A six-degree-of-freedom adaptive displacement platform

Abstract

A six-degree-of-freedom adaptive displacement platform comprises an αγ elastic mechanism and a Z elastic mechanism installed on a base, a Z displacement mechanism and an αγ displacement mechanism installed on the Z elastic mechanism, a Zαγ displacement platform supported on the αγ displacement mechanism and the αγ elastic mechanism, and an XYβ displacement platform arranged above the Zαγ displacement platform through an XYβ elastic mechanism and an XYβ displacement mechanism, which is suitable for installing and fixing mechanical parts or fixtures and can withstand forces or moments within a certain range acting in all directions through the parts or fixtures; the Z displacement mechanism is combined with at least three groups of Z elastic mechanisms with the same structure uniformly distributed around the center of the base through a connecting piece, the αγ displacement mechanism is fixedly installed on the Z displacement mechanism and is located at the center of the three groups of Z elastic mechanisms; the XYβ elastic mechanism and the αγ elastic mechanism are both composed of at least three groups of parts with the same structure, and are uniformly arranged in a manner of surrounding the αγ displacement mechanism.

Description

Technical Field

[0001] The present invention relates to the fields of intelligent equipment, automated production and manufacturing, and in particular to a six-degree-of-freedom adaptive displacement platform. Background Art

[0002] In intelligent, automated manufacturing or production lines, there is often an automatic control process of assembling (docking) and disassembling (separating) two parts (such as A and B). The so-called parts can be parts, components, assemblies or mechanisms that are composed of devices by robots or tooling; or water or circuit connectors that are plugged in and out by robots; or high-power circuit components that are automatically plugged in or replaced by robots. The usual way to achieve the above process is to fix part A on a stable foundation or a tooling with high rigidity to keep it in a stable position or posture, and part B is rigidly clamped by a robot or a motion mechanism and can be kept in a stable position or posture. The automatic control system moves part B to a predetermined position to complete the docking or separation between parts A and B based on the part position reference and posture parameters that the two parts already have or are obtained through sensor detection. In practical applications, the completion of the above process usually requires certain conditions, for example, component A has a certain position or its position and posture can be determined by accurately measuring its shape; the shape structure of component B has a certain rigidity and can be accurately positioned and stably clamped by a robot or clamping mechanism; the sensing and measurement system has a certain precision detection capability for the position, positioning reference or shape of the component; the motion control system has a certain precision positioning and displacement control capability for the position and posture of component B, etc. The common purpose of these conditions is to make the position and posture of the two components during the assembly (docking) and disassembly (separation) process maintain a certain spatial coordinate function relationship relative to the same reference position. This functional relationship that is conducive to assembly (docking) and disassembly (separation) is called the orientation relationship, which is determined by the positioning of the fixing or clamping mechanism of components A and B. However, in specific applications, due to various constraints, such as component characteristics (shape structure, surface finish, dimensional consistency, rigidity, etc.); measurement and control system capabilities (sensor measurement accuracy, motion control resolution and accuracy, cost, etc.); environmental conditions (space size, foundation stability, temperature difference, vibration impact, etc.), etc., some conditions will be difficult to meet the requirements and cause certain positioning errors between components A and B. In some cases, even very small errors, such as micron-level or arc-second-level errors, will cause large interaction forces or torques between components A and B and the following situations will occur: During assembly or docking, although the guide parts of the structure between components A and B have been fitted, they will become stuck when pushing the more precise fitting parts together. If the pushing force is increased, it may cause jamming or damage to the components; during disassembly or separation, after component B is clamped or separated to a certain position, the positioning error between components A and B will cause the more precise fitting sections of the two to be squeezed and deformed, making it difficult to separate them smoothly. If the positioning clamping force is too large or separation is forced, it may cause damage to the components. Summary of the invention

[0003] The purpose of the present invention is to provide a six-degree-of-freedom adaptive displacement platform to address the deficiencies in the above-mentioned prior art, which can be used as a base or tooling platform for positioning and installing parts, and can be suitable for automatic control process of assembling (docking) and disassembling (separating) parts in certain intelligent, automated manufacturing or production lines.

