Air floating platform device with multi-degree-of-freedom adjusting capability

Abstract

The invention belongs to the technical field of weightless environment simulation, and discloses an air floating platform device with multi-degree-of-freedom adjusting ability, which comprises an air floating space position adjusting mechanism, an air floating platform angle adjusting mechanism and a bearing air floater, and is characterized in that the air floating space position adjusting mechanism adjusts the X-axis, Y-axis and Z-axis space positions of the bearing air floater; the air floatation platform angle adjusting mechanism adjusts the mounting angle of the bearing air floatation; the air floatation space position adjusting mechanism comprises a mechanical arm platform, an X-axis connecting rod assembly, a Y-axis connecting rod assembly, a Z-axis connecting rod assembly, an X-axis adjusting driving assembly, a Y-axis adjusting driving assembly and a Z-axis adjusting driving assembly. According to the invention, through the air floatation space position adjusting mechanism, the space position for bearing air floatation can be adjusted in the test process, and by adopting the Cartesian translation principle, compared with other three-degree-of-freedom adjusting devices, direct adjustment can be carried out through an offset position, a complex algorithm is not needed, and the overall adjustment is more stable, easier to control and simpler.

Description

Technical Field

[0001] The invention relates to the technical field of simulated weightlessness environment, in particular to an air floating platform device with multi-degree-of-freedom adjustment capability. Background Art

[0002] Satellite solar arrays are generally composed of several substrates with solar cells attached, and the substrates and the solar arrays and the satellite are connected by space hinges. The prior art generally tests and analyzes the stiffness of the hinges by simulating a weightless environment device. For example, a Chinese patent with publication number CN113310651A discloses a device for simulating a weightless environment based on a nitrogen spring and an air floating cushion, including a base plate, a hinge fixing mechanism, a space hinge, a counterweight, an air floating support mechanism and an excitation device, wherein the hinge fixing mechanism, the air floating support mechanism and the excitation device are sequentially installed on the base plate, one end of the space hinge is connected to the hinge fixing mechanism, the other end of the space hinge is connected to one side of the counterweight, the other side of the counterweight is connected to the excitation rod of the excitation device, the counterweight is arranged on the air floating support mechanism and the counterweight is air-floated by the air floating support mechanism; the invention uses an air floating device to reduce the external influence on the dynamic stiffness of the hinge.

[0003] However, the air flotation device of the above-mentioned device simulating a weightless environment still has the following problems: the center of gravity of the counterweight object may change when the vibration device is tested, causing the angle and position of the air flotation device to shift. This solution cannot adjust the air flotation height during the test, and cannot adjust the position of the air flotation device on the plane, and cannot adjust the angle of the air flotation device. Summary of the invention

[0004] The purpose of the present invention is to provide an air floating platform device with multi-degree-of-freedom adjustment capability to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: An air-floating platform device with multi-degree-of-freedom adjustment capability, comprising an air-floating space position adjustment mechanism, an air-floating platform angle adjustment mechanism arranged on the air-floating space position adjustment mechanism, and a bearing air-floating arranged on the air-floating platform angle adjustment mechanism, wherein the air-floating space position adjustment mechanism adjusts the XYZ three-axis space position of the bearing air-floating, and the air-floating platform angle adjustment mechanism adjusts the installation angle of the bearing air-floating; The air-floating space position adjustment mechanism comprises a robotic arm platform, an X-axis connecting rod assembly, a Y-axis connecting rod assembly, a Z-axis connecting rod assembly, an X-axis adjustment drive assembly, a Y-axis adjustment drive assembly and a Z-axis adjustment drive assembly. The robotic arm platform is used to install the air-floating platform angle adjustment mechanism. One end of the X-axis connecting rod assembly is connected to the robotic arm platform for rotation around the X-axis, and the other end is connected to the X-axis adjustment drive assembly for rotation around the X-axis. The X-axis adjustment drive assembly drives the X-axis connecting rod assembly to move along the X-axis direction. One end of the Y-axis connecting rod assembly is connected to the robotic arm platform for rotation around the Y-axis, and the other end is connected to the Y-axis adjustment drive assembly for rotation around the Y-axis. The Y-axis adjustment drive assembly drives the Y-axis connecting rod assembly to move along the Y-axis direction. One end of the Z-axis connecting rod assembly is connected to the robotic arm platform for rotation around the Z-axis, and the other end is connected to the Z-axis adjustment drive assembly for rotation around the Z-axis. The Z-axis adjustment drive assembly drives the Z-axis connecting rod assembly to move along the Z-axis direction.

