Six-dimensional adjustment module for fine adjustment of a gap

Abstract

The application discloses a six-dimensional adjustment module for micro gap adjustment, which comprises a Z-direction adjustment mechanism, a rotation adjustment mechanism around X / Y / Z, a connecting plate and an X / Y-direction adjustment mechanism. The Z-direction adjustment mechanism is connected to the X / Y-direction adjustment mechanism through the connecting plate, and the rotation adjustment mechanism around X / Y / Z is connected to the Z-direction adjustment mechanism. The X / Y-direction adjustment mechanism and the Z-direction adjustment mechanism can realize the adjustment of a large structural part in a micro workspace, and the adjustment module has the advantages of simple structure, convenient movement, large bearing capacity, high reliability, high efficiency and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to a six-dimensional adjustment module for micro-adjustment gap. BACKGROUND

[0002] In the field of six-degree-of-freedom precise positioning of large structural parts, the large structural parts have large volume and mass, and the positioning accuracy is required to be high. If there is a large deviation between the installation position and the ideal state, the use performance of the adjustment object will be seriously affected. The existing technology uses a binocular machine vision method to guide a mechanical arm to complete optical assembly positioning. This method is not suitable for micro workspaces with small adjustment gaps due to the structure limitation of large mechanical arms, and the cost is high. Considering the cost factor, manual installation and positioning are usually used. In the adjustment and installation process, the installation and positioning are realized by screwing the bolts at the adjustment and installation position in multiple angles. The main disadvantage of this method is low adjustment efficiency and poor reliability. SUMMARY

[0003] The purpose of the present application is to provide a six-dimensional adjustment module for micro-adjustment gap to solve the problems in the prior art.

[0004] The technical solution adopted to achieve the purpose of the present application is as follows: a six-dimensional adjustment module for micro-adjustment gap, comprising a Z-direction adjustment mechanism, a X / Y / Z rotation adjustment mechanism, a connecting plate and an X / Y-direction adjustment mechanism arranged in a space rectangular coordinate system O-XYZ, wherein the plane O-XY is a horizontal plane and the Z-direction is consistent with the vertical direction.

[0005] The connecting plate is installed on the X / Y-direction adjustment mechanism, and the Z-direction adjustment mechanism is fixed on the connecting plate.

[0006] The Z-direction adjustment mechanism comprises an electric control cabinet, a Z-direction motor, a feeding mechanism II, a guide rail slider, two Z-direction guide rails and a fixed plate.

[0007] The electric control cabinet is installed on the connecting plate, and a vertical fixed plate is arranged on one side of the electric control cabinet. The two Z-direction guide rails are arranged on the fixed plate in a spaced manner, and the guide rail slider is installed on each Z-direction guide rail. The Z-direction guide rails are consistent with the Z-direction.

[0008] The feeding mechanism II is arranged between the two Z-direction guide rails and connected with the guide rail sliders on the two Z-direction guide rails. The upper end of the feeding mechanism II is connected with the Z-direction motor.

[0009] The X / Y / Z rotation adjustment mechanism is connected to the guide rail slider, and a ball socket is arranged on the X / Y / Z rotation adjustment mechanism. A rolling ball is installed in the ball socket.

[0010] In operation, the ball on the X / Y / Z rotation adjustment mechanism is in contact with the component, the Z-direction motor drives the guide rail slider to move in the Z-direction, the Z-direction adjustment mechanism moves on the plane O-XY through the X / Y-direction adjustment mechanism, and the ball adjusts the posture of the component.

[0011] Further, the X / Y-direction adjustment mechanism comprises a feeding mechanism I, a Y-direction motor, two X-direction guide rails, four cross-shaped sliders, two Y-direction guide rails and a lower base plate.

[0012] The X-direction guide rails are consistent with the X-direction, and the two X-direction guide rails are fixed on the lower base plate.

[0013] The Y-direction guide rails are consistent with the Y-direction, and each Y-direction guide rail is installed on two cross-shaped sliders.

[0014] The feeding mechanism I comprises a trapezoidal screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a coupling I and a speed reducer I.

[0015] The bearing seat I and the bearing seat II are fixed on the lower surface of the connecting plate, and each bearing seat is installed with a bearing I, and the trapezoidal screw I is connected with the two bearings I whose axes are coincident, the axis of the trapezoidal screw I is consistent with the Y-direction, one end of the trapezoidal screw I is connected with the output end of the speed reducer I, and the speed reducer I is connected with the output end of the Y-direction motor through the coupling I.

[0016] The two cross-shaped sliders on the same X-direction guide rail are connected with a nut mounting plate I, the nut I is fixed on the nut mounting plate I, and the rod segment of the trapezoidal screw I between the two bearings I passes through the nut I and the nut mounting plate I.

[0017] In operation, the Y-direction motor drives the trapezoidal screw I to rotate, the connecting plate moves in the Y-direction, and the cross-shaped sliders follow in the X-direction.

[0018] Further, the Y-direction motor is located in the electric control cabinet.

[0019] Further, the X / Y-direction adjustment mechanism comprises a feeding mechanism III, an X-direction motor, two X-direction guide rails, four cross-shaped sliders, two Y-direction guide rails and a lower base plate.