[0004] The main design idea and purpose of the present invention are: in the automatic control process of assembling (docking) and disassembling (separating) operations of parts (such as A and B), a six-degree-of-freedom adaptive displacement platform is introduced as a fixed base or tooling of part A, and an elastic mechanism in the platform is used as an auxiliary support or steady-state constraint of the displacement mechanism, so that part A positioned on the platform or part B located on part A can have a stable position state. When a manipulator or a clamping mechanism is used to clamp part B to assemble (docking) and disassemble (separate) parts A and B, if there is a fixed or clamping positioning error between parts A and B, When an interaction force or torque that is not conducive to its assembly (docking) or disassembly (separation) is formed, the corresponding elastic mechanism in the six-degree-of-freedom displacement mechanism will be deformed due to the force through component A, that is, the elastic mechanism of the platform will passively produce corresponding elastic deformation according to the direction and magnitude of the external force to balance the action of the external force. Therefore, component A positioned on this platform will change to a new static equilibrium position or posture with the platform in an adaptive displacement manner and remain relatively stable, thereby reducing or eliminating the positioning error between components A and B, which is conducive to the smooth completion of the automatic control process of component assembly (docking) and disassembly (separation) operations.

[0005] The purpose of the present invention can be achieved by the following technical measures:

[0006] The six-degree-of-freedom adaptive displacement platform of the present invention comprises an αγ elastic mechanism and a Z elastic mechanism installed on a base, a Z displacement mechanism and an αγ displacement mechanism installed on the Z elastic mechanism, a Zαγ displacement platform supported on the αγ displacement mechanism and the αγ elastic mechanism, and an XYβ displacement platform which is arranged above the Zαγ displacement platform through an XYβ elastic mechanism and an XYβ displacement mechanism and is suitable for installing and fixing mechanical parts or fixtures and can withstand forces or moments acting within a certain range in all directions through the parts or fixtures; the Z displacement mechanism is combined with at least three groups of Z elastic mechanisms with the same structure uniformly distributed around the center of the base through a connecting piece, the αγ displacement mechanism is fixedly installed on the Z displacement mechanism and is located at the center of the three groups of Z elastic mechanisms; the XYβ elastic mechanism and the αγ elastic mechanism are both composed of at least three groups of parts with the same structure, and are uniformly arranged in a manner of surrounding the αγ displacement mechanism.

[0007] The elastic elements used in the XYβ elastic mechanism, αγ elastic mechanism and Z elastic mechanism of the present invention are springs, rubber rods and rubber rings made of metal or rubber materials, and may also be other suitable elastic elements made of composite materials.

[0008] The αγ displacement mechanism adopts a cross-axis universal joint, a spherical universal joint or a rigid universal joint of other structural forms; the αγ displacement mechanism and the Z displacement mechanism and the Zαγ displacement platform are fixedly installed between the upper and lower end surfaces of the Z displacement mechanism and the Zαγ displacement platform in a coaxial manner.

[0009] The Zαγ displacement platform and the XYβ displacement platform 1 located above the Zαγ displacement platform are combined through three groups of XYβ elastic mechanisms uniformly distributed around the periphery, and the Zαγ displacement platform and the XYβ displacement platform are kept in a constant positional relationship in the up-down direction through the XYβ displacement mechanism arranged between the upper end surface of the Zαγ displacement platform and the lower end surface of the XYβ displacement platform; the XYβ elastic mechanism is composed of a T-bolt and a hollow cylindrical elastic element with a toothed structure on the outer cylindrical surface made of rubber material and sleeved on the T-bolt; the T-bolt is inserted from bottom to top into the connecting hole processed on the Zαγ displacement platform and the XYβ displacement platform, the threaded end at the upper end is fixed in the countersunk hole processed on the XYβ displacement platform through the nut end, and the head at the lower end is pressed on the lower end surface of the Zαγ displacement platform through a ball embedded in an annular groove processed on the head ring plane, and the elastic element in the XYβ elastic mechanism constitutes an elastic constraint on the displacement of the Zαγ displacement platform and the XYβ displacement platform in a direction parallel to the end surface.

[0010] The αγ elastic mechanism is composed of a coil spring assembly and a leaf spring assembly. The coil spring assembly includes upper and lower ends respectively fixed to the lower end surface of the Zαγ displacement platform and the upper end surface of the base, and a coil spring located between the upper and lower ends. The coil spring is compressed to a certain amount and its two ends are constrained in the horizontal direction by the upper and lower ends. The leaf spring assembly includes a straight leaf spring and a bracket vertically installed on the Z displacement mechanism. The plane of the leaf spring is parallel to the lower end surface of the Zαγ displacement platform, one end is inserted into a V-shaped groove processed on the upper part of the bracket, and the other end is fixed to the root of the upper end of the αγ elastic mechanism. The leaf spring structure and installation mode enable the Zαγ displacement platform to have a higher rigidity in its plane direction but a lower rigidity in a direction perpendicular to the plane of the Zαγ displacement platform, so as to eliminate the instability of the coil spring in the αγ elastic mechanism in the horizontal direction, so that the αγ elastic mechanism and the αγ displacement mechanism can form a stable elastic support and constraint for the tilt displacement of the Zαγ displacement platform.

