Six-dimensional motion parallel mechanism and scientific precision instrument facilities

Abstract

The present invention provides a six-dimensional motion parallel mechanism and a scientific precision instrument facility, wherein the six-dimensional motion parallel mechanism comprises: a motion platform, a support platform, a plurality of parallel posture adjustment mechanisms and a plurality of parallel posture adjustment support mechanisms, the motion platform is arranged above the support platform; the parallel posture adjustment mechanism comprises a double-acting connector and two universal connectors, one universal connector is rotatably connected to the motion platform, and the other universal connector is rotatably connected to the support platform, and the double-acting connector is connected and can adjust the distance between the two universal connectors; the parallel posture adjustment support mechanism comprises a support rod and a support base, the support rod is protruding from the motion platform, the support base is arranged on the support platform, the support rod can adjust the protruding length and abuts against the support base, and the support base is used to limit the support rod; the six-dimensional motion parallel mechanism has a simple structure, flexible adjustment, convenient installation, stable operation, safety and efficiency, and broad application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of scientific precision instruments and facilities, and more particularly to a six-dimensional motion parallel mechanism and a scientific precision instrument and facility. Background Art

[0002] With the rapid development of science and technology, the steady improvement of scientific research capabilities and the continuous upgrading of scientific and technological means, the requirements for the multi-dimensional flexible motion adjustment and long-term relative stability of various precision instruments and facilities in the construction and operation commissioning of major scientific infrastructure are becoming increasingly stringent, especially for various large-scale scientific precision instruments and facilities. How to ensure that major scientific precision instruments and facilities not only have a certain degree of adjustment flexibility during operation and maintenance, but also maintain the relative stability of the corresponding posture of the instrument itself within a certain period of time has become a key topic in the research field of major scientific infrastructure construction. Although most of the relevant major scientific precision instruments have a large volume or mass, their requirements for the flexibility of spatial motion adjustment have not decreased but increased, and their dynamic motion adjustment process has also become relatively complex. Normally, the posture adjustment of major scientific precision instruments and facilities only depends on their own structure, such as installing adjustable feet to change the height of the feet that are in direct contact with the foundation to achieve posture adjustment; or separately building functional processing units such as seismic isolation, noise reduction, fire prevention, waterproofing, and corrosion resistance before contacting the platform; or using a double-sided adjustment plate in combination with threaded lifting, the two work together to achieve multi-dimensional adjustment; or considering a six-dimensional adjustment method, most of them use a six-bar parallel mechanism to form 12 joints or more to facilitate the realization of spatial motion adjustment.

[0003] However, most of the above methods have disadvantages in stability, safety and operability. Specifically, the foot adjustment method is difficult to operate, inconvenient and unreliable. While the combination of double-sided adjustment plates and threaded lifting can achieve multi-dimensional adjustment, its load-bearing capacity is very limited and the stability of the system is relatively weak. Furthermore, devices similar to the six-bar parallel mechanism take into account the six-dimensional adjustment method, but form a joint mechanism with 12 joints or more. Although the posture adjustment joint mechanism can meet the needs of flexible adjustment, the joints affect each other, the system adjustment difficulty coefficient is high, and the stability and operational safety are also poor.

[0004] In summary, for traditional adjustment mechanisms, their platforms have relatively simple functions. They either lack the flexibility of adjustment freedom and are limited to motion adjustment of a single degree of freedom, or their posture state cannot remain stable for a long time. Their reliability and operability cannot meet the needs of scientific facilities such as large-scale precision instruments.

[0005] At the same time, scientific precision instruments and facilities must maintain their posture within a certain accuracy range during their operation cycle to ensure normal, high-precision and stable operation. Failure to do so could result in irreversible destructive consequences and even major accidents. Therefore, for the construction and operation of major scientific precision instruments and facilities, research on devices that enable them to achieve flexibility in spatial motion adjustment and relative stability within stages is imperative. Summary of the Invention

[0006] The purpose of the present invention is to provide a six-dimensional motion parallel mechanism and scientific precision instrument facilities to solve the technical problems existing in the prior art of the scientific precision instrument's adjustment mechanism having a single function, low degree of freedom and flexibility, and poor stability, reliability and operability.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] In a first aspect, a six-dimensional motion parallel mechanism is provided, comprising:

[0009] A motion platform, a support platform, a plurality of parallel posture adjustment mechanisms, and a plurality of parallel posture adjustment support mechanisms, wherein the motion platform is disposed above the support platform, at least two of the parallel posture adjustment mechanisms are spaced apart and respectively arranged on two opposite sides between the motion platform and the support platform, and at least two of the parallel posture adjustment support mechanisms are spaced apart and respectively arranged on another opposite side between the motion platform and the support platform;

[0010] The parallel posture adjustment mechanism includes a double-acting connector and two universal connectors, wherein one of the universal connectors is rotatably connected to the motion platform, and the other universal connector is rotatably connected to the support platform, and the double-acting connector is connected and can adjust the distance between the two universal connectors;

[0011] The parallel posture adjustment support mechanism includes a support rod and a support base. The support rod is protruded on the motion platform, and the support base is arranged on the support platform. The support rod can adjust the protruding length and rest on the support base. The support base is used to limit the support rod.

