is provided on the upper surface of the sliding platform (8), two-stage planetary reducers (10) are symmetrically provided on both sides of the lifting servo motor (9), and the output ends of the two-stage planetary reducers (10) are provided with long couplings. (11), a cross commutator (12) is provided at one end of the long coupling (11), a short coupling (13) is provided at one end of the short coupling (13), a screw elevator (14) is provided at one end of the short coupling (13), an electromagnetic clutch (15) is provided on the rear surface of the screw elevator (14), a screw elevator (14) is provided at one end of the electromagnetic clutch (15), the output ends of the screw elevators (14) on both sides respectively penetrate the two sides of the box (16), the output ends of the two screw elevators (14) are sleeved with slidable thrust bearing assemblies (17), and the two screw elevators (14) are located on the front side of the upper surface of the box (16), and the two slidable The outer sleeve of the dynamic thrust bearing assembly (17) is provided with a copper sleeve (18), and the copper sleeve (18) is arc-shaped. The output ends of the two spiral elevators (14) are provided with fixed thrust bearing assemblies (19), and the two spiral elevators (14) are located at the rear side of the upper surface of the box body (16). The interior of the box body (16) is provided with a horizontal feed servo motor (20), and the output end of the horizontal feed servo motor (20) is provided with a right-angle reducer (21). One end of the right-angle reducer (21) is provided with an extension rod spiral elevator (22), and the output end of the extension rod spiral elevator (22) is provided with a bearing seat (23). The screw of the extension rod spiral elevator (22) is provided with a horizontal feed nut (21). 4), a slide (25) is provided on the upper surface of the horizontal feed nut (24), a flat motor (26) is provided in the middle of the lower surface of the slide (25), the output end of the flat motor (26) passes through the slide (25), and a harmonic reducer (27) is provided at the output end of the flat motor (26), the upper surface of the harmonic reducer (27) is rotatably connected to the lower surface of the car (28), a rolling servo motor (29) is provided on one side of the car (28), a reducer 1 (30) is provided at the output end of the rolling servo motor (29), a rolling screw elevator (31) is provided at one end of the reducer 1 (30), and the output end of the rolling screw elevator (31) passes through the interior of the car (28),The interior of the car (28) is symmetrically provided with roller assemblies (32); a clamping half ring (33) is provided above the car (28); the lower surface of the clamping half ring (33) is rollingly connected to the upper surfaces of the two roller assemblies (32); a rolling drive nut (34) is sleeved on the lead screw of the rolling screw elevator (31) inside the car (28); a rolling fork (35) is sleeved on the outer side of the rolling drive nut (34); the upper end of the rolling fork (35) is in contact with the clamping half ring (33); The inner side of the clamping half ring (33) is connected, and grippers (36) are symmetrically provided at both ends of the upper surface of the clamping half ring (33), and the two grippers (36) are respectively hinged to the clamping half ring (33), and clamping cylinders (37) are symmetrically provided on both side surfaces of the clamping half ring (33), and the two clamping cylinders (37) are respectively hinged to the two side surfaces of the clamping half ring (33), and one end of the two clamping cylinders (37) is respectively hinged to the outer side surfaces of the two grippers (36); Linear slide rails (38) are symmetrically arranged on both sides of the upper surface of the fixed platform (1), and the fixed seat (2) is located between the two linear slide rails (38); sliding parts (39) are symmetrically arranged on both sides of the lower surface of the sliding platform (8); the two sliding parts (39) are matched with the two linear slide rails (38) respectively, and the two sliding parts (39) are slidably connected with the two linear slide rails (38) respectively; slide rails (40) are symmetrically arranged on the bottom surface inside the box body (16), and the flat motor (26) and the extension rod spiral elevator (22) are located between the two slide rails (40); sliding parts (41) are symmetrically arranged on both sides of the lower surface of the slide (25); the two sliding parts (41) are matched with the two slide rails (40) respectively, and the two sliding parts (41) are slidably connected with the two slide rails (40) respectively; A reducer bracket one (42) is provided between the coupling one (4) and the planetary reducer one (5); a reducer bracket two (43) is provided at the output end of the two-stage planetary reducer (10), and the output end of the two-stage planetary reducer (10) passes through the reducer bracket two (43); a right-angle reducer bracket (44) is provided between the right-angle reducer (21) and the extended rod spiral elevator (22); an elevator bracket (45) is mounted on the extended rod spiral elevator (22); and a reducer bracket three (46) is provided between the reducer one (30) and the rolling spiral elevator (31).

2. A six-degree-of-freedom adjustment platform according to claim 1, characterized in that: A plurality of bearing balls (47) are evenly distributed on both sides of the upper surface of the slide (25), and the plurality of bearing balls (47) are located on both sides of the harmonic reducer (27). Wear-resistant gaskets (48) are provided on the upper surfaces of the plurality of bearing balls (47).

3. The six-degree-of-freedom adjustment platform according to claim 1, characterized in that: The two fixed thrust bearing assemblies (19) and the two slidable thrust bearing assemblies (17) have the same structure. The fixed thrust bearing assembly (19) comprises a step nut, the step nut is sleeved on the output end of the screw elevator, the outer sleeve of the step nut is provided with a thrust spherical bearing, and the outer sleeve of the thrust spherical bearing is provided with a shell.

4. The six-degree-of-freedom adjustment platform according to claim 1, characterized in that: Cam follower limiters (49) are symmetrically provided on the front and rear surfaces of the car (28), and the upper end side surfaces of the cam follower limiters (49) are rollingly connected to the front and rear surfaces of the clamping half ring (33). The number of the cam follower limiters (49) is at least four.

5. The six-degree-of-freedom adjustment platform according to claim 1, characterized in that: The front and rear surfaces of the rolling drive nut (34) are provided with protrusions (50), and the front and rear surfaces inside the rolling fork (35) are provided with sliding grooves (51) that match the protrusions (50).

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