[0011] The Z elastic mechanism is composed of a bolt guide rod and an elastic element installed on the bolt guide rod; the lower end of the bolt guide rod is fixed to the base, the middle light rod part vertically passes through the Z displacement mechanism in a sliding fit manner, the elastic element is mounted on the bolt guide rod extending vertically upward to the top of the Z displacement mechanism, and is constrained by the nut at the uppermost end of the bolt guide rod; the αγ elastic mechanism puts the elastic element in the Z elastic mechanism in a certain amount of compression state through the Zαγ displacement platform, the αγ displacement mechanism, and the Z displacement mechanism, so that the Z displacement mechanism can form stable elastic support and constraint on the Zαγ displacement platform in the up and down directions.

[0012] The XYβ displacement mechanism is composed of a plurality of balls arranged between the Zαγ displacement platform and the XYβ displacement platform. The balls are dynamically fitted into a plurality of annular grooves machined around the center of the Zαγ displacement platform, and the diameter of the annular groove is slightly larger than the diameter of the ball, and the depth is smaller than the diameter of the ball.

[0013] Furthermore, the XYβ displacement platform, XYβ displacement mechanism, XYβ elastic mechanism, Zαγ displacement platform, αγ displacement mechanism, Z displacement mechanism, αγ elastic mechanism, Z elastic mechanism, and base without any driving elements constitute a mechanism that can passively realize six-degree-of-freedom displacement. The XYβ displacement platform located at the top layer is suitable for installing mechanical parts or parts fixtures, and can withstand certain forces or moments acting in all directions through the parts or fixtures; when the XYβ displacement platform is not subjected to external forces or moments, because its elastic mechanism uses elastic elements or materials as auxiliary supports or steady-state constraints for the displacement mechanism, each displacement mechanism can form a static balance and maintain a relatively stable position state, thereby making the top layer The XYβ displacement platform and the components fixed thereon can also be maintained in a stable position or posture relative to the base; when an external force or torque in any direction is applied to the XYβ displacement platform through the components, the elastic elements or materials in the corresponding displacement mechanism will be deformed due to the force, and the elastic mechanism in the platform passively produces corresponding elastic deformation according to the direction and magnitude of the external force to balance the external force, so that the XYβ displacement platform and the components fixed thereon change to a new static equilibrium position or posture in an adaptive displacement manner and remain relatively stable. When the external force or torque applied to the XYβ displacement platform is removed, the XYβ displacement platform can still return to its original position or posture to facilitate the operation of subsequent processes.

[0014] The elastic mechanism of the present invention adopts elastic elements or materials as auxiliary supports or steady-state constraints of the displacement mechanism, so that each displacement mechanism can form a static balance and maintain a relatively stable position state, so that the topmost XYβ displacement platform can also be maintained in a stable position or posture relative to the base; when an external force or torque in any direction is applied to the XYβ displacement platform, the elastic element or material in the corresponding displacement mechanism will be deformed due to the force, and passively produce corresponding elastic deformation according to the direction and magnitude of the external force to balance the effect of the external force, so that the XYβ displacement platform changes to a new static equilibrium position or posture in an adaptive displacement manner and remains relatively stable, and when the external force or torque applied to the XYβ displacement platform is removed, the XYβ displacement platform can still return to its original position or posture.

[0015] The XYβ displacement platform allows to be simultaneously applied with forces or moments in multiple directions and generate corresponding adaptive displacements; when the XYβ displacement platform is subjected to external forces or moments in a certain direction, the XYβ elastic mechanism can enable the XYβ displacement platform to achieve linear displacements in the X and Y directions and β deflection angular displacements within a certain range relative to the Zαγ displacement platform; the αγ elastic mechanism can enable the XYβ displacement platform to achieve α pitch and γ roll angular displacements within a certain range as the Zαγ displacement platform relative to the base; the Z elastic mechanism can enable the XYβ displacement platform 1 to achieve Z linear movement within a certain range as the Zαγ displacement platform relative to the base; the certain range refers to a safe limit range determined by certain design dimensions of each elastic mechanism, and is also within the elastic limit range of the elastic elements or materials in the elastic displacement mechanism.