[0006] Further, the X-axis connecting rod assembly includes a first X-axis connecting rod and a second X-axis connecting rod, one end of the first X-axis connecting rod is connected to the robot arm platform for rotation around the X-axis, and the other end is connected to one end of the second X-axis connecting rod for rotation around the X-axis, and the second X-axis connecting rod is connected to the X-axis adjustment drive assembly for rotation around the X-axis; The Y-axis connecting rod assembly includes a first Y-axis connecting rod and a second Y-axis connecting rod, one end of the first Y-axis connecting rod is connected to the robot arm platform for rotation around the Y-axis, and the other end is connected to one end of the second Y-axis connecting rod for rotation around the Y-axis, and the second Y-axis connecting rod is connected to the Y-axis adjustment drive assembly for rotation around the Y-axis; The Z-axis connecting rod assembly includes a first Z-axis connecting rod and a second Z-axis connecting rod. One end of the first Z-axis connecting rod is connected to the robotic arm platform for rotation around the Z-axis, and the other end is connected to one end of the second Z-axis connecting rod for rotation around the Z-axis. The second Z-axis connecting rod is connected to the Z-axis adjustment drive assembly for rotation around the Z-axis.

[0007] Further, the X-axis adjustment drive assembly is an X-axis slide mechanism arranged along the X-axis, wherein the X-axis slide is connected to the X-axis connecting rod assembly for rotation around the X-axis, and drives the X-axis connecting rod assembly to move along the X-axis direction; The Y-axis adjustment drive assembly is a Y-axis slide mechanism arranged along the Y-axis, wherein the Y-axis slide is connected to the Y-axis connecting rod assembly for rotation around the Y-axis, thereby driving the Y-axis connecting rod assembly to move along the Y-axis direction; The Z-axis adjustment drive assembly is a Z-axis slide mechanism arranged along the Z-axis, and its Z-axis slide is connected to the Z-axis connecting rod assembly for rotation around the Z-axis, driving the Z-axis connecting rod assembly to move along the Z-axis direction.

[0008] Furthermore, the air-floating platform angle adjustment mechanism includes a mounting base, a rotating base, an angle adjustment seat, a Z-axis rotation angle adjustment drive assembly and a spherical rotation angle adjustment drive assembly. The rotating base is mounted in the mounting base and rotates around the Z axis. The angle adjustment seat is mounted in the rotating base by spherical rotation. The bearing air flotation is arranged on the angle adjustment seat. The Z-axis rotation angle adjustment drive assembly is used to drive the rotating base to rotate around the Z axis on the mounting base. The spherical rotation angle adjustment drive assembly is used to drive the angle adjustment seat to rotate along the spherical direction on the rotating base.

[0009] Furthermore, the Z-axis rotation angle adjustment drive assembly includes a plurality of first magnetic members evenly distributed on the mounting base with the mounting base axis as the center line and a plurality of second magnetic members evenly distributed on the rotating base with the rotating base axis as the center line. The first magnetic members and the second magnetic members are the same in number and have one-to-one corresponding positions. One of the first magnetic member and the second magnetic member is a first permanent magnet, and the other is a first electromagnet. When the first electromagnet is in a power-on state, the first electromagnet and the first permanent magnet generate magnetic force and drive the rotating base to rotate around the Z axis.

[0010] Further, the first permanent magnet with its N pole facing the first electromagnet and the first permanent magnet with its S pole facing the first electromagnet are arranged alternately, and the electromagnet is controlled to have its magnetic pole facing one end of the first permanent magnet by energizing it in forward and reverse directions.