[0012] By adopting the above technical solution, compared to a six-bar parallel mechanism, the six-dimensional motion parallel mechanism of the present application no longer requires the coordinated operation of six rods for any single degree of freedom. Instead, the parallel attitude adjustment support mechanism design separates the motion of the motion platform and the support platform, thereby reducing the number of joints and increasing adjustment flexibility, forming two sets of mutually independent adjustment mechanisms. Specifically, the parallel attitude adjustment joint mechanism controls adjustment in three dimensions: horizontal x, horizontal y, and yaw, while the parallel attitude adjustment support mechanism controls adjustment in three dimensions: vertical z, roll, and pitch. These mechanisms eliminate mutual interference, reducing the number of joints and increasing adjustment flexibility. Furthermore, by cleverly utilizing gravity to compensate for the lack of constraints, the distance between the motion platform and the support platform can be significantly shortened, thereby lowering the center of gravity and improving stability. In other words, only the parallel attitude adjustment joint mechanism, in conjunction with the parallel attitude adjustment support mechanism, is required to complete all six-dimensional posture adjustment, utilizing gravity to lock the degrees of freedom and maintain relative stability over the long term. As a passive support and adjustment device, the six-dimensional motion parallel mechanism has a simple structure, flexible adjustment, convenient installation, stable operation, safety and efficiency, and broad application prospects.

[0013] In one embodiment, the six-dimensional motion parallel mechanism includes three parallel attitude adjustment mechanisms, one of which is located in the middle between the motion platform and the support platform, and the other two parallel attitude adjustment mechanisms are respectively located on both sides between the motion platform and the support platform.

[0014] In one embodiment, the six-dimensional motion parallel mechanism includes three parallel posture adjustment support mechanisms, and any two adjacent parallel posture adjustment support mechanisms are arranged relatively between the motion platform and the support platform.

[0015] In one embodiment, the six-dimensional motion parallel mechanism further includes a plurality of parallel posture adjustment support auxiliary mechanisms, and the parallel posture adjustment support auxiliary mechanisms and the parallel posture adjustment support mechanisms are alternately arranged between the motion platform and the support platform.

[0016] In one embodiment, the six-dimensional motion parallel mechanism further includes a posture adjustment safety interlock mechanism, which includes a safety rod connecting the motion platform and the support platform for adjusting the distance between the motion platform and the support platform.

[0017] In one embodiment, the universal connector includes a spherical connector and a ball end, one of the ball ends is arranged on the motion platform, and the corresponding spherical connector universal sleeve is arranged on the ball end, and the other ball end is fixed on the support platform, and the corresponding spherical connector universal sleeve is arranged on the ball end; the double-acting connector includes a double-acting differential adjustment screw and two double-acting differential adjustment nuts respectively threadedly connected to the two ends of the double-acting differential adjustment screw, and the double-acting differential adjustment nuts are fixedly connected to the corresponding spherical connector; wherein the threads at the two ends of the double-acting differential adjustment screw are opposite, and when the double-acting differential adjustment screw is rotated, the two double-acting differential adjustment nuts are respectively moved in opposite directions along the axial direction of the double-acting differential adjustment screw, thereby driving the two spherical connectors to move in opposite directions.

[0018] In one embodiment, the support rod is a support screw, and the edge of the support base is provided with a protrusion to form a support limit groove. The support screw is threadedly connected to the moving platform, and the abutting end of the support screw is abutted and cooperated with the support limit groove. The projected area of ​​the abutting end of the support screw on the bottom of the support limit groove is larger than the bottom of the support limit groove, so that the abutting end can move along the bottom of the support limit groove.

[0019] In one embodiment, the support platform is provided with a plurality of base retaining concave slots, a plurality of limiting top screws are arranged around the base retaining concave slots, the support base is arranged in the base retaining concave slots, and abuts against the limiting top screws.

[0020] In one embodiment, the safety rod is a safety screw, and the safety screw is provided with safety nuts for respectively abutting against the motion platform and the support platform.

[0021] In a second aspect, a scientific precision instrument facility is provided, comprising a scientific precision instrument and the above-mentioned six-dimensional motion parallel mechanism, wherein the scientific precision instrument is fixed on the six-dimensional motion parallel mechanism.

[0022] The scientific precision instrument facilities provided in this embodiment have the following advantages:

[0023] 1. This embodiment offers high degrees of adjustment freedom, excellent stability, and a wide range of application platforms. The six-dimensional kinematic parallel mechanism enables six-dimensional motion control and is widely applicable to large scientific precision instruments operating under complex dynamic conditions and in different directions. The split design not only reduces the number of joints and increases adjustment flexibility, but also shortens the distance between the motion platform and the support platform, effectively lowering the center of gravity and improving stability.