[0016] The components or parts constituting the XYβ displacement platform, XYβ displacement mechanism, XYβ elastic mechanism, Zαγ platform, αγ displacement mechanism, Z displacement mechanism, αγ elastic mechanism, Z elastic mechanism and base adopt materials with certain mechanical strength and rigidity and can bear certain loads, except for the elastic elements and materials in the elastic mechanism. When an external force or torque within a certain range is applied to the XYβ displacement platform, the elastic deformation of the elastic elements or materials in the elastic mechanism of each displacement mechanism can form a new static equilibrium with the external force or torque and maintain a relatively stable position state. When the external force or torque is removed, the XYβ displacement platform can still return to its original position state.

[0017] The XYβ displacement platform, Zαγ displacement platform, Z displacement mechanism, and base arranged from top to bottom are all flat plates with a certain thickness and rigidity. The flat plates can be circular, rectangular, or other symmetrical shapes. The upper and lower end faces of the flat plates are parallel planes with a certain degree of parallelism. The XYβ displacement platform located on the top layer is suitable for installing mechanical parts or component fixtures.

[0018] The basic conditions required for the specific application of the present invention are: requiring the two components to have a certain rigidity and strength; there are certain restrictions on the adaptive displacement range of the six degrees of freedom, especially the displacement range of the α and γ degrees of freedom, and a larger adaptive displacement range will significantly increase the driving force required for assembling (docking) and disassembling (separating) the two components; in the process of assembling or docking, there are certain requirements for the positioning error between the two components, for example, requiring the guide part between the two assembled or docked components to be able to smoothly complete a certain degree of fit.

[0019] The above is to define the spatial relationship of the six displacement degrees of freedom X, Y, Z, α, β, and γ using a right-handed coordinate system, where the Z axis is vertically upward, and the directions along the X, Y, and Z axes are the X, Y, and Z linear displacement degrees of freedom respectively, and α, β, and γ are the pitch angle around the X axis, the yaw angle around the Z axis, and the roll angle around the Y axis, respectively.

[0020] The beneficial effects of the present invention are as follows:

[0021] In some intelligent, automated manufacturing or production lines, the automatic control process of assembling (docking) or disassembling (separating) two parts is involved. The six-degree-of-freedom adaptive displacement platform of the present invention is used as a base or tooling platform for positioning and installing the parts, and its six-degree-of-freedom adaptive displacement characteristics are utilized to reduce the strict requirements or costs of the process on various conditions of the automatic control system, improve the working efficiency of the system, and ensure that the parts and the system have a higher safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structural hierarchy principle of the present invention.

[0023] Figure 2 A schematic diagram of the composition structure of an embodiment provided by the present invention.

[0024] Figure 3 for Figure 2 A-direction view.

[0025] Figure 4 for Figure 3 Partial cross-sectional view of BB in.

[0026] Figure 5 Schematic diagram of the ball installation structure in the XYβ displacement mechanism 2.

[0027] Figure 6 This is the appearance diagram of the rubber ring of the special elastic element embodiment in the XYβ elastic mechanism 3.

[0028] Figure 7 for Figure 6 A-direction view.

[0029] Figure 8 for Figure 7 BB cross-sectional view.

[0030] Fig. 9 It is a schematic diagram of the end surface appearance of the leaf spring in the αγ elastic mechanism 7.

[0031] Fig.10 It is a schematic diagram of the combination mode of the leaf spring and the bracket in the αγ elastic mechanism 7. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with embodiments (attached drawings).

[0033] like Figure 1 , Figure 2 , 3 As shown, the six-degree-of-freedom adaptive displacement platform of the present invention includes an αγ elastic mechanism 7 and a Z elastic mechanism 8 installed on a base 9, a Z displacement mechanism 6 and an αγ displacement mechanism 5 installed on the Z elastic mechanism 8, a Zαγ displacement platform 4 supported on the αγ displacement mechanism 5 and the αγ elastic mechanism 7, and an XYβ displacement platform 1 which is arranged above the Zαγ displacement platform 4 through an XYβ elastic mechanism 3 and an XYβ displacement mechanism 2 and is suitable for installing and fixing mechanical parts or fixtures, and can withstand forces or moments acting within a certain range in all directions through the parts or fixtures; the Z displacement mechanism 6 is combined with three groups of Z elastic mechanisms 8 with the same structure uniformly distributed at 120° around the center of the base through a connecting piece, and the αγ displacement mechanism 5 is fixedly installed on the Z displacement mechanism 6 and is located at the center of the three groups of Z elastic mechanisms 8; the XYβ elastic mechanism 3 and the αγ elastic mechanism 7 are both composed of three groups of parts with the same structure uniformly distributed at 120°, and are uniformly arranged in a manner of surrounding the αγ displacement mechanism 5.

