Parallel platform with ultra-precision gapless measuring device

Abstract

The utility model relates to a parallel platform with superhigh-precision gapless measuring device, and relates to a parallel platform, and the utility model is to solve the problem that the detection precision and control precision of current parallel platform generally can not satisfy the superhigh-precision pointing requirement of spacecraft, and the utility model includes dynamic platform, static platform, follow -up platform, branch chain subassembly and detection component, the dynamic platform and static platform are arranged horizontally from top to bottom, the follow -up platform is located between dynamic platform and static platform, and the lower surface of follow -up platform is rotatably connected with the upper surface of static platform, the drive assembly is installed on follow -up platform, and the detection component is located on the outside of branch chain subassembly and is connected with branch chain subassembly, the utility model relates to a parallel platform with high-precision gapless measuring device, and high-precision detection and control to the pointing of parallel platform can be realized, and the utility model belongs to the field of space technology.

Description

Technical Field

[0001] This invention relates to a parallel platform, specifically a parallel platform with an ultra-high precision gapless measuring device, and belongs to the field of aerospace technology. Background Technology

[0002] Currently, targeted signal transmission and reception has become a key research focus for various countries. Improving the speed and accuracy of long-distance signal communication from spacecraft to Earth is increasingly of strategic importance. Due to the amplification effect of the extremely long distance between Earth and space, even minute angular errors between the spacecraft's transmitted signal angle and the target's position can lead to a significant decrease in signal transmission efficiency, poor signal reception, and other serious problems, affecting signal stability and drastically reducing signal reception speed. This can have a significant negative impact on civilian infrastructure, military communications, and even wartime operations.

[0003] Parallel platforms are widely used in spacecraft pointing and adjustment mechanisms. However, the current detection and control accuracy of parallel platforms generally cannot meet the requirements of ultra-high precision pointing of spacecraft. If high-precision detection devices are directly applied to the branches of the parallel platform, the accuracy will not meet the standards due to the kinematic chain transmission error and the return error of the kinematic pair between the sensor and the object being detected. Summary of the Invention

[0004] To address the problem that the detection and control accuracy of current parallel platforms generally cannot meet the ultra-high precision pointing requirements of spacecraft, this invention proposes a parallel platform with an ultra-high precision gapless measurement device.

[0005] The technical solution adopted by the present invention to solve the above problems is as follows:

[0006] The present invention includes a moving platform, a stationary platform, a follower platform, a branch assembly, and a detection assembly. The moving platform and the stationary platform are horizontally arranged from top to bottom. The follower platform is located between the moving platform and the stationary platform, and the lower surface of the follower platform is rotatably connected to the upper surface of the stationary platform. The drive assembly is mounted on the follower platform, and the detection assembly is located outside the branch assembly and connected to the branch assembly.

[0007] Furthermore, the branch assembly includes a drive motor, a worm, a worm wheel nut, and a lead screw. The drive motor is mounted on the upper surface of the follower platform. The output shaft of the drive motor is connected to the worm through a coupling. The worm meshes with the worm wheel section at the lower part of the worm wheel nut. The lower end of the lead screw is inserted into the nut section at the upper part of the worm wheel nut, and the lead screw can reciprocate up and down along its length. The upper end of the lead screw is rotatably connected to the lower surface of the moving platform.

[0008] Furthermore, the worm gear nut includes a worm gear segment and a nut segment, with the nut segment located at the center of the upper surface of the worm gear segment and fixedly connected to the worm gear segment.

[0009] Furthermore, the upper end of the lead screw is connected to the lower surface of the moving platform via a Hooke hinge.

[0010] Furthermore, there are three branch components, which are evenly distributed along the circumferential direction.

[0011] Furthermore, the detection component includes a transmission block, a measuring block, a clamping spring, and a laser sensor. The transmission block is mounted on the outer shell of the upper part of the lead screw and moves up and down synchronously with the lead screw. One side of the measuring block is connected to the side wall of the transmission block, and the other side is connected to the side wall of the follower platform through the clamping spring. The laser displacement sensor is mounted on the follower platform.

[0012] Furthermore, both the conductive block and the measuring block are wedge-shaped blocks, with the inclined surface of the conductive block and the inclined surface of the measuring block closely fitting together.

[0013] Furthermore, the bottom surface of the measuring block is provided with a groove.