[0024] 2. This embodiment has a simple structure, is easy to process, safe and stable to operate, and has strong reliability. This embodiment only utilizes three sets of parallel attitude adjustment joint mechanism movements to satisfy the (horizontal direction x, horizontal direction y, yaw angle Yaw) attitude adjustment, and cooperates with the parallel attitude adjustment support mechanism to realize the (vertical direction z, roll angle Roll, pitch angle Pitch) attitude state adjustment of the motion platform relative to the support platform. Under gravity conditions, the lack of constraints caused by the separate design of the motion platform and the support platform is compensated, and the use of the parallel attitude adjustment support auxiliary mechanism and the safety interlocking mechanism attitude adjustment safety interlocking mechanism can ensure the safety of the operation and stably realize the entire dynamic adjustment process. After all the attitude adjustments are completed, after the reinforcement of the parallel attitude adjustment support auxiliary mechanism and the safety interlocking mechanism, it can maintain relative stability for a long time, improve the safety factor, and ensure the stable operation of the device. The parallel attitude adjustment mechanism, the parallel support auxiliary mechanism and the safety interlocking mechanism are independent of each other, easy to adjust, and do not affect each other.

[0025] 3. This embodiment is easy to adjust, replace, improve and expand its functions. It can be applied to large scientific precision instruments with different indicators. By replacing the motion platform and the support platform, adjusting the spacing and height of the motion platform and the support platform, and directly replacing the parallel attitude adjustment mechanism, the parallel attitude adjustment support mechanism, the parallel attitude adjustment support auxiliary mechanism and the attitude adjustment safety interlock mechanism, it is possible to achieve the expansion of the effective adjustment platform capability. Specifically, further high-precision adjustment problems can be achieved by changing or replacing the double-acting connector and the support rod structure, and a steady transition of posture and fine precision adjustment can be achieved. The need for adjusting different motion trajectories can be met by adding or changing the positioning points, and the need for high-intensity operations in different environments can be met by adding or changing the support rod or platform material. Other auxiliary facilities can be combined and used in conjunction according to different environmental requirements. In view of the different physical properties of large scientific precision instruments and the different dynamic environments in which they are located, the present invention can be further combined and used according to actual engineering needs, and can also be arranged continuously.

[0026] 4. This embodiment works reliably and stably and does not require external energy supply. Other auxiliary support devices can be flexibly selected according to actual working conditions to ensure the normal operation of the system while expanding additional functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 is a three-dimensional structural diagram of a six-dimensional motion parallel mechanism provided by an embodiment of the present invention;

[0029] Figure 2 This is an exploded view of a six-dimensional motion parallel mechanism provided by an embodiment of the present invention from one perspective;

[0030] Figure 3 is an exploded view from another perspective of the six-dimensional motion parallel mechanism provided by an embodiment of the present invention;

[0031] Figure 4 3D diagram of the parallel posture adjustment mechanism provided by an embodiment of the present invention;

[0032] Figure 5 yes Figure 2 An enlarged view of the “A” of FIG.

[0033] Figure 6 yes Figure 2 An enlarged view of point "B" of FIG.

[0034] Figure 7 yes Figure 2 An enlarged view of point "C".

[0035] The reference numerals in the figures are:

[0036] 1. Motion platform; 2. Support platform; 3. Parallel posture adjustment mechanism; 4. Parallel posture adjustment support mechanism; 5. Parallel posture adjustment support auxiliary mechanism; 6. Posture adjustment safety interlock mechanism;

[0037] 11. Reinforced threaded plate; 12. Outer rigid plate; 13. Inner rigid plate; 21. Base retaining concave slot; 22. Limiting screw; 31. Double-acting connector; 32. Universal connector; 33. Support column; 34. Platform extension connector; 41. Support rod; 42. Support base; 61. Safety rod; 62. Safety nut;

[0038] 321. Spherical connector; 322. Ball end; 311. Double-acting differential adjustment screw; 312. Double-acting differential adjustment nut; 421. Support limit groove; 411. Limit nut. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or the number of technical features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0043] like Figures 1 to 3 As shown, a six-dimensional motion parallel mechanism provided by an embodiment of the present invention can easily realize six-dimensional free adjustment of scientific precision instruments connected to the six-dimensional motion parallel mechanism and has stable maintenance capability; the following is an explanation through specific implementation methods:

[0044] The six-dimensional motion parallel mechanism of this embodiment includes:

[0045] A motion platform 1, a support platform 2, a plurality of parallel posture adjustment mechanisms 3, and a plurality of parallel posture adjustment support mechanisms 4. The motion platform 1 is arranged above the support platform 2. At least two parallel posture adjustment mechanisms 3 are spaced apart and arranged on two opposite sides of the motion platform 1 and the support platform 2. At least two parallel posture adjustment support mechanisms 4 are spaced apart and arranged on the other opposite sides of the motion platform 1 and the support platform 2. It can be understood that the motion platform 1 is used to connect and carry scientific precision instruments, the support platform 2 is used to be placed in a test site, and the plurality of parallel posture adjustment mechanisms 3 are used to connect and adjust the motion platform 1. In the three dimensions of adjustment, namely, horizontal direction x, horizontal direction y, and yaw angle Yaw (rotation around the z-axis), multiple parallel attitude adjustment support mechanisms 4 are used to connect and adjust the motion platform 1 in the three dimensions of vertical direction z, roll angle Roll (rotation around the x-axis), and pitch angle Pitch (rotation around the y-axis); in order to enable the motion platform 1 to have a certain degree of free adjustment relative to the support platform 2, the motion platform 1 is set above the support platform 2, and the adjustment freedom of the interval between the parallel attitude adjustment mechanism 3 and the parallel attitude adjustment support mechanism 4 is locked by using the scientific precision instrument and the gravity of the motion platform 1.

[0046] For details, please refer to Figure 4The parallel attitude adjustment mechanism 3 includes a double-acting connector 31 and two universal connectors 32, wherein one universal connector 32 is rotationally connected to the motion platform 1, and the other universal connector 32 is rotationally connected to the support platform 2. The double-acting connector 31 is connected and can adjust the distance between the two universal connectors 32, that is, adjust the length of the parallel attitude adjustment mechanism 3; here, the two universal connectors 32 are respectively connected to the motion platform 1 and the support platform 2, and can respectively perform universal rotation relative to the motion platform 1 and the support platform 2, that is, the double-acting connector 31 connected to the universal connector 32 can rotate relative to the motion platform 1 and the support platform 2 around the x-axis, y-axis and z-axis; at the same time, the two parallel attitude adjustment mechanisms 3 are respectively arranged on the opposite sides between the motion platform 1 and the support platform 2. In this way, by adjusting the length of the parallel attitude adjustment mechanisms 3 on both sides, the angle relative to the support platform 2 and the motion platform 1 can achieve the adjustment of the motion platform 1 in the three dimensions of horizontal direction x, horizontal direction y and yaw angle Yaw;

[0047] For example, there are two parallel attitude adjustment mechanisms 3, which are respectively arranged on opposite sides between the motion platform 1 and the support platform 2, and the extension and shortening directions of the two parallel attitude adjustment mechanisms 3 are the same. When the operator needs to adjust the motion platform 1 to move toward one side in the horizontal direction x, it is only necessary to drive the two parallel attitude adjustment mechanisms 3 to extend the preset length at the same time; similarly, when the operator needs to adjust the motion platform 1 to move toward the other side in the horizontal direction x, it is only necessary to drive the two parallel attitude adjustment mechanisms 3 to shorten the preset length at the same time; in addition, when the operator needs to adjust the motion platform 1 to rotate the yaw angle Yaw, it is only necessary to extend or shorten the two parallel attitude adjustment mechanisms 3 by different lengths.

[0048] It needs to be further explained that the extension and shortening directions of the two parallel posture adjustment mechanisms 3 can also be opposite, and the extension and shortening operations of the parallel posture adjustment mechanisms 3 can be adjusted accordingly; that is, when the operator needs to adjust the motion platform 1 to move toward one side in the horizontal direction x, it is only necessary to drive one of the parallel posture adjustment mechanisms 3 to extend the preset distance, and at the same time drive the other parallel posture adjustment mechanism 3 to shorten the same preset distance accordingly; similarly, when the operator needs to adjust the motion platform 1 to move toward the other side in the horizontal direction x, it is only necessary to drive one of the parallel posture adjustment mechanisms 3 to shorten the preset distance, and at the same time drive the other parallel posture adjustment mechanism 3 to extend the same preset distance accordingly. and when the operator needs to adjust the motion platform 1 to move toward one side in the horizontal direction y, the two parallel attitude adjustment mechanisms 3 are driven to rotate toward that side at the same time in the horizontal plane, and the lengths of the two parallel attitude adjustment mechanisms 3 are adjusted to compensate for the movement in the horizontal direction x caused by the rotation of the motion platform 1, that is, the motion platform 1 is kept moving along the horizontal direction y. In this way, the motion platform 1 can also be moved along the horizontal direction x and the horizontal direction y by relying on the two parallel attitude adjustment mechanisms 3; in addition, when the operator needs to adjust the motion platform 1 to rotate the yaw angle Yaw, it can be achieved by only extending or shortening the two parallel attitude adjustment mechanisms 3 to different lengths.

[0049] In detail, in one embodiment, the universal connector 32 includes a spherical connector 321 and a ball end 322, one of the ball ends 322 is provided on the motion platform 1, and the corresponding spherical connector 321 is universally movable on the ball end 322, and the other ball end 322 is fixed on the support platform 2, and the corresponding spherical connector 321 is universally movable on the ball end 322; the double-acting connector 31 includes a double-acting differential adjustment screw 311 and two double-acting differential adjustment nuts 312 respectively threadedly connected to the two ends of the double-acting differential adjustment screw 311, and the double-acting differential adjustment nuts 312 are fixedly connected to the corresponding spherical connector 321; wherein the threads at the two ends of the double-acting differential adjustment screw 311 are opposite, and when the double-acting differential adjustment screw 311 is rotated, the two double-acting differential adjustment nuts 312 are respectively moved in opposite directions along the axial direction of the double-acting differential adjustment screw 311, thereby driving the two spherical connectors 321 to move in opposite directions. In this embodiment, the parallel attitude adjustment mechanism 3 adjusts the distance between the two double-acting differential adjustment nuts 312 by adjusting the double-acting differential adjustment screw 311, thereby adjusting the distance between the two spherical connectors 321, and finally adjusting the distance between the two ball ends 322 to adjust the posture movement of the motion platform 1 in the horizontal direction x, horizontal direction y, and yaw angle Yaw.

[0050] Furthermore, the parallel posture adjustment mechanism 3 also includes a support column 33 and a platform extension connector 34. The platform extension connector 34 connects the outer rigid plates of the motion platform 1 and the support platform 2. The support column 33 is arranged on the platform extension connector 34, and the ball end 322 is correspondingly arranged on the support column 33.

[0051] For details, please refer to Figure 5 and Figure 6 The parallel posture adjustment support mechanism 4 includes a support rod 41 and a support base 42. The support rod 41 is protruded on the motion platform 1, and the support base 42 is arranged on the support platform 2. The support rod 41 can adjust the protruding length and rest on the support base 42. The support base 42 is used to limit the support rod 41.

[0052] For example, the number of parallel posture adjustment support mechanisms 4 is two, and they are respectively arranged on the other opposite sides between the motion platform 1 and the support platform 2, so that the protruding direction of the support rod 41 is parallel to the vertical direction z. By adjusting the protruding length of the support rods 41 on both sides, the motion platform 1 can be adjusted in three dimensions: the vertical direction z, the roll angle Roll (rotation around the x-axis), and the pitch angle Pitch (rotation around the y-axis); when the operator needs to adjust the motion platform 1 to rise or fall in the vertical direction z, it is only necessary to adjust the two support rods 41 to have the same protruding length so that the motion platform 1 They have different heights in the vertical direction z; when the operator needs to adjust the pitch angle of the motion platform 1, it is only necessary to adjust the two support rods 41 to have different protruding lengths, that is, to make the two opposite sides of the motion platform 1 have different heights; when the operator needs to adjust the roll angle of the motion platform 1, it is only necessary to make the other two opposite sides of the motion platform 1 have different heights. Since there are only two parallel attitude adjustment support mechanisms 4 in this embodiment, it is necessary to adjust the length and angle of the two parallel attitude adjustment mechanisms 3 so that the other two opposite sides of the motion platform 1 have different heights, thereby realizing the adjustment of the roll angle.

[0053] Specifically, in one embodiment, the support rod 41 is a support screw, and the edge of the support base 42 is provided with a protrusion to form a support limit groove 421. The support screw is threadedly connected to the motion platform 1, specifically to the reinforcing threaded plate 11 on the motion platform 1. The support screw is also sleeved with a limit nut 411 that abuts against the motion platform 1. The abutting end of the support screw abuts and cooperates with the support limit groove 421. The projected area of ​​the abutting end of the support screw on the bottom of the support limit groove 421 is larger than the bottom of the support limit groove 421, so that the abutting end can move along the bottom of the support limit groove 421. The above design facilitates the parallel posture adjustment support mechanism 4 to move only within the restricted plane of the support base 42 when performing the posture adjustment action in the vertical direction z.

[0054] Furthermore, in one embodiment, the support platform 2 is provided with a plurality of base-retaining concave slots 21, and a plurality of position-limiting screws 22 are arranged around the periphery of the base-retaining concave slots 21. The support base 42 is disposed in the base-retaining concave slots 21 and abuts against the position-limiting screws 22. The base-retaining concave slots 21 and the position-limiting screws 22 work together to secure the support base 42.

[0055] It needs to be further explained that since the motion platform 1 is arranged above the support platform 2, the gravity of the motion platform 1 acts on the support platform 2 through the parallel attitude adjustment mechanism 3 and the parallel attitude adjustment support mechanism 4, thereby achieving the self-locking and limiting effects of the parallel attitude adjustment mechanism 3 and the parallel attitude adjustment support mechanism 4.