[0034] The XYβ displacement platform 1, Zαγ displacement platform 4, Z displacement mechanism 6 and base 9 are all circular flat plates with a certain thickness and rigidity, and the upper and lower end surfaces of the flat plates are parallel planes with a certain degree of parallelism.

[0035] The elastic elements used in the XYβ elastic mechanism 3, the αγ elastic mechanism 7 and the Z elastic mechanism 8 of the present invention are springs, rubber rods and rubber rings made of metal or rubber materials, and may also be other suitable elastic elements made of composite materials.

[0036] like Figure 4 As shown, the αγ displacement mechanism 5 adopts a cross-axis universal joint, a spherical universal joint or a rigid universal joint of other structural forms; the αγ displacement mechanism 5 and the Z displacement mechanism 6 and the Zαγ displacement platform 4 are fixedly installed between the upper and lower end surfaces of the Z displacement mechanism 6 and the Zαγ displacement platform 4 in a coaxial manner.

[0037] like Figure 3 , 4 As shown, the Zαγ displacement platform 4 and the XYβ displacement platform 1 located above the Zαγ displacement platform are combined by three groups of XYβ elastic mechanisms 3 uniformly distributed around the periphery at 120°, and the Zαγ displacement platform 4 and the XYβ displacement platform 1 are kept in a constant positional relationship in the vertical direction by the XYβ displacement mechanism 2 arranged between the upper end surface of the Zαγ displacement platform 4 and the lower end surface of the XYβ displacement platform 1; the XYβ elastic mechanism 3 is composed of a T-bolt and a hollow cylindrical elastic element with a toothed outer surface made of rubber material and sleeved on the T-bolt (see Figure 6 , 7 , 8); the T-bolt is installed from bottom to top in the connecting holes processed on the Zαγ displacement platform 4 and the XYβ displacement platform 1, the threaded end at the upper end is fixed in the countersunk hole processed on the XYβ displacement platform 1 through the nut end, and the head at the lower end is pressed on the lower end surface of the Zαγ displacement platform 4 through the ball embedded in the ring groove processed on the head ring plane, and the elastic element in the XYβ elastic mechanism 3 constitutes an elastic constraint on the displacement of the Zαγ displacement platform 4 and the XYβ displacement platform 1 in the direction parallel to the end surface.

[0038] Furthermore, the XYβ elastic mechanism 3 comprises: a T-bolt 3.1a, an elastic element 3.1b, a plurality of balls 3.1c, and a nut 3.1d; the threaded end of the bolt 3.1a is fixed to the upper end of the XYβ displacement platform 1 by a nut 3.1d; the elastic element 3.1b is an elastic rubber ring made of rubber material, which is tightly sleeved on the screw of the bolt 3.1a and is located in the upper and lower cylindrical grooves between the XYβ displacement platform 1 and the Zαγ displacement platform 4 and forms a close contact with the side wall of the groove; the ball 3.1c surrounds the screw once and most of it is sunk into the cylindrical groove on the inner end face of the T-bolt head; the XYβ displacement mechanism 2 arranged between the XYβ displacement platform 1 and the Zαγ displacement platform 4 is composed of two ball rings 2.1 and 2.2, each of which is composed of a plurality of evenly distributed and most of which are sunk into the The Zαγ displacement platform 4 is composed of balls in the cylindrical groove on the upper end surface. When the T-bolt end is tightened by the nut, the XYβ displacement platform 1 and the Zαγ displacement platform 4 are connected together through the XYβ elastic mechanism 3 and the XYβ displacement mechanism 2, so that there is a large rigidity between the XYβ displacement platform 1 and the Zαγ displacement platform 4 in the direction perpendicular to their end surfaces. However, the ball rings 2.1 and 2.2 of the XYβ displacement mechanism 2 and the balls in the XYβ elastic mechanism 3 can enable the XYβ displacement platform 1 to generate X, Y linear displacement and β yaw angular displacement relative to the Zαγ displacement platform 4. Its displacement is constrained by the elastic element in the XYβ elastic mechanism 3 and can form a relatively stable state. The displacement amount is limited by the size of the circumferential gap in the horizontal direction between the screw in the XYβ elastic mechanism 3 and the lower end surface of the Zαγ displacement platform 4.