[0011] Further, the rotating base has a concave spherical surface, the angle adjustment seat has a convex spherical surface for rotationally connecting with the concave spherical surface, and the spherical rotation angle adjustment drive assembly includes a plurality of first magnetic links arranged on the concave spherical surface of the rotating base and a plurality of second magnetic links arranged on the convex spherical surface of the angle adjustment seat; each first magnetic link passes through the axis of the rotating base and is symmetrically distributed about the axis of the rotating base, each first magnetic link includes a plurality of third magnetic members arranged at equal intervals, and all first magnetic links are evenly distributed at equal angles on the concave spherical surface and form a star-shaped spherical array; each second magnetic link passes through the axis of the angle adjustment seat and is symmetrically distributed about the axis of the angle adjustment seat, each second magnetic link includes a plurality of fourth magnetic members arranged at equal intervals, and all second magnetic links are evenly distributed at equal angles on the convex spherical surface and form a star-shaped spherical array; The number of the first magnetic links and the second magnetic links are the same, and their positions correspond one to one. One of the first magnetic links and the second magnetic links is a permanent magnet group, which includes a number of second permanent magnets arranged at equal intervals. The other is an electromagnet group, which includes a number of second electromagnets arranged at equal intervals. When the second electromagnet is in an energized state, the second electromagnet and the second permanent magnet generate magnetic force and drive the angle adjustment seat to rotate on the rotating base.

[0012] Furthermore, in the permanent magnet group, the second permanent magnet with the N pole facing the second electromagnet and the second permanent magnet with the S pole facing the second electromagnet are arranged alternately, and in the electromagnet group, the second electromagnet controls its magnetic pole facing one end of the second permanent magnet by energizing in forward and reverse directions.

[0013] Furthermore, the bearing air flotation has an air inlet, a first air outlet and a first air guide channel which are connected in sequence. The air inlet is located on the side of the bearing air flotation, the first air outlet is located at the center of the upper end of the bearing air flotation, and the first air guide channel is arranged at the upper end of the bearing air flotation and is located around the first air outlet. The air inlet is ventilated, the first air outlet exhausts air, and the first air guide channel blows out the gas evenly to form an air film between the bearing air flotation and the counterweight block, thereby balancing the gravity of the counterweight block.

[0014] Furthermore, a second air outlet and a second air guide channel are connected on the angle adjustment seat. The second air outlet is located at the center of the lower end of the angle adjustment seat and is connected to the air inlet hole that carries the air flotation. There are several second air guide channels that are evenly distributed on the convex spherical surface of the angle adjustment seat. The angle adjustment seat forms downward-blowing air flotation through the second air outlet and the second air guide channel, so that the entire angle adjustment seat is suspended on the rotating base.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1) Compared with the prior art, the present invention can adjust the spatial position of the air bearing flotation during the test through the air flotation spatial position adjustment mechanism, and adopts the Cartesian translation principle, so that compared with other three-degree-of-freedom adjustment devices, it can be directly adjusted through the offset position without complex algorithms, and the overall adjustment is more stable, easier to control, and simpler; 2) The present invention changes the traditional adaptive ball head into an air-floating platform angle adjustment mechanism. The angle adjustment can be achieved simply by passing alternating current into the electromagnet, and the input of alternating current is controlled by a PID algorithm, so that the angle adjustment control can be achieved, and the control of the plane rotation angle can be achieved, that is, the control of the two rotational degrees of freedom of the test piece can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is one of the structural schematic diagrams of the present invention.

[0017] Figure 2 This is the second structural schematic diagram of the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the air floating space position adjustment mechanism in the present invention.

[0019] Figure 4 This is one of the schematic diagrams of the connection structure between the air floating platform angle adjustment mechanism and the load-bearing air floating in the present invention.

[0020] Figure 5 This is the second schematic diagram of the connection structure between the air-floating platform angle adjustment mechanism and the load-bearing air-floating in the present invention.

[0021] Figure 6 It is a schematic diagram of the load-bearing air flotation structure in the present invention.

[0022] Figure 7 It is a schematic diagram of the structure of the angle adjustment seat in the present invention.

[0023] Figure 8 It is a schematic diagram of the structure of the rotating base in the present invention.