[0056] By adopting the above technical solution, compared to a six-bar parallel mechanism, the six-dimensional motion parallel mechanism of the present application no longer requires the coordinated operation of six rods for any single degree of freedom. Instead, the design of the parallel attitude adjustment support mechanism 4 decouples the motion of the motion platform 1 and the support platform 2, thereby reducing the number of joints and increasing adjustment flexibility, forming two sets of mutually independent adjustment mechanisms. Specifically, the parallel attitude adjustment joint mechanism controls adjustment in three dimensions: horizontal x, horizontal y, and yaw, while the parallel attitude adjustment support mechanism controls adjustment in three dimensions: vertical z, roll, and pitch. These mechanisms eliminate mutual interference, reducing the number of joints and increasing adjustment flexibility. Furthermore, by cleverly utilizing gravity to compensate for the lack of constraints, the distance between the motion platform 1 and the support platform 2 can be significantly shortened, thereby lowering the center of gravity and improving stability. In other words, only the parallel attitude adjustment joint mechanism, in conjunction with the parallel attitude adjustment support mechanism 4, is required to complete all six-dimensional posture adjustment, utilizing gravity to lock the degrees of freedom and maintain relative stability over the long term. As a passive support and adjustment device, the six-dimensional motion parallel mechanism has a simple structure, flexible adjustment, convenient installation, stable operation, safety and efficiency, and broad application prospects.

[0057] In one embodiment, the six-dimensional motion parallel mechanism includes three parallel attitude adjustment mechanisms 3, one of which is located in the middle between the motion platform 1 and the support platform 2, and the other two parallel attitude adjustment mechanisms 3 are located on both sides of the motion platform 1 and the support platform 2.

[0058] Preferably, the shape enclosed by the lines connecting the three universal connectors 32 rotatably connected to the motion platform 1 in a plane is a triangle, and the shape enclosed by the lines connecting the three universal connectors 32 rotatably connected to the support platform 2 in a plane is a triangle.

[0059] Furthermore, the telescopic direction of the parallel attitude adjustment mechanism 3 located in the middle is perpendicular to the telescopic direction of the parallel attitude adjustment mechanisms 3 located on both sides.

[0060] By adopting this technical solution, the three parallel posture adjustment joint mechanisms are equivalent to the coordinated adjustment of three rods, controlling the adjustment of the horizontal direction x, the horizontal direction y, and the yaw angle Yaw. In addition, the universal connectors 32 of the three parallel posture adjustment joint mechanisms form a triangular structure, which improves the long-term posture stability of the motion platform 1.

[0061] In one embodiment, the six-dimensional motion parallel mechanism includes three parallel posture adjustment support mechanisms 4 , and any two adjacent parallel posture adjustment support mechanisms 4 are arranged relatively between the motion platform 1 and the support platform 2 .

[0062] Preferably, the six-dimensional motion parallel mechanism includes three parallel posture adjustment support mechanisms 4, the shape of the support rods 41 provided on the motion platform 1 and the shape of the support base 42 provided on the support platform 2 and the shape of the support base 42 provided on the support platform 2 and the shape of the support base 42 provided on the support platform 2 and the support base 42 provided on the support platform 2 are connected in a plane.

[0063] For example, three groups of parallel posture adjustment support mechanisms 4 can realize adjustment in three dimensions: vertical direction z, roll angle Roll, and pitch angle Pitch; when the operator needs to adjust the pitch angle of the motion platform 1, it is only necessary to adjust the two relatively arranged support rods 41 to have different protruding lengths, that is, to make the two opposite sides of the motion platform 1 have different heights; when the operator needs to adjust the roll angle of the motion platform 1, it is only necessary to adjust the other two relatively arranged support rods 41 to have different protruding lengths, that is, to make the other two opposite sides of the motion platform 1 have different heights.

[0064] By adopting the above technical solution, the stability of the motion platform 1 in maintaining the posture for a long time is improved.

[0065] In one embodiment, the six-dimensional motion parallel mechanism further includes a plurality of parallel posture adjustment support auxiliary mechanisms 5 , and the parallel posture adjustment support auxiliary mechanisms 5 and the parallel posture adjustment support mechanisms 4 are alternately arranged between the motion platform 1 and the support platform 2 .

[0066] Specifically, the structure of the parallel posture adjustment support auxiliary mechanism 5 is the same as that of the parallel posture adjustment support mechanism 4. The difference between the two is that their positions are different. The parallel posture adjustment support auxiliary mechanism 5 includes a support rod 41 and a support base 42, wherein the support rod 41 is arranged on the motion platform 1, and the support base 42 is arranged on the support platform 2.

[0067] By adopting the above technical solution, the parallel attitude adjustment support and auxiliary support mechanism achieves adjustment in three dimensions: vertical direction (z), roll angle (Roll), and pitch angle (Pitch). The parallel attitude adjustment auxiliary support mechanism is identical in principle to the parallel attitude adjustment support mechanism 4, differing only in position. The number of parallel attitude adjustment auxiliary support mechanisms can be selected arbitrarily; in this embodiment, three groups are selected to facilitate temporary adjustment of the facility support.

[0068] In one embodiment, please refer to Figure 7 The six-dimensional motion parallel mechanism also includes a posture adjustment safety interlock mechanism 6, which includes a safety rod 61. The safety rod 61 connects the motion platform 1 and the support platform 2 and is used to adjust the distance between the motion platform 1 and the support platform 2.