[0039] like Figure 3 , 4 As shown, the αγ elastic mechanism 7 is composed of a coil spring assembly and a leaf spring assembly (see Fig. 9 The coil spring assembly includes upper and lower ends respectively fixed to the lower end surface of the Zαγ displacement platform 4 and the upper end surface of the base 9 and a coil spring located between the upper and lower ends. The coil spring is compressed to a certain amount and its two ends are constrained in the horizontal direction by the upper and lower ends. The leaf spring assembly includes a straight leaf spring and a bracket vertically mounted on the Z displacement mechanism 6. The plane of the leaf spring is parallel to the lower end surface of the Zαγ displacement platform 4, and one end is inserted into a V-shaped groove processed on the upper part of the bracket (see Fig.10 ), and the other end is fixed to the root of the upper end of the αγ elastic mechanism 7; the leaf spring structure and the installation mode make the Zαγ displacement platform 4 have a higher stiffness in its plane direction but a lower stiffness in the direction perpendicular to the plane of the Zαγ displacement platform 4, so as to eliminate the instability of the spiral spring in the αγ elastic mechanism 7 in the horizontal direction, so that the αγ elastic mechanism 7 and the αγ displacement mechanism 5 can form a stable elastic support and constraint for the tilt displacement of the Zαγ displacement platform 4.

[0040] More specifically, the αγ elastic mechanism 7 includes: an upper end 7.1a, a lower end 7.1b, a coil spring 7.1c, an adjusting screw 7.1d, a circular top plate 7.1e, a leaf spring 7.1f, and a bracket 7.1g; the upper end 7.1a and the lower end 7.1b are respectively fixed to the lower end surface of the Zαγ displacement platform 4 and the upper end surface of the base 9, leaving a certain distance between the upper and lower ends and placing a compressed coil spring 7.1c in the corresponding upper and lower cylindrical grooves, and a circular top plate 7.1e and an adjusting screw 7.1d for adjusting the compression amount of the coil spring 7.1c are arranged in the lower end 7.1b, which has two functions: one is to keep the αγ elastic mechanism 7 and the Z elastic mechanism 8 in a certain equilibrium position by adjusting the compression amount of the coil spring, and the other is to keep the Zαγ displacement platform 4 in a horizontal state when not subjected to external force. A leaf spring 7.1f is fixed to the inner side of the root of the upper end 7.1a, and the other end of the leaf spring 7.1f is inserted into the V-shaped groove of the bracket 7.1g and forms a stable close contact with the bottom of the V-shaped groove. The bracket 7.1g is fixed to the upper end surface of the Z displacement mechanism 6. The plate surface of the leaf spring 7.1f and the lower end surface of the Zαγ displacement platform 4 are parallel. The special design of the thickness and width ratio of the leaf spring 7.1f enables it to withstand a large horizontal compression force, but its bending resistance in the vertical end surface direction is very weak. Under the joint action of the three groups of leaf springs, When one or two leaf springs are subjected to horizontal pressure, their ends collide with the bottom of the V-groove of the bracket and become rigidly constrained, which can form a torque balance with the X and Y directions of the forces with the αγ displacement mechanism 5 as the axis and parallel to the plane of the Zαγ displacement platform 4; when the leaf spring is bent by a force in the direction perpendicular to the end face, its end can naturally separate from the bottom of the V-groove of the bracket and become a flexible free state, which has basically no effect on the torque formed by the force with the αγ displacement mechanism 5 as the axis and perpendicular to the plane of the Zαγ displacement platform 4.The cross-axis universal joint of the αγ displacement mechanism 5 is a mature technology. The upper yoke 5.1 is fixed at the center of the bottom end surface of the Zαγ displacement platform 4, and the lower yoke 5.2 is fixed at the center of the upper end surface of the Z displacement mechanism 6. The upper and lower yokes form a constant spatial rotation axis center through the cross axis 5.3. The above structural mode enables the αγ displacement mechanism 5 to have the ability to make α and γ angular displacements with the rotation axis center, but is constrained by the high rigidity of the cross-axis universal joint in the β yaw angle displacement and Z linear displacement. In other words, the αγ elastic mechanism 7 and the αγ displacement mechanism 5 have high rigidity in the X, Y, Z, and β degrees of freedom, so that the Zαγ displacement platform 4 has high rigidity and stability in the X, Y, Z, and β directions; the αγ elastic mechanism 7 is set in the The relatively stable characteristics of the coil spring after being compressed can enable the XYβ displacement platform 1 to form a stable elastic support and constraint in the α pitch and γ roll angular displacement directions along with the Zαγ displacement platform 4 relative to the Z displacement mechanism 6. When the XYβ displacement platform 1 is subjected to the torque of α pitch or γ roll, it can produce α pitch or γ roll angular displacement along with the Zαγ displacement platform 4, and when the Z displacement mechanism 6 produces a displacement change in the Z direction, the change in the compression amount of the coil spring in the αγ elastic mechanism 7 can still satisfy the need for the XYβ displacement platform 1 to produce α pitch or γ roll angular displacement along with the Zαγ displacement platform 4 when subjected to the torque of α pitch or γ roll. The maximum angular displacements of α and γ are limited by the distance between the upper and lower ends of the αγ elastic mechanism 7.