[0020] The Y-direction guide rails are consistent with the Y-direction, and the two Y-direction guide rails are fixed on the lower base plate.

[0021] The X-direction guide rails are consistent with the X-direction, and each X-direction guide rail is installed on two cross-shaped sliders.

[0022] The feed mechanism III includes a trapezoidal lead screw III, a nut III, a nut mounting seat III, a bearing seat III, a bearing seat IV, a coupling III, and a reducer III.

[0023] The bearing housings III and IV are fixed at intervals on the lower surface of the connecting plate. Bearings III are installed on both bearing housings III and IV. The trapezoidal screw III is connected to the two bearings III whose axes coincide. The axis of the trapezoidal screw III is consistent with the X direction. One end of the trapezoidal screw III is connected to the output end of the reducer III. The reducer III is connected to the output end of the X-axis motor through the coupling III.

[0024] A nut mounting plate Ⅲ is connected between two cross-shaped sliders located on the same Y-guide rail. The nut Ⅲ is fixed on the nut mounting plate Ⅲ, and the trapezoidal lead screw Ⅲ has a rod segment located between two bearings Ⅲ that passes through the nut Ⅲ and the nut mounting plate Ⅲ.

[0025] During operation, the X-axis motor drives the trapezoidal lead screw III to rotate, and the trapezoidal lead screw III drives the connecting plate to move along the X-axis, while the cross-shaped slider moves in the Y-axis.

[0026] Furthermore, the X-axis motor is located inside the electrical control cabinet.

[0027] Furthermore, the X / Y adjustment mechanism includes two X-axis guide rails, four cross-shaped sliders, two Y-axis guide rails, and a lower base plate.

[0028] The Y-guide rails are aligned with the Y-direction, and two Y-guide rails spaced apart from each other are fixed to the bottom plate. Each Y-guide rail is equipped with two cross-shaped sliders.

[0029] The X-axis guide rail is aligned with the X-axis, and each X-axis guide rail is mounted on two cross-shaped sliders. The two X-axis guide rails are connected to the connecting plate.

[0030] During operation, the connecting plate moves in the X and Y directions.

[0031] Furthermore, the X / Y / Z rotation adjustment mechanism includes a support plate, which is an L-shaped plate. The vertical surface of the support plate is connected to the guide rail slider, and a ball socket is provided on the horizontal surface of the support plate.

[0032] Furthermore, the lower base plate has a slot for inserting the tray. When the tray is adjusted to the lowest position, the horizontal plate of the tray is located in the slot.

[0033] Furthermore, the lower base plate is a rectangular plate, and a support frame is connected to the lower base plate. The support frame is close to the edge of the lower base plate, and several wheels are installed on the lower surface of the lower base plate.

[0034] Furthermore, the feed mechanism II includes a trapezoidal lead screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupling II, and a reducer II.

[0035] The bearing seat V and the bearing seat VI are fixed on the fixed plate and the bearing seat V is located directly above the bearing seat VI, the bearing II is installed on the bearing seat V and the bearing seat VI, the two bearings II with which the axis of the trapezoidal screw II coincides are connected, the axis of the trapezoidal screw II is consistent with the Z direction, the upper end of the trapezoidal screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z direction motor through the shaft coupling II.

[0036] The nut mounting seat II is connected between the two guide rail sliders on the two Z direction guide rails, the nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II between the two bearings II passes through the nut II.

[0037] During work, the Z direction motor drives the trapezoidal screw II to rotate, the nut II drives the nut mounting seat II, the guide rail slider and the X / Y / Z rotation adjusting mechanism to move along the Z direction.

[0038] The upper and lower ends of each Z direction guide rail are provided with a stopper.

[0039] The technical effect of the present application is self-evident, the structure of the present application enables large structural parts to be adjusted in a small working space, and the adjusting module has the advantages of simple structure, convenient movement, large carrying capacity, high reliability, high efficiency and the like. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is the overall schematic view of the structure of the present application;

[0041] Figure 2 It is the schematic view of the X / Y direction adjusting mechanism of example 1;

[0042] Figure 3 It is the schematic view of the X / Y direction adjusting mechanism of example 2;

[0043] Figure 4 It is the schematic view of the X / Y direction adjusting mechanism of example 3;

[0044] Figure 5 It is the schematic view of the Z direction adjusting mechanism;

[0045] Figure 6 It is the schematic view of the supporting plate.

[0046] In the figure: Z-direction adjusting mechanism 1, electric control cabinet 101, Z-direction motor 102, feeding mechanism II 103, guide rail slider 104, Z-direction guide rail 105, stop block 106, fixed plate 107, X / Y / Z rotation adjusting mechanism 2, supporting plate 201, connecting plate 3, X / Y-direction adjusting mechanism 4, supporting frame 401, feeding mechanism I 402, Y-direction motor 403, X-direction guide rail 404, notched groove 405, cross-shaped slider 406, Y-direction guide rail 407, lower base plate 408, feeding mechanism III 409, X-direction motor 410 and wheel 411. DETAILED DESCRIPTION

[0047] The application will be further described in conjunction with the embodiments. However, it should not be understood as the above-mentioned subject matter of the application is limited to the following embodiments. According to the ordinary technical knowledge and common practice in the art, various substitutions and modifications can be made without departing from the above-mentioned technical idea of the application, and all of them should be included in the protection scope of the application.

[0048] Embodiment 1

[0049] Referring to Figure 1 , the embodiment discloses a six-dimensional adjusting module for micro-adjusting gap, which comprises Z-direction adjusting mechanism 1, X / Y / Z rotation adjusting mechanism 2, connecting plate 3 and X / Y-direction adjusting mechanism 4 arranged in a space orthogonal coordinate system O-XYZ, wherein the plane O-XY is a horizontal plane and the Z-direction is consistent with the vertical direction.

[0050] The connecting plate 3 is installed on the X / Y-direction adjusting mechanism 4, and the Z-direction adjusting mechanism 1 is fixed on the connecting plate 3.

[0051] Referring to Figure 5 , the Z-direction adjusting mechanism 1 comprises electric control cabinet 101, Z-direction motor 102, feeding mechanism II 103, guide rail slider 104, two Z-direction guide rails 105 and fixed plate 107.

[0052] The electric control cabinet 101 is installed on the connecting plate 3, and the electric control cabinet 101 is provided with vertical fixed plate 107 on one side, and the two Z-direction guide rails 105 are arranged on the fixed plate 107 in a spaced manner, and the guide rail slider 104 is installed on each Z-direction guide rail 105, and the Z-direction guide rail 105 is consistent with the Z-direction. The upper and lower ends of each Z-direction guide rail 105 are provided with stop block 106.

[0053] The feeding mechanism II 103 is arranged between the two Z-direction guide rails 105 and connected with the guide rail sliders 104 on the two Z-direction guide rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.

[0054] The X / Y / Z rotation adjusting mechanism 2 is connected to the guide rail slider 104, and the X / Y / Z rotation adjusting mechanism 2 is provided with a ball socket, and a rolling ball is installed in the ball socket.

[0055] The feeding mechanism II 103 comprises a trapezoidal screw II, a nut II, a nut mounting base II, a bearing seat V, a bearing seat VI, a coupling II and a speed reducer II.

[0056] The bearing seat V and the bearing seat VI are both fixed on the fixed plate 107 and the bearing seat V is directly above the bearing seat VI, bearings II are mounted on the bearing seat V and the bearing seat VI, the trapezoidal screw II is connected with two bearings II whose axes coincide with each other, the axis of the trapezoidal screw II is consistent with the Z direction, the upper end of the trapezoidal screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z direction motor 102 through the coupling II.

[0057] The nut mounting base II is connected between the two guide rail sliders 104 on the two Z direction guide rails 105, the nut II is fixed on the nut mounting base II, and the rod segment of the trapezoidal screw II between the two bearings II passes through the nut II.

[0058] Referring to Figure 6 , the X / Y / Z rotation adjustment mechanism 2 comprises a supporting plate 201, the supporting plate 201 is an L-shaped plate, the vertical plate surface of the supporting plate 201 is connected with the guide rail slider 104, and the horizontal plate surface of the supporting plate 201 is provided with a ball socket.

[0059] Referring to Figure 2 , the X / Y direction adjustment mechanism 4 comprises a feeding mechanism I 402, a Y direction motor 403, two X direction guide rails 404, four cross sliders 406, two Y direction guide rails 407 and a lower bottom plate 408.

[0060] The X direction guide rails 404 are consistent with the X direction, and the two X direction guide rails 404 which are spaced apart from each other are both fixed on the lower bottom plate 408, and two cross sliders 406 are mounted on each X direction guide rail 404.

[0061] The Y direction guide rails 407 are consistent with the Y direction, and each Y direction guide rail 407 is mounted on two cross sliders 406.

[0062] The feeding mechanism I 402 comprises a trapezoidal screw I, a nut I, a nut mounting base I, a bearing seat I, a bearing seat II, a coupling I and a speed reducer I.

[0063] The bearing seat I and the bearing seat II are fixed on the lower surface of the connecting plate 3, bearings I are mounted on the bearing seat I and the bearing seat II, the trapezoidal screw I is connected with two bearings I whose axes coincide with each other, the axis of the trapezoidal screw I is consistent with the Y direction, one end of the trapezoidal screw I is connected with the output end of the speed reducer I, the speed reducer I is connected with the output end of the Y direction motor 403 through the coupling I, and the Y direction motor 403 is located in the electric control cabinet 101.

[0064] Two cross-shaped sliders 406 on the same X guide rail 404 are connected with a nut mounting plate I, a nut I is fixed on the nut mounting plate I, and the rod segment between the two bearings I of the trapezoidal screw I passes through the nut I and the nut mounting plate I.

[0065] The lower bottom plate 408 is provided with a notch 405 for placing the supporting plate 201, and when the supporting plate 201 is adjusted to the lowest position, the horizontal plate of the supporting plate 201 is located in the notch 405. The lower bottom plate 408 is a rectangular plate, and a supporting frame 401 is connected to the lower bottom plate 408, the supporting frame 401 is close to the edge of the lower bottom plate 408, and a plurality of wheels 411 are installed on the lower surface of the lower bottom plate 408.

[0066] In operation, the ball on the X / Y / Z rotation adjustment mechanism 2 is in contact with the component, the Z-direction motor 102 drives the trapezoidal screw II to rotate, the nut II drives the nut mounting seat II, the guide rail slider 104 and the X / Y / Z rotation adjustment mechanism 2 to move along the Z-direction. The Z-direction adjustment mechanism 1 moves on the plane O-XY through the X / Y-direction adjustment mechanism 4, that is, the Y-direction motor 403 drives the trapezoidal screw I to rotate, the trapezoidal screw I drives the connecting plate 3 to move along the Y-direction, and the cross-shaped slider 406 follows along the X-direction as needed, so that the ball adjusts the posture of the component.

[0067] It is worth noting that the embodiment provides a six-dimensional adjustment module for micro-adjusting gap, the combination of the ball hinge structure and the XYZ-direction movement structure forms six degrees of freedom, and the ball is in direct contact with the object, so that a large structure can be adjusted in a micro workspace, and the adjustment module has the advantages of simple structure, convenient movement, large carrying capacity, high reliability, high efficiency and the like.

[0068] Embodiment 2:

[0069] Referring to Figure 1 The embodiment discloses a six-dimensional adjustment module for micro-adjusting gap, which comprises a Z-direction adjustment mechanism 1, an X / Y / Z rotation adjustment mechanism 2, a connecting plate 3 and an X / Y-direction adjustment mechanism 4 arranged in a space orthogonal coordinate system O-XYZ, and a plane O-XY is a horizontal plane and the Z-direction is consistent with the vertical direction.

[0070] The connecting plate 3 is installed on the X / Y-direction adjustment mechanism 4, and the Z-direction adjustment mechanism 1 is fixed on the connecting plate 3.

[0071] Referring to Figure 5 The Z-direction adjustment mechanism 1 comprises an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism II 103, a guide rail slider 104, two Z-direction guide rails 105 and a fixed plate 107.

[0072] The electric control cabinet 101 is installed on the connecting plate 3, and a vertical fixed plate 107 is arranged on one side of the electric control cabinet 101, two Z-direction guide rails 105 are arranged on the fixed plate 107 in a spaced manner, a guide rail sliding block 104 is installed on each Z-direction guide rail 105, and the Z-direction guide rails 105 are consistent with the Z-direction.

[0073] The feeding mechanism II 103 is arranged between the two Z-direction guide rails 105 and connected with the guide rail sliding blocks 104 on the two Z-direction guide rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.

[0074] The X / Y / Z rotation adjustment mechanism 2 is connected with the guide rail sliding block 104, a ball socket is arranged on the X / Y / Z rotation adjustment mechanism 2, and a rolling ball is installed in the ball socket.

[0075] The feeding mechanism II 103 comprises a trapezoidal screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a shaft coupling II and a speed reducer II.

[0076] The bearing seat V and the bearing seat VI are both fixed on the fixed plate 107, and the bearing seat V is directly above the bearing seat VI, bearings II are installed on the bearing seat V and the bearing seat VI, the trapezoidal screw II is connected with two bearings II whose axes are coincident with each other, the axis of the trapezoidal screw II is consistent with the Z-direction, the upper end of the trapezoidal screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z-direction motor 102 through the shaft coupling II.

[0077] The nut mounting seat II is connected between the two guide rail sliding blocks 104 on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II between the two bearings II passes through the nut II.

[0078] Referring to Figure 6 , the X / Y / Z rotation adjustment mechanism 2 comprises a supporting plate 201, the supporting plate 201 is an L-shaped plate, a vertical plate surface of the supporting plate 201 is connected with the guide rail sliding block 104, and a ball socket is arranged on a horizontal plate surface of the supporting plate 201.

[0079] Referring to Figure 3 , the X / Y adjustment mechanism 4 comprises a feeding mechanism III 409, an X-direction motor 410, two X-direction guide rails 404, four cross sliding blocks 406, two Y-direction guide rails 407 and a lower bottom plate 408.

[0080] The Y-direction guide rails 407 are consistent with the Y-direction, and the two Y-direction guide rails 407 are fixed on the lower bottom plate 408 in a spaced manner, and two cross sliding blocks 406 are installed on each Y-direction guide rail 407.

[0081] The X guide rail 404 is consistent with the X direction, and each X guide rail 404 is installed on two cross sliding blocks 406.

[0082] The feeding mechanism III 409 comprises a trapezoidal screw III, a nut III, a nut mounting seat III, a bearing seat III, a bearing seat IV, a coupling III and a reducer III.

[0083] The bearing seat III and the bearing seat IV are fixedly arranged on the lower surface of the connecting plate 3, and the bearing seat III and the bearing seat IV are both provided with bearings III, the trapezoidal screw III is connected with two bearings III whose axes are coincident with the axis of the trapezoidal screw III, the axis of the trapezoidal screw III is consistent with the X direction, one end of the trapezoidal screw III is connected with the output end of the reducer III, the reducer III is connected with the output end of the X motor 410 through the coupling III, and the X motor 410 is located in the electric control cabinet 101.