[0024] Fig. 9 It is a schematic diagram of the installation base structure in the present invention.

[0025] Fig.10 This is a schematic diagram of the connection structure between the mounting base and the rotating base in the present invention, and shows the arrangement of the first magnetic member and the second magnetic member.

[0026] Fig.11 This is one of the schematic axial cross-sectional views of the connection structure between the rotating base and the angle adjustment base in the present invention. In the figure, the third magnetic member with a magnetic pole drawn indicates that it is energized, and the third magnetic member without a magnetic pole drawn indicates that it is not energized.

[0027] Fig.12 This is the second schematic diagram of the axial cross-section of the connection structure between the rotating base and the angle adjustment base in the present invention. In the figure, the third magnetic member with a magnetic pole drawn indicates that it is energized, and the third magnetic member without a magnetic pole drawn indicates that it is not energized.

[0028] Fig.13 It is a schematic diagram of the process of adjusting the rotation angle Z1 of the carrier air flotation in the present invention.

[0029] Fig.14 It is a schematic diagram of the process of adjusting the angle Y1 of the carrier air flotation in the present invention.

[0030] In the figure: air-floating space position adjustment mechanism 1, mounting seat 11, first X-axis connecting rod 12a, first Y-axis connecting rod 12b, first Z-axis connecting rod 12c, second X-axis connecting rod 13a, second Y-axis connecting rod 13b, second Z-axis connecting rod 13c, X-axis optical rod 14a, Y-axis optical rod 14b, Z-axis optical rod 14c, X-axis driving motor 15a, Y-axis driving motor 15b, Z-axis driving motor 15c, X-axis screw rod 16a, Y-axis screw rod 16b, Z-axis screw rod 16c, X-axis slide 17a, Y-axis slide 17b, Z-axis slide 17c, robot arm platform 18, X pin 19a, Y pin Shaft 19b, Z pin shaft 19c, air flotation platform angle adjustment mechanism 2, mounting base 21, first mounting groove 211, concave ball groove 212, rotating base 22, concave spherical surface 221, second mounting groove 222, third mounting groove 223, convex ball head 224, third air guide channel 225, angle adjustment seat 23, convex spherical surface 231, second air guide channel 232, second air outlet 233, fourth mounting groove 234, first magnetic member 24, second magnetic member 25, third magnetic member 26, fourth magnetic member 27, bearing air flotation 3, air inlet 31, first air outlet 32, first air guide channel 33. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-Figure 14 An air flotation platform device with multi-degree-of-freedom adjustment capability comprises an air flotation space position adjustment mechanism 1, an air flotation platform angle adjustment mechanism 2 arranged on the air flotation space position adjustment mechanism 1, and a bearing air flotation 3 arranged on the air flotation platform angle adjustment mechanism 2. The air flotation space position adjustment mechanism 1 adjusts the XYZ three-axis spatial position of the bearing air flotation 3, and the air flotation platform angle adjustment mechanism 2 adjusts the installation angle of the bearing air flotation 3.

[0033] Continue reading Figure 2 and Figure 3In one embodiment of the present invention, the air-floating space position adjustment mechanism 1 includes a robot arm platform 18, an X-axis connecting rod assembly, a Y-axis connecting rod assembly, a Z-axis connecting rod assembly, an X-axis adjustment drive assembly, a Y-axis adjustment drive assembly and a Z-axis adjustment drive assembly. The robot arm platform 18 is used to install the air-floating platform angle adjustment mechanism 2. One end of the X-axis connecting rod assembly is connected to the robot arm platform 18 for rotation around the X-axis, and the other end is connected to the X-axis adjustment drive assembly for rotation around the X-axis. The X-axis adjustment drive assembly drives the X-axis connecting rod assembly to move along the X-axis direction. One end of the Y-axis connecting rod assembly is connected to the robot arm platform 18 for rotation around the Y-axis, and the other end is connected to the Y-axis adjustment drive assembly for rotation around the Y-axis. The Y-axis adjustment drive assembly drives the Y-axis connecting rod assembly to move along the Y-axis direction. One end of the Z-axis connecting rod assembly is connected to the robot arm platform 18 for rotation around the Z-axis, and the other end is connected to the Z-axis adjustment drive assembly for rotation around the Z-axis. The Z-axis adjustment drive assembly drives the Z-axis connecting rod assembly to move along the Z-axis direction.