[0041] like Figure 2 , 3 As shown in Figure 4, the Z elastic mechanism 8 is composed of a bolt guide rod and an elastic element installed on the bolt guide rod; the lower end of the bolt guide rod is fixed to the base 9, and the middle light rod part vertically passes through the Z displacement mechanism 6 in a sliding fit manner, and the elastic element is mounted on the bolt guide rod extending vertically upward to the top of the Z displacement mechanism and is constrained by the nut at the uppermost end of the bolt guide rod; the αγ elastic mechanism 7 makes the elastic element in the Z elastic mechanism 8 in a certain amount of compression state through the Zαγ displacement platform 4, the αγ displacement mechanism 5, and the Z displacement mechanism 6, so that the Z displacement mechanism 6 can form a stable elastic support and constraint on the Zαγ displacement platform 4 in the up and down directions.

[0042] Furthermore, the αγ elastic mechanism 7 makes the coil spring in the Z elastic mechanism 8 in a certain amount of compression state through the Zαγ displacement platform 4, the αγ displacement mechanism 5, and the Z displacement mechanism 6, and makes the Z displacement mechanism 6 form a relatively stable elastic support and constraint on the Zαγ displacement platform 4 in the Z direction. Take the first group of the Z elastic mechanism 8 as an example, where 8.1a is a coil spring, 8.1b is a bolt guide rod, and 8.1c is a pressure head nut. The lower end of the guide rod 8.1b is fixed to the base 9, and the middle light rod part passes through the Z displacement mechanism 6 in a sliding fit. The pressure head nut 8.1c is screwed on the thread of the end to press the coil spring 8.1a on the upper part of the screw rod onto the upper end surface of the Z displacement mechanism 6; when the αγ elastic mechanism 7 makes the coil spring in the Z elastic mechanism 8 in a certain amount of compression state through the Zαγ displacement platform 4, the αγ displacement mechanism 5, and the Z displacement mechanism 6, the Z displacement mechanism 6 is in the three groups of Z elastic mechanisms 8. Under the support of the guide rod, a certain distance is retained between its lower end face and the bottom end of the guide rod, leaving a certain downward displacement space for the Z displacement mechanism 6, and a certain upward displacement space is left for it by the coil spring whose upper end face is compressed appropriately. The above-mentioned structural mode enables the Z displacement mechanism 6 to form a relatively stable elastic support and constraint on the XYβ displacement platform 1 in the Z direction through the Zαγ displacement platform 4. The maximum upward displacement is limited by the compressible distance of the coil spring in the Z elastic mechanism 8, and the maximum downward displacement is doubly limited by the distance between the lower end face of the Z displacement mechanism 6 and the bottom end of the guide rod and the distance between the upper and lower ends in the αγ elastic mechanism 7.

[0043] like Figure 4 , 5 As shown, the XYβ displacement mechanism 2 is composed of a plurality of balls 2.2 arranged between the Zαγ displacement platform 4 and the XYβ displacement platform 1. The balls are dynamically fitted into a plurality of annular grooves 2.1 processed around the center of the Zαγ displacement platform, and the diameter of the annular groove is slightly larger than the diameter of the ball, and the depth is smaller than the diameter of the ball.