[0084] The nut mounting plate III is connected between the two cross sliding blocks 406 located on the same Y guide rail 407, the nut III is fixed on the nut mounting plate III, and the rod segment of the trapezoidal screw III located between the two bearings III passes through the nut III and the nut mounting plate III.

[0085] The lower bottom plate 408 is provided with a notch 405 for placing the supporting plate 201, and when the supporting plate 201 is adjusted to the lowest position, the horizontal plate of the supporting plate 201 is located in the notch 405. The lower bottom plate 408 is a rectangular plate, the lower bottom plate 408 is connected with a supporting frame 401 close to the edge of the lower bottom plate 408, and a plurality of wheels 411 are arranged on the lower surface of the lower bottom plate 408.

[0086] During operation, the ball on the X / Y / Z rotation adjustment mechanism 2 is in contact with the component, the Z motor 102 drives the trapezoidal screw II to rotate, the nut II drives the nut mounting seat II, the guide rail sliding block 104 and the X / Y / Z rotation adjustment mechanism 2 to move along the Z direction. The Z direction adjustment mechanism 1 moves on the plane O-XY through the X / Y direction adjustment mechanism 4, that is, the X motor 410 drives the trapezoidal screw III to rotate, the trapezoidal screw III drives the connecting plate 3 to move along the X direction, and the cross sliding block 406 follows along the Y direction as required, so that the ball adjusts the posture of the component.

[0087] It is worth noting that the six-dimensional adjustment module provided by the embodiment can adjust the gap in a small range, the combination of the ball hinge structure and the XYZ direction movement structure forms six degrees of freedom, the ball is in direct contact with the object, the large structure can be adjusted in a small workspace, and the adjustment module has the advantages of simple structure, convenient movement, large carrying capacity, high reliability and high efficiency.

[0088] Embodiment 3:

[0089] Referring to Figure 1The embodiment discloses a six-dimensional adjustment module for slightly adjusting a gap, which comprises a Z-direction adjustment mechanism 1, a X / Y / Z rotation adjustment mechanism 2, a connecting plate 3 and a X / Y-direction adjustment mechanism 4 arranged in a space right-angle coordinate system O-XYZ, wherein the plane O-XY is a horizontal plane and the Z-direction is consistent with the vertical direction.

[0090] The connecting plate 3 is mounted on the X / Y-direction adjustment mechanism 4, and the Z-direction adjustment mechanism 1 is fixed on the connecting plate 3.

[0091] Referring to Figure 5 The Z-direction adjustment mechanism 1 comprises an electric control cabinet 101, a Z-direction motor 102, a feeding mechanism II 103, guide rail sliders 104, two Z-direction guide rails 105 and a fixed plate 107.

[0092] The electric control cabinet 101 is mounted on the connecting plate 3, and the electric control cabinet 101 is provided with the vertical fixed plate 107 on one side, the two Z-direction guide rails 105 are arranged on the fixed plate 107 in a spaced manner, the guide rail sliders 104 are mounted on each of the two Z-direction guide rails 105, and the Z-direction guide rails 105 are consistent with the Z-direction. The upper and lower ends of each of the Z-direction guide rails 105 are provided with a stopper 106.

[0093] The feeding mechanism II 103 is arranged between the two Z-direction guide rails 105 and connected with the guide rail sliders 104 on the two Z-direction guide rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z-direction motor 102.

[0094] The X / Y / Z rotation adjustment mechanism 2 is connected with the guide rail slider 104, the X / Y / Z rotation adjustment mechanism 2 is provided with a ball socket, and a rolling ball is mounted in the ball socket.

[0095] The feeding mechanism II 103 comprises a trapezoidal screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a shaft coupling II and a speed reducer II.

[0096] The bearing seat V and the bearing seat VI are both fixed on the fixed plate 107 and the bearing seat V is located directly above the bearing seat VI, bearings II are mounted on the bearing seat V and the bearing seat VI, the trapezoidal screw II is connected with the two bearings II with the same axis, the axis of the trapezoidal screw II is consistent with the Z-direction, the upper end of the trapezoidal screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z-direction motor 102 through the shaft coupling II.

[0097] The nut mounting seat II is connected between the two guide rail sliders 104 on the two Z-direction guide rails 105, the nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II between the two bearings II passes through the nut II.

[0098] Referring to Figure 6The X / Y / Z rotation adjusting mechanism 2 comprises a bracket 201, which is an L-shaped plate, and the vertical plate surface of the bracket 201 is connected with the guide rail slider 104, and the horizontal plate surface of the bracket 201 is provided with a ball socket.

[0099] Referring to Figure 4 The X / Y adjusting mechanism 4 comprises two X-direction guide rails 404, four cross-shaped sliders 406, two Y-direction guide rails 407 and a lower base plate 408.

[0100] The Y-direction guide rails 407 are consistent with the Y direction, and the two Y-direction guide rails 407 are spaced apart and fixed on the lower base plate 408, and each Y-direction guide rail 407 is provided with two cross-shaped sliders 406.