[0034] Continue reading Figure 2 and Figure 3 In one embodiment of the present invention, the X-axis connecting rod assembly includes a first X-axis connecting rod 12a and a second X-axis connecting rod 13a, one end of the first X-axis connecting rod 12a is rotatably connected to the robot arm platform 18 through an X-pin shaft 19a, the other end of the first X-axis connecting rod 12a is rotatably connected to one end of the second X-axis connecting rod 13a through the X-pin shaft 19a, the other end of the second X-axis connecting rod 13a is also rotatably connected to the X-axis adjustment drive assembly through the X-pin shaft 19a, and the X-pin shaft 19a is arranged along the X-axis direction.

[0035] Continue reading Figure 2 and Figure 3 In one embodiment of the present invention, the Y-axis connecting rod assembly includes a first Y-axis connecting rod 12b and a second Y-axis connecting rod 13b, one end of the first Y-axis connecting rod 12b is rotatably connected to the robot arm platform 18 through a Y-pin shaft 19b, the other end of the first Y-axis connecting rod 12b is rotatably connected to one end of the second Y-axis connecting rod 13b through the Y-pin shaft 19b, the other end of the second Y-axis connecting rod 13b is also rotatably connected to the Y-axis adjustment drive assembly through the Y-pin shaft 19b, and the Y-pin shaft 19b is arranged along the Y-axis direction.

[0036] Continue reading Figure 2 and Figure 3 In one embodiment of the present invention, the Z-axis link assembly includes a first Z-axis link 12c and a second Z-axis link 13c, one end of the first Z-axis link 12c is rotatably connected to the robot arm platform 18 through a Z pin 19c, the other end of the first Z-axis link 12c is rotatably connected to one end of the second Z-axis link 13c through a Z pin 19b, the other end of the second Z-axis link 13c is also rotatably connected to the Z-axis adjustment drive assembly through the Z pin 19c, and the Z pin 19c is arranged along the Z-axis direction.

[0037] Continue reading Figure 3 In one embodiment of the present invention, the X-axis adjustment drive assembly is an X-axis slide mechanism arranged along the X-axis, and its X-axis slide 17a is rotatably connected with the second X-axis connecting rod 13a of the X-axis connecting rod assembly through the X-pin shaft 19a, driving the X-axis connecting rod assembly to move along the X-axis direction. The X-axis slide mechanism also includes an X-axis optical rod 14a, an X-axis drive motor 15a, and an X-axis screw rod 16a. The X-axis optical rod 14a, the X-axis drive motor 15a, and the X-axis screw rod 16a are installed on the mounting seat 11, the X-axis slide 17a is threadedly matched with the X-axis screw rod 16a, and the X-axis slide 17a is also slidably matched with the X-axis optical rod 14a. The X-axis drive motor 15a drives the X-axis screw rod 16a to rotate, and the X-axis screw rod 16a drives the X-axis slide 16a to move along the X-axis direction.

[0038] Continue reading Figure 3 In one embodiment of the present invention, the Y-axis adjustment drive assembly is a Y-axis slide mechanism arranged along the Y-axis, and its Y-axis slide 17b is rotatably connected with the second Y-axis connecting rod 13c of the Y-axis connecting rod assembly through the Y-pin shaft 19b, driving the Y-axis connecting rod assembly to move along the Y-axis direction. The Y-axis slide mechanism also includes a Y-axis smooth rod 14b, a Y-axis drive motor 15b, and a Y-axis screw rod 16b. The Y-axis smooth rod 14b, the Y-axis drive motor 15b, and the Y-axis screw rod 16b are installed on the mounting seat 11. The Y-axis slide 17b is threadedly matched with the Y-axis screw rod 16b. The Y-axis slide 17b also slides with the Y-axis smooth rod 14b. The Y-axis drive motor 15b drives the Y-axis screw rod 16b to rotate, and the Y-axis screw rod 16b drives the Y-axis slide 16b to move along the Y-axis direction.