Claims

1. A six-degree-of-freedom adaptive displacement platform, characterized in that: It comprises an αγ elastic mechanism and a Z elastic mechanism installed on a base, a Z displacement mechanism and an αγ displacement mechanism installed on the Z elastic mechanism, a Zαγ displacement platform supported on the αγ displacement mechanism and the αγ elastic mechanism, and an XYβ displacement platform arranged above the Zαγ displacement platform through an XYβ elastic mechanism and an XYβ displacement mechanism, which is suitable for installing and fixing mechanical parts or fixtures and can withstand forces or torques within a certain range in all directions through the parts or fixtures; the Z displacement mechanism is combined with at least three groups of Z elastic mechanisms with the same structure uniformly distributed around the center of the base through a connecting piece, the αγ displacement mechanism is fixedly installed on the Z displacement mechanism and is located at the center of the three groups of Z elastic mechanisms; the XYβ elastic mechanism and the αγ elastic mechanism are both composed of at least three groups of parts with the same structure, and are uniformly arranged in a manner of surrounding the αγ displacement mechanism; the αγ elastic mechanism is composed of a spiral spring assembly and a leaf spring assembly, the coil spring assembly includes upper and lower ends respectively fixed to the lower end surface of the Zαγ displacement platform and the upper end surface of the base and a coil spring located between the upper and lower ends, the coil spring is compressed to a certain amount and both ends are constrained in the horizontal direction by the upper and lower ends; the leaf spring assembly includes a straight leaf spring and a bracket vertically installed on the Z displacement mechanism, the leaf spring plane is parallel to the lower end surface of the Zαγ displacement platform, one end is inserted into a V-shaped groove processed on the upper part of the bracket, and the other end is fixed to the root of the upper end of the αγ elastic mechanism; the above-mentioned leaf spring assembly and installation mode enable the Zαγ displacement platform to have a higher stiffness in its plane direction but a lower stiffness in a direction perpendicular to the plane of the Zαγ displacement platform, so as to eliminate the instability of the coil spring in the αγ elastic mechanism in the horizontal direction, so that the αγ elastic mechanism and the αγ displacement mechanism can form a stable elastic support and constraint for the tilt displacement of the Zαγ displacement platform.

2. The six-degree-of-freedom adaptive displacement platform according to claim 1, characterized in that: The elastic elements used in the XYβ elastic mechanism, the αγ elastic mechanism and the Z elastic mechanism are springs, rubber rods and rubber rings made of metal or rubber materials.

3. The six-degree-of-freedom adaptive displacement platform according to claim 1, characterized in that: The αγ displacement mechanism adopts a cross-axis universal joint, a spherical universal joint or a rigid universal joint of other structural forms; the αγ displacement mechanism is fixedly installed between the upper and lower end surfaces of the Z displacement mechanism and the Zαγ displacement platform in a coaxial manner with the Z displacement mechanism and the Zαγ displacement platform.

4. The six-degree-of-freedom adaptive displacement platform according to claim 1, characterized in that: The Zαγ displacement platform and the XYβ displacement platform located above the Zαγ displacement platform are combined through three groups of XYβ elastic mechanisms uniformly distributed around the periphery, and the Zαγ displacement platform and the XYβ displacement platform are kept in a constant positional relationship in the up-down direction through the XYβ displacement mechanism arranged between the upper end surface of the Zαγ displacement platform and the lower end surface of the XYβ displacement platform; the XYβ elastic mechanism is composed of a T-bolt and a hollow cylindrical elastic element with a toothed structure on the outer circumferential surface made of rubber material and sleeved on the T-bolt; the T-bolt is inserted from bottom to top into the connecting hole processed on the Zαγ displacement platform and the XYβ displacement platform, the threaded end at the upper end is fixed in the countersunk hole processed on the XYβ displacement platform through the nut end, and the head at the lower end is pressed on the lower end surface of the Zαγ displacement platform through a ball embedded in an annular groove processed on the head ring plane, and the elastic element in the XYβ elastic mechanism constitutes an elastic constraint on the displacement of the Zαγ displacement platform and the XYβ displacement platform in a direction parallel to the end surface.

5. The six-degree-of-freedom adaptive displacement platform according to claim 1, characterized in that: The Z elastic mechanism consists of a bolt guide rod and an elastic element installed on the bolt guide rod; the lower end of the bolt guide rod is fixed to the base, the middle light rod part vertically passes through the Z displacement mechanism in a sliding fit manner, and the elastic element is mounted on the bolt guide rod extending vertically upward to the top of the Z displacement mechanism and is constrained by the nut at the uppermost end of the bolt guide rod.

6. The six-degree-of-freedom adaptive displacement platform according to claim 1, characterized in that: The XYβ displacement mechanism is composed of a plurality of balls arranged between the Zαγ displacement platform and the XYβ displacement platform. The balls are filled in a plurality of annular grooves processed around the center of the Zαγ displacement platform in a dynamic fit manner; the diameter of the annular groove is larger than the diameter of the ball and the depth is smaller than the diameter of the ball.

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