[0101] The X-direction guide rails 404 are consistent with the X direction, and each X-direction guide rail 404 is installed on two cross-shaped sliders 406, and the two X-direction guide rails 404 are connected with the connecting plate 3.

[0102] The lower base plate 408 is provided with a slot 405 for placing the bracket 201, and when the bracket 201 is adjusted to the lowest position, the horizontal plate of the bracket 201 is located in the slot 405. The lower base plate 408 is a rectangular plate, and the lower base plate 408 is connected with a supporting frame 401 close to the edge of the lower base plate 408, and the lower surface of the lower base plate 408 is provided with a plurality of wheels 411.

[0103] In operation, the ball on the X / Y / Z rotation adjusting mechanism 2 is in contact with the component, the Z-direction motor 102 drives the trapezoidal screw II to rotate, the nut II drives the nut mounting seat II, the guide rail slider 104 and the X / Y / Z rotation adjusting mechanism 2 to move along the Z direction. The Z-direction adjusting mechanism 1 moves on the plane O-XY through the X / Y-direction adjusting mechanism 4, that is, the connecting plate 3 follows in the X direction and the Y direction, so that the ball adjusts the posture of the component.

[0104] It is worth noting that the six-dimensional adjustment module provided by the embodiment can adjust the gap in a small range, the combination of the ball hinge structure and the XYZ direction movement structure forms six degrees of freedom, the ball is in direct contact with the object, so that a large structure can be adjusted in a small working space, and the adjustment module has the advantages of simple structure, convenient movement, large carrying capacity, high reliability and high efficiency.

[0105] Embodiment 4:

[0106] Referring to Figure 1 The six-dimensional adjustment module for adjusting the gap in a small range comprises a Z-direction adjusting mechanism 1, an X / Y / Z rotation adjusting mechanism 2, a connecting plate 3 and an X / Y-direction adjusting mechanism 4 arranged in a space rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z direction is consistent with the vertical direction.

[0107] The connecting plate 3 is installed on the X / Y direction adjusting mechanism 4, and the Z direction adjusting mechanism 1 is fixed on the connecting plate 3.

[0108] The Z direction adjusting mechanism 1 comprises an electric control cabinet 101, a Z direction motor 102, a feeding mechanism II 103, a guide rail slider 104, two Z direction guide rails 105 and a fixed plate 107.

[0109] The electric control cabinet 101 is installed on the connecting plate 3, and the electric control cabinet 101 is provided with a vertical fixed plate 107 on one side, and the two Z direction guide rails 105 are arranged on the fixed plate 107 in a spaced manner, and the guide rail slider 104 is installed on each Z direction guide rail 105, and the Z direction guide rails 105 are consistent with the Z direction.

[0110] The feeding mechanism II 103 is arranged between the two Z direction guide rails 105 and connected with the guide rail sliders 104 on the two Z direction guide rails 105, and the upper end of the feeding mechanism II 103 is connected with the Z direction motor 102.

[0111] The X / Y / Z rotation adjusting mechanism 2 is connected to the guide rail slider 104, and a ball socket is arranged on the X / Y / Z rotation adjusting mechanism 2, and a rolling ball is installed in the ball socket.

[0112] In operation, the rolling ball on the X / Y / Z rotation adjusting mechanism 2 is in contact with the component, the Z direction motor 102 drives the guide rail slider 104 to move along the Z direction, the Z direction adjusting mechanism 1 moves on the plane O-XY through the X / Y direction adjusting mechanism 4, and the rolling ball adjusts the posture of the component.

[0113] Embodiment 5:

[0114] The main structure of this embodiment is the same as that of embodiment 4, and further, the X / Y direction adjusting mechanism 4 comprises a feeding mechanism I 402, a Y direction motor 403, two X direction guide rails 404, four cross-shaped cross sliders 406, two Y direction guide rails 407 and a lower bottom plate 408.

[0115] The X direction guide rails 404 are consistent with the X direction, and the two X direction guide rails 404 are fixed on the lower bottom plate 408 in a spaced manner, and two cross-shaped cross sliders 406 are installed on each X direction guide rail 404.

[0116] The Y direction guide rails 407 are consistent with the Y direction, and each Y direction guide rail 407 is installed on two cross-shaped cross sliders 406.

[0117] The feeding mechanism I 402 comprises a trapezoidal screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a shaft coupling I and a speed reducer I.

[0118] The bearing seat I and the bearing seat II are fixedly spaced on the lower surface of the connecting plate 3, the bearing seat I and the bearing seat II are both provided with bearings I, the two bearings I with the same axis as the trapezoidal screw I are connected, the axis of the trapezoidal screw I is consistent with the Y direction, one end of the trapezoidal screw I is connected with the output end of the speed reducer I, the speed reducer I is connected with the output end of the Y direction motor 403 through the shaft coupling I,

[0119] The two cross-shaped sliding blocks 406 on the same X direction guide rail 404 are connected with a nut mounting plate I, the nut I is fixed on the nut mounting plate I, and the rod segment of the trapezoidal screw I between the two bearings I passes through the nut I and the nut mounting plate I.

[0120] In operation, the Y direction motor 403 drives the trapezoidal screw I to rotate, the trapezoidal screw I drives the connecting plate 3 to move along the Y direction, and the cross-shaped sliding block 406 follows the movement in the X direction.

[0121] Embodiment 6:

[0122] The main structure of this embodiment is the same as that of embodiment 5, and further, the Y direction motor 403 is located in the electric control cabinet 101.

[0123] Embodiment 7:

[0124] The main structure of this embodiment is the same as that of embodiment 5, and further, the X / Y / Z rotation adjusting mechanism 2 comprises a supporting plate 201, the supporting plate 201 is an L-shaped plate, the vertical plate surface of the supporting plate 201 is connected with the guide rail sliding block 104, and the horizontal plate surface of the supporting plate 201 is provided with a ball socket.

[0125] Embodiment 8:

[0126] The main structure of this embodiment is the same as that of embodiment 7, and further, the lower base plate 408 is provided with a notch 405 for placing the supporting plate 201, and when the supporting plate 201 is adjusted to the lowest position, the horizontal plate of the supporting plate 201 is located in the notch 405.

[0127] Embodiment 9:

[0128] The main structure of this embodiment is the same as that of embodiment 5, and further, the lower base plate 408 is a rectangular plate, the lower base plate 408 is connected with a supporting frame 401, the supporting frame 401 is close to the edge of the lower base plate 408, and the lower surface of the lower base plate 408 is provided with a plurality of wheels 411.

[0129] Embodiment 10:

[0130] The main structure of this embodiment is the same as that of embodiment 4, and further, the feeding mechanism II 103 comprises a trapezoidal screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a shaft coupling II and a speed reducer II.

[0131] The bearing seat V and the bearing seat VI are fixed on the fixed plate 107 and the bearing seat V is located directly above the bearing seat VI, bearings II are installed on the bearing seat V and the bearing seat VI, two bearings II coinciding with the axis of the trapezoidal lead screw II are connected, the axis of the trapezoidal lead screw II is consistent with the Z direction, the upper end of the trapezoidal lead screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z direction motor 102 through the shaft coupling II.

[0132] The nut mounting seat II is connected between the two guide rail sliders 104 located on the two Z direction guide rails 105, the nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal lead screw II between the two bearings II passes through the nut II.

[0133] During work, the Z direction motor 102 drives the trapezoidal lead screw II to rotate, the nut II drives the nut mounting seat II, the guide rail slider 104 and the X / Y / Z rotation adjusting mechanism 2 to move along the Z direction.

[0134] The upper and lower ends of each Z direction guide rail 105 are provided with the stopper 106.

Claims

1. A six-dimensional adjustment module for fine adjustment of a gap, characterized in that: The Z-direction adjusting mechanism (1), the X / Y / Z rotating adjusting mechanism (2), the connecting plate (3) and the X / Y-direction adjusting mechanism (4) are arranged in a space rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z-direction is consistent with the vertical direction; The connecting plate (3) is mounted on the X / Y-direction adjusting mechanism (4), and the Z-direction adjusting mechanism (1) is fixed on the connecting plate (3); The Z-direction adjusting mechanism (1) comprises an electric control cabinet (101), a Z-direction motor (102), a feeding mechanism II (103), a guide rail sliding block (104), two Z-direction guide rails (105) and a fixed plate (107); The electric control cabinet (101) is mounted on the connecting plate (3), a vertical fixed plate (107) is arranged on one side of the electric control cabinet (101), the two Z-direction guide rails (105) are arranged on the fixed plate (107) at intervals, the guide rail sliding blocks (104) are mounted on the Z-direction guide rails (105), and the Z-direction guide rails (105) are consistent with the Z-direction; The feeding mechanism II (103) is arranged between the two Z-direction guide rails (105) and connected with the guide rail sliding blocks (104) on the two Z-direction guide rails (105), and the upper end of the feeding mechanism II (103) is connected with the Z-direction motor (102); The X / Y / Z rotating adjusting mechanism (2) is connected to the guide rail sliding block (104), a ball socket is arranged on the X / Y / Z rotating adjusting mechanism (2), and a rolling ball is arranged in the ball socket; The X / Y-direction adjusting mechanism (4) comprises a feeding mechanism I (402), a Y-direction motor (403), two X-direction guide rails (404), four cross sliding blocks (406), two Y-direction guide rails (407) and a lower bottom plate (408); The X-direction guide rails (404) are consistent with the X-direction, the two X-direction guide rails (404) are fixed on the lower bottom plate (408) at intervals, and the two cross sliding blocks (406) are mounted on each X-direction guide rail (404); The Y-direction guide rails (407) are consistent with the Y-direction, and each Y-direction guide rail (407) is mounted on the two cross sliding blocks (406); The feeding mechanism I (402) comprises a trapezoidal screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a shaft coupling I and a speed reducer I; The bearing seat I and the bearing seat II are fixed on the lower surface of the connecting plate (3) at intervals, the bearing I is mounted on the bearing seat I and the bearing seat II, the trapezoidal screw I is connected with the two bearing I coaxial with the axis, the axis of the trapezoidal screw I is consistent with the Y-direction, one end of the trapezoidal screw I is connected with the output end of the speed reducer I, and the speed reducer I is connected with the output end of the Y-direction motor (403) through the shaft coupling I; The two cross sliding blocks (406) on the same X-direction guide rail (404) are connected through a nut mounting plate I, the nut I is fixed on the nut mounting plate I, and the rod segment of the trapezoidal screw I between the two bearing I passes through the nut I and the nut mounting plate I; During work, the Y-direction motor (403) drives the trapezoidal screw I to rotate, the trapezoidal screw I drives the connecting plate (3) to move along the Y-direction, and the cross sliding block (406) follows the movement in the X-direction. In operation, the ball on the X / Y / Z rotation adjustment mechanism (2) is in contact with the component, the Z-direction motor (102) drives the guide rail slider (104) to move in the Z-direction, the Z-direction adjustment mechanism (1) moves the X / Y-direction adjustment mechanism (4) on the plane O-XY, and the ball adjusts the posture of the component.