[0014] Furthermore, the follower platform is provided with a protruding block that slides in conjunction with the groove at the bottom of the measuring block, and the protruding block reciprocates in a straight line along the groove.

[0015] Furthermore, the side of the measuring block is provided with a blind hole for connection with a compression spring. One end of the compression spring is connected to the side of the measuring block, and the other end is connected to the follow-up platform.

[0016] The beneficial effects of this invention are:

[0017] 1. This invention relates to a parallel platform with a high-precision backlash-free measuring device. When the parallel platform is adjusting its attitude, the motor drives the worm gear to rotate, which in turn drives the worm wheel nut to rotate. The lead screw is driven by the nut to move up and down, thereby changing the length of the parallel platform's support chain and achieving the orientation adjustment of the parallel platform. During the attitude adjustment process, the high-precision backlash-free measuring device converts the extension and retraction motion of the lead screw into the horizontal motion of the measuring block. A high-precision laser sensor measures and provides feedback control on the movement distance of the measuring block, thereby achieving high-precision control of the parallel platform's attitude.

[0018] 2) This invention designs a special structure for the worm gear nut and adopts a worm gear drive method with a large transmission ratio, eliminating the need for a reducer and reducing the complexity of parts;

[0019] 3) This invention uses a backlash-free measuring device to avoid the backlash problem of gear transmission and the backlash problem of hinge movement, thereby achieving backlash-free and error-free motion transmission measurement and ensuring the high precision of the measuring device;

[0020] 4) The present invention uses a gapless measuring device to convert the vertical movement of the branch into horizontal movement, which allows the long laser sensor to be arranged laterally, greatly shortening the distance between the dynamic and static platforms, making the parallel platform structure more compact and improving the rigidity of the parallel platform. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a top sectional view of the present invention;

[0023] Figure 3 This is a schematic diagram of the initial motion state of the branch component and the detection component;

[0024] Figure 4 This is a schematic diagram of the movement and working state of the branch component and the detection component.

[0025] In the picture:

[0026] 1-Moving platform, 2-Static platform, 3-Follow-up platform, 4-Drive motor, 5-Worm, 6-Worm wheel nut, 6-1-Worm wheel, 6-2-Nut, 7-Lead screw, 8-Transmission block, 9-Measuring block, 10-Compression spring, 11-Laser displacement sensor. Detailed Implementation

[0027] Specific implementation method one: Combining Figures 1 to 4 This embodiment describes a parallel platform with an ultra-high precision gapless measuring device, comprising a moving platform 1, a stationary platform 2, a follower platform 3, a branch assembly, and a detection assembly. The moving platform 1 and the stationary platform 2 are horizontally arranged from top to bottom. The follower platform 3 is located between the moving platform 1 and the stationary platform 2, and the lower surface of the follower platform 3 is rotatably connected to the upper surface of the stationary platform 1. The driving assembly is mounted on the follower platform 3, and the detection assembly is located outside the branch assembly and connected to the branch assembly.

[0028] The main body of this invention is the structural body of a parallel platform, including a moving platform 1, a stationary platform 2, and a follower platform 3, which are responsible for installing and mounting the various structural components of the parallel platform. The stationary platform 1 is the bottom platform of the parallel platform and is usually in a fixed state. The moving platform 2 is the top platform of the parallel platform and is usually the working platform of the parallel platform, responsible for completing tasks such as pointing, mounting, and docking. Its position can be adjusted by the movement of the branch. The follower platform 3 is mounted on the stationary platform 1 by a hinge to ensure that the detection components on the branch components always maintain a parallel relationship with the branch components.

[0029] Specific Implementation Method Two: Combining Figure 1 , Figure 3 and Figure 4This embodiment describes a branch assembly comprising a drive motor 4, a worm gear 5, a worm wheel nut 6, and a lead screw 7. The drive motor 4 is mounted on the upper surface of the follower platform 3. The output shaft of the drive motor 4 is connected to the worm gear 5 via a coupling. The worm gear 5 meshes with the worm wheel section at the lower part of the worm wheel nut 6. The lower end of the lead screw 7 is inserted into the nut section at the upper part of the worm wheel nut 6, and the lead screw 7 can reciprocate up and down along its length. The upper end of the lead screw 7 is rotatably connected to the lower surface of the moving platform 2.

[0030] The branch chain assembly is the main structure of the parallel platform branch chain, responsible for adjusting the position and posture of the moving platform of the parallel platform. It is mounted on the stationary platform 1 via a hinge. The bottom end of the drive part is connected to the following platform 3 via bolts, and the top end is connected to the moving platform 2 via a Hooke hinge. When the parallel platform needs to be adjusted by a horizontal deflection of 10°, the drive motor 4 starts to drive, and the worm 5 starts to rotate under the drive of the motor, driving the worm wheel section of the worm wheel nut 6 to rotate. The worm wheel nut is a unified integral structure, and the rotation of the nut drives the lead screw 7 to move upward. Because the top end of the lead screw is connected to the Hooke hinge, which is mounted on the moving platform 1, the lead screw will not rotate, but will only move up and down under the drive of the nut. The transmission block 8 is fixedly mounted on the outer shell of the lead screw 7 and moves upward with the lead screw 7.

[0031] The other components and connections in this embodiment are the same as in Specific Embodiment 1.

[0032] Specific implementation method three: Combining Figure 3 This embodiment describes a worm gear nut 6 comprising a worm gear segment 6-1 and a nut segment 6-2. The nut segment 6-2 is located at the center of the upper surface of the worm gear segment and is fixedly connected to the worm gear segment 6-1.

[0033] The other components and connections in this embodiment are the same as in specific embodiment one or two.

[0034] Specific implementation method four: Combination Figure 1 In this embodiment, the upper end of the lead screw 7 is connected to the lower surface of the moving platform 2 via a Hooke hinge.

[0035] The other components and connections in this embodiment are the same as those in specific embodiments one, two, or three.

[0036] Specific Implementation Method Five: Combining Figure 2 In this embodiment, there are three branch components, which are evenly distributed along the circumference. The number of driving parts can also be other values, such as 4, 6, etc.

[0037] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, or four.

[0038] Specific Implementation Method Six: Combination Figure 1 , Figure 3 and Figure 4 This embodiment describes a detection component including a transmission block 8, a measuring block 9, a clamping spring 10, and a laser sensor 11. The transmission block 8 is mounted on the outer casing of the upper part of the lead screw 7 and moves up and down synchronously with the lead screw 7. One side of the measuring block 9 is connected to the side wall of the transmission block 8, and the other side is connected to the side wall of the follower platform 3 via the clamping spring 10. The laser displacement sensor 11 is mounted on the follower platform 3. The laser sensor 11 is horizontally mounted on the follower bracket 3. The laser beam measures the displacement ΔL of the measuring block 9 through a pre-reserved gap, thereby calculating the displacement of the transmission block 8, i.e., the elongation ΔH of the lead screw 7, thus achieving high-precision measurement and control of the parallel platform branch. The laser displacement sensor can be any model that meets the accuracy requirements, such as the Keyence CLP-030.

[0039] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, or five.

[0040] Specific implementation method seven: Combination Figures 3 to 4 In this embodiment, both the conductive block 8 and the measuring block 9 are wedge-shaped blocks, and the inclined surface of the conductive block 8 is in close contact with the inclined surface of the measuring block 9.

[0041] Both the transmission block 8 and the measuring block 9 are wedge-shaped blocks with complementary slope angles. Through precision machining, the slopes of the two blocks can achieve seamless contact and fit. When the transmission block 8 moves up and down, the measuring block 9 moves left and right.

[0042] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, or six.

[0043] Specific implementation method eight: Combination Figure 1 This embodiment describes a method where the bottom surface of the measuring block 9 has a groove.

[0044] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, or seven.

[0045] Specific Implementation Method Nine: Combining Figure 1 , Figure 3 and Figure 4 In this embodiment, the follower platform 3 is provided with a protruding block that slides in conjunction with the groove at the bottom of the measuring block 9. The protruding block reciprocates linearly along the groove. The measuring block 9 is mounted on the follower bracket 3 through the groove and has only a single degree of freedom of left and right movement. Its vertical surface is compressed by the compression spring 10, so that its inclined surface always maintains a tight fit with the inclined surface of the transmission block 8.

[0046] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, or eight.

[0047] Specific Implementation Method Ten: Combining Figure 1 In this embodiment, the measuring block 9 has a blind hole on its side that connects to the compression spring 10. One end of the compression spring 10 is connected to the side of the measuring block 9, and the other end is connected to the follower platform 3. The compression spring 10 is mounted on the follower bracket 3 to apply pressure to the measuring block 8.

[0048] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, eight, or nine.

[0049] Working principle

[0050] When the parallel platform receives the adjustment task indicator from the moving platform, it first calculates the elongation and shortening required for the lead screw 7 in each branch component to be adjusted to the target direction using a computer. Then, the drive motor 4 starts working, driving the worm 5 to rotate. The rotation of the worm 5 drives the worm wheel nut 6 to rotate, causing the nut segment to rotate and drive the lead screw 7 to move up and down, thereby realizing the adjustment of the length of the branch component. The entire structure of the detection part is installed based on the follower platform 3, so that when the branch component tilts, the entire detection part tilts along with it and there will be no relative deflection.

[0051] When the length of the branch assembly changes due to the movement of the lead screw 7, the transmission block 8, which is fixedly connected to the lead screw housing, produces the same vertical displacement. Its cooperation with the inclined surface of the measuring block 9 causes the measuring block 9 to produce a certain proportion of horizontal displacement. The laser displacement sensor 11 detects the displacement of the measuring block 9 in real time, thereby calculating the displacement of the lead screw 7, that is, the extension or shortening of the lead screw 7 in the branch assembly, and feeding the value back to the drive motor 4, thereby realizing the detection and feedback control of the length of the branch assembly, that is, completing the high-precision detection and feedback control of the parallel platform orientation.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A parallel platform with an ultra-high precision gapless measuring device, characterized in that: The parallel platform with ultra-high precision gapless measuring device includes a moving platform (1), a stationary platform (2), a follower platform (3), a branch assembly, and a detection assembly. The moving platform (1) and the stationary platform (2) are horizontally arranged from top to bottom. The follower platform (3) is located between the moving platform (1) and the stationary platform (2), and the lower surface of the follower platform (3) is rotatably connected to the upper surface of the stationary platform (2). The branch assembly is installed on the follower platform (3), and the detection assembly is located outside the branch assembly and connected to the branch assembly. The branch assembly includes a drive motor (4), a worm (5), a worm wheel nut (6), and a lead screw (7). The drive motor (4) is mounted on the upper surface of the follower platform (3). The output shaft of the drive motor (4) is connected to the worm (5) through a coupling. The worm (5) meshes with the worm wheel section at the lower part of the worm wheel nut (6). The lower end of the lead screw (7) is inserted into the nut section at the upper part of the worm wheel nut (6), and the lead screw (7) can move up and down along its length. The upper end of the lead screw (7) is rotatably connected to the lower surface of the moving platform (1). The detection assembly includes a transmission block (8), a measuring block (9), a clamping spring (10), and a laser sensor (11). The transmission block (8) is mounted on the outer shell of the upper part of the lead screw (7) and moves up and down synchronously with the lead screw (7). One side of the measuring block (9) is connected to the side wall of the transmission block (8), and the other side is connected to the side wall of the follower platform (3) through the clamping spring (10). The laser sensor (11) is mounted on the follower platform (3). Both the transmission block (8) and the measuring block (9) are wedge-shaped blocks. The inclined surface of the transmission block (8) is in close contact with the inclined surface of the measuring block (9). The bottom surface of the measuring block (9) is provided with a groove. The follower platform (3) is provided with a protruding block that slides in cooperation with the groove at the bottom of the measuring block (9). The protruding block moves back and forth in a straight line along the groove.

2. The parallel platform with an ultra-high precision gapless measuring device according to claim 1, characterized in that: The worm gear nut (6) includes a worm gear section (6-1) and a nut section (6-2). The nut section (6-2) is located at the center of the upper surface of the worm gear section (6-1), and the nut section (6-2) is fixedly connected to the worm gear section (6-1).

3. The parallel platform with an ultra-high precision gapless measuring device according to claim 2, characterized in that: The upper end of the lead screw (7) is connected to the lower surface of the moving platform (1) via a Hooke hinge.

4. A parallel platform with an ultra-high precision gapless measuring device according to claim 3, characterized in that: There are three branch components, which are evenly distributed along the circumference.

5. A parallel platform with an ultra-high precision gapless measuring device according to claim 4, characterized in that: The side of the measuring block (9) is provided with a blind hole for connecting to the clamping spring (10). One end of the clamping spring (10) is connected to the side of the measuring block (9), and the other end is connected to the follow-up platform (3).

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