[0069] By adopting the above technical solution, the posture adjustment safety interlock mechanism 6 is added to further ensure the stability of the design; in this embodiment, the posture adjustment safety interlock mechanism cooperates with the parallel posture adjustment support mechanism 4 to complete all six-dimensional posture adjustments, uses gravity to lock the degrees of freedom, and uses the auxiliary parallel posture adjustment support mechanism 4 and the posture adjustment safety interlock mechanism 6 to stably implement the entire adjustment process, and can maintain relative stability for a long time.

[0070] In one embodiment, the safety rod 61 is a safety screw, and the safety screw is provided with a safety nut 62 for respectively abutting against the motion platform 1 and the support platform 2 .

[0071] By employing this technical solution, at the beginning of posture adjustment, the posture adjustment safety interlock mechanism 6 slightly releases the safety nut, which, in conjunction with the raised edge design of the support base 42, ensures a stable and safe posture adjustment process. After the posture adjustment is completed, the posture adjustment safety interlock mechanism 6 locks the safety screw on the inner side of the rigid plate to lock the safety nut 62 in place, achieving dual locking under the action of gravity in the vertical direction z, roll angle, and pitch angle posture movements.

[0072] In one embodiment, please refer again to Figure 2 The motion platform 1 includes an outer rigid plate 12 and an inner rigid plate 13 connected to the outer rigid plate 12. The support platform 2 has the same structure as the motion platform 1 and also includes an outer rigid plate 12 and an inner rigid plate 13 connected to the outer rigid plate 12. The outer rigid plate 12 of the motion platform 1 is associated with a support column 33 and a platform extension connector 34. The double-acting connector 31 and the universal connector 32 are used to connect and fix the outer rigid plate 12 of the support platform 2 again through the support column 33 and the platform extension connector 34. Both the motion platform 1 and the support platform 2 are rigid plates. In order to fix them to the parallel attitude adjustment mechanism 3, the parallel attitude adjustment support mechanism 4, the parallel attitude adjustment support auxiliary mechanism 5 and the attitude adjustment safety interlock mechanism 6, holes are processed and opened at corresponding positions, and slots are opened on the inner rigid plate 13 to facilitate the installation of the parallel attitude adjustment support mechanism 4.

[0073] On the second aspect, a scientific precision instrument facility is provided, including a scientific precision instrument and the above-mentioned six-dimensional motion parallel mechanism, and the scientific precision instrument is fixed on the six-dimensional motion parallel mechanism.

[0074] Specifically, scientific precision instruments are installed on the motion platform 1. In actual application, the auxiliary system can be used as an auxiliary accessory facility as an alternative project, including but not limited to configuring a posture sensor for obtaining the six-dimensional motion state of the motion platform 1 equipped with scientific precision instruments and transmitting real-time posture information.

[0075] The scientific precision instrument facilities provided in this embodiment have the following advantages:

[0076] 1. This embodiment offers high degrees of adjustment freedom, excellent stability, and a wide range of application platforms. The six-dimensional kinematic parallel mechanism enables six-dimensional motion control and is widely applicable to large scientific precision instruments operating under complex dynamic conditions and in different directions. The split design not only reduces the number of joints and increases adjustment flexibility, but also shortens the distance between motion platform 1 and support platform 2, effectively lowering the center of gravity and improving stability.

[0077] 2. This embodiment has a simple structure, is easy to process, is safe and stable to operate, and has strong reliability. This embodiment only utilizes three sets of parallel posture adjustment joint mechanism actions to meet the posture adjustment (horizontal direction x, horizontal direction y, yaw angle Yaw), and cooperates with the parallel posture adjustment support mechanism 4 to realize the posture state adjustment (vertical direction z, roll angle Roll, pitch angle Pitch) of the motion platform 1 relative to the support platform 2. Under gravity conditions, the lack of constraints caused by the separate design of the motion platform 1 and the support platform 2 is compensated, and the use of the parallel posture adjustment support auxiliary mechanism 5 and the safety interlock mechanism posture adjustment safety interlock mechanism 6 can ensure operational safety and stably realize the entire dynamic adjustment process. After all posture adjustments are completed, after the reinforcement of the parallel posture adjustment support auxiliary mechanism 5 and the safety interlock mechanism, it can maintain relative stability for a long time, improve the safety factor, and ensure the stable operation of the device. The parallel posture adjustment mechanism 3, the parallel support auxiliary mechanism and the safety interlock mechanism are independent of each other, easy to adjust, and do not affect each other.

[0078] 3. This embodiment is easy to adjust, replace, improve and expand its functions, and can be applied to large scientific precision instruments with different indicators. By replacing the motion platform 1 and the support platform 2, adjusting the spacing and height of the motion platform 1 and the support platform 2, and directly replacing the parallel attitude adjustment mechanism 3, the parallel attitude adjustment support mechanism 4, the parallel attitude adjustment support auxiliary mechanism 5 and the attitude adjustment safety interlock mechanism 6, the ability to effectively adjust the platform can be broadened. Specifically, by changing or replacing the double-acting connector 31 and the support rod 41 structure, further high-precision adjustment problems can be achieved, and a steady transition of posture and fine precision adjustment can be achieved. The need for adjusting different motion trajectories can be met by adding or changing the positioning points, and the need for high-intensity operations in different environments can be met by adding or changing the support rod 41 or the platform material. Other auxiliary facilities can be combined and used in conjunction according to different environmental requirements. In view of the different physical characteristics of large scientific precision instruments and the different dynamic environments in which they are located, the present invention can be further combined and used according to actual engineering needs, and can also be arranged continuously.

[0079] 4. This embodiment works reliably and stably and does not require external energy supply. Other auxiliary support devices can be flexibly selected according to actual working conditions to ensure the normal operation of the system while expanding additional functions.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A six-dimensional motion parallel mechanism, characterized in that: include: A motion platform, a support platform, a plurality of parallel posture adjustment mechanisms, and a plurality of parallel posture adjustment support mechanisms, wherein the motion platform is disposed above the support platform, at least two of the parallel posture adjustment mechanisms are spaced apart and respectively arranged on two opposite sides between the motion platform and the support platform, and at least two of the parallel posture adjustment support mechanisms are spaced apart and respectively arranged on another opposite side between the motion platform and the support platform; The parallel posture adjustment mechanism includes a double-acting connector and two universal connectors, wherein one of the universal connectors is rotatably connected to the motion platform, and the other universal connector is rotatably connected to the support platform, and the double-acting connector is connected and can adjust the distance between the two universal connectors; The parallel posture adjustment support mechanism includes a support rod and a support base, wherein the support rod is protruding from the motion platform, the support base is arranged on the support platform, the support rod can adjust the protruding length and abuts against the support base, and the support base is used to limit the support rod; The universal connector includes a spherical connector and a ball end, one of the ball ends is arranged on the motion platform, and the corresponding spherical connector universal movable sleeve is arranged on the ball end, and the other ball end is fixed on the support platform, and the corresponding spherical connector universal movable sleeve is arranged on the ball end; the double-acting connector includes a double-acting differential adjustment screw and two double-acting differential adjustment nuts respectively threadedly connected to the two ends of the double-acting differential adjustment screw, and the double-acting differential adjustment nuts are fixedly connected to the corresponding spherical connector; wherein the threads at the two ends of the double-acting differential adjustment screw are opposite, and when the double-acting differential adjustment screw is rotated, the two double-acting differential adjustment nuts are respectively moved in opposite directions along the axial direction of the double-acting differential adjustment screw, thereby driving the two spherical connectors to move in opposite directions.

2. The six-dimensional motion parallel mechanism according to claim 1, characterized in that: The six-dimensional motion parallel mechanism includes three parallel attitude adjustment mechanisms, one of which is located in the middle between the motion platform and the support platform, and the other two parallel attitude adjustment mechanisms are respectively located on both sides between the motion platform and the support platform.

3. The six-dimensional motion parallel mechanism according to claim 1, characterized in that: The six-dimensional motion parallel mechanism includes three parallel posture adjustment support mechanisms, and any two adjacent parallel posture adjustment support mechanisms are relatively arranged between the motion platform and the support platform.

4. The six-dimensional motion parallel mechanism according to claim 3, characterized in that: The six-dimensional motion parallel mechanism further includes a plurality of parallel posture adjustment support auxiliary mechanisms, and the parallel posture adjustment support auxiliary mechanisms and the parallel posture adjustment support mechanisms are alternately arranged between the motion platform and the support platform.

5. The six-dimensional motion parallel mechanism according to claim 1, characterized in that: The six-dimensional motion parallel mechanism also includes a posture adjustment safety interlock mechanism, which includes a safety rod. The safety rod connects the motion platform and the support platform and is used to adjust the distance between the motion platform and the support platform.

6. The six-dimensional motion parallel mechanism according to any one of claims 1 to 5, characterized in that: The support rod is a support screw, and the edge of the support base is provided with a protrusion to form a support limit groove. The support screw is threadedly connected to the moving platform, and the abutting end of the support screw is abutted and matched with the support limit groove. The projected area of ​​the abutting end of the support screw on the bottom of the support limit groove is larger than the bottom of the support limit groove, so that the abutting end can move along the bottom of the support limit groove.

7. The six-dimensional motion parallel mechanism according to claim 6, characterized in that: The support platform is provided with a plurality of base retaining concave slots, and a plurality of limiting top screws are arranged on the periphery of the base retaining concave slots. The support base is arranged in the base retaining concave slots and abuts against the limiting top screws.

8. The six-dimensional motion parallel mechanism according to claim 5, characterized in that: The safety rod is a safety screw rod, and the safety screw rod is provided with safety nuts for respectively abutting against the motion platform and the support platform.

9. A scientific precision instrument facility, characterized in that: It comprises a scientific precision instrument and the six-dimensional motion parallel mechanism according to any one of claims 1 to 8, wherein the scientific precision instrument is fixed on the six-dimensional motion parallel mechanism.

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