2. The micro-adjustable six-axis adjustment module of claim 1, wherein: The Y-direction motor (403) is located in the electric control cabinet (101).

3. The micro-adjustable gap six-axis adjustment module of claim 1, wherein: The X / Y-direction adjustment mechanism (4) comprises a feeding mechanism III (409), an X-direction motor (410), two X-direction guide rails (404), four cross sliders (406), two Y-direction guide rails (407) and a lower base plate (408). The Y-direction guide rails (407) are consistent with the Y-direction, and the two Y-direction guide rails (407) are fixed on the lower base plate (408). The X-direction guide rails (404) are consistent with the X-direction, and each X-direction guide rail (404) is installed on two cross sliders (406). The feeding mechanism III (409) comprises a trapezoidal screw III, a nut III, a nut mounting seat III, a bearing seat III, a bearing seat IV, a shaft coupling III and a speed reducer III. The bearing seat III and the bearing seat IV are fixed on the lower surface of the connecting plate (3), and the bearing seat III and the bearing seat IV are both provided with bearings III. In operation, the X-direction motor (410) drives the trapezoidal screw III to rotate, the trapezoidal screw III drives the connecting plate (3) to move in the X-direction, and the cross sliders (406) follow in the Y-direction. The X-direction motor (410) is located in the electric control cabinet (101).

4. The micro-adjustable gap six-axis adjustment module of claim 3, wherein: The X / Y-direction adjustment mechanism (4) comprises two X-direction guide rails (404), four cross sliders (406), two Y-direction guide rails (407) and a lower base plate (408).

5. The micro-adjustable six-axis adjustment module of claim 1, wherein: The Y-direction guide rails (407) are consistent with the Y-direction, and the two Y-direction guide rails (407) are fixed on the lower base plate (408). The X-direction guide rails (404) are consistent with the X-direction, and each X-direction guide rail (404) is installed on two cross sliders (406). In operation, the connecting plate (3) follows in the X-direction and the Y-direction. The X / Y / Z rotation adjustment mechanism (2) comprises a supporting plate (201), the supporting plate (201) is an L-shaped plate, the vertical plate surface of the supporting plate (201) is connected with the guide rail slider (104), and the horizontal plate surface of the supporting plate (201) is provided with a ball socket.

6. The micro-adjustable gap six-axis adjustment module of claim 1, 3 or 5, wherein: ​ 7. The micro-adjustable six-axis adjustment module of claim 6, wherein: The lower bottom plate (408) is provided with a notch (405) for placing the supporting plate (201), and when the supporting plate (201) is adjusted to the lowest position, the horizontal plate of the supporting plate (201) is located in the notch (405).

8. The micro-adjustable gap six-axis adjustment module of claim 2 or 4, wherein: The lower bottom plate (408) is a rectangular plate, and the supporting frame (401) is connected to the lower bottom plate (408), the supporting frame (401) is close to the edge of the lower bottom plate (408), and the lower surface of the lower bottom plate (408) is provided with a plurality of wheels (411).

9. The micro-adjustable gap six-axis adjustment module of claim 1, wherein: The feeding mechanism II (103) comprises a trapezoidal screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a shaft coupling II and a speed reducer II. The bearing seat V and the bearing seat VI are both fixed on the fixed plate (107) and the bearing seat V is located directly above the bearing seat VI, the bearing seat V and the bearing seat VI are both provided with bearings II, the two bearings II with the same axis as the trapezoidal screw II are connected, the axis of the trapezoidal screw II is consistent with the Z direction, the upper end of the trapezoidal screw II is connected with the output end of the speed reducer II, and the speed reducer II is connected with the output end of the Z direction motor (102) through the shaft coupling II. The nut mounting seat II is connected between the two guide rail sliders (104) on the two Z direction guide rails (105), the nut II is fixed on the nut mounting seat II, and the rod segment between the two bearings II of the trapezoidal screw II passes through the nut II. During work, the Z direction motor (102) drives the trapezoidal screw II to rotate, the nut II drives the nut mounting seat II, the guide rail slider (104) and the X / Y / Z rotation adjusting mechanism (2) to move along the Z direction. The upper and lower ends of each Z direction guide rail (105) are provided with a stop block (106).

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