[0039] Continue reading Figure 3 In one embodiment of the present invention, the Z-axis adjustment drive assembly is a Z-axis slide mechanism arranged along the Z-axis, wherein the Z-axis slide 17c is rotatably connected to the second Z-axis connecting rod 13c of the Z-axis connecting rod assembly through the Z pin 19c, driving the Z-axis connecting rod assembly to move along the Z-axis direction, and the Z-axis slide mechanism also includes a Z-axis smooth rod 14c, a Z-axis drive motor 15c, and a Z-axis screw rod 16c, which are installed on the mounting seat 11, the Z-axis slide 17c is threadedly matched with the Z-axis screw rod 16c, and the Z-axis slide 17c is also slidably matched with the Z-axis smooth rod 14c, the Z-axis drive motor 15c drives the Z-axis screw rod 16c to rotate, and the Z-axis screw rod 16c drives the Z-axis slide 16c to move along the Z-axis direction.

[0040] The air-floating space position adjustment mechanism 1 is composed of transmission mechanisms in three directions (X, Y, and Z) and has three degrees of freedom. Taking the Z direction as an example, assuming that the air-floating height offset is Z1, after receiving the upper computer drive circle number instruction, the Z-axis drive motor 15c starts to drive the Z-axis screw 16c to rotate, thereby driving the Z-axis slide 17c to move in the air-floating offset direction Z1, and then the first Z-axis connecting rod 12c and the second Z-axis connecting rod 13c passively move in the specified direction Z1, so that the air-floating moves to the specified position. When the robot platform 18 moves along the Z-axis direction, the X-axis connecting rod assembly and the Y-axis connecting rod assembly rotate to match the position change of the robot platform 18, and there will be no motion interference between the three axes. In addition, the robot platform 18 and the air-floating platform angle adjustment mechanism 2 and the bearing air-floating 3 thereon are carried by the Z-axis connecting rod assembly and the Z-axis adjustment drive assembly.

[0041] It should be noted that the above-mentioned connecting rods are all plate structures.

[0042] Continue reading Figure 4 and Figure 5 In one embodiment of the present invention, the air flotation platform angle adjustment mechanism 2 includes a mounting base 21, a rotating base 22, an angle adjustment seat 23, a Z-axis rotation angle adjustment drive assembly and a spherical rotation angle adjustment drive assembly. The rotating base 22 is installed in the mounting base 21 for rotation around the Z axis. The angle adjustment seat 23 is installed in the rotating base 22 by spherical rotation. The bearing air flotation 3 is arranged on the angle adjustment seat 23. The Z-axis rotation angle adjustment drive assembly is used to drive the rotating base 22 to rotate around the Z axis on the mounting base 21. The spherical rotation angle adjustment drive assembly is used to drive the angle adjustment seat 23 to rotate along the spherical direction on the rotating base 22.

[0043] Continue reading Figure 8-Figure 10In one embodiment of the present invention, the mounting base 21 has a cylindrical concave cavity, the bottom center of the concave cavity has a concave ball groove 212, the side of the rotating base 22 is a cylindrical structure corresponding to the cylindrical concave cavity, and the bottom center thereof has a convex ball head 212 for engaging with the concave ball groove 212, and the bottom of the rotating base 22 is evenly distributed with a plurality of second mounting grooves 223. The Z-axis rotation angle adjustment drive assembly includes a plurality of first magnetic members 24 evenly distributed on the bottom of the cylindrical concave cavity of the mounting base 21 with the axis of the mounting base 21 as the center line, and a plurality of second magnetic members 25 evenly distributed on the bottom of the rotating base 22 with the axis of the rotating base 22 as the center line, the first magnetic members 24 and the second magnetic members 25 are the same in number and have one-to-one corresponding positions, the first magnetic member 24 is a first electromagnet, and the second magnetic member 25 is a first permanent magnet. On the rotating base 22, the first permanent magnet with the N pole facing the first electromagnet and the first permanent magnet with the S pole facing the first electromagnet are arranged alternately, and the first electromagnet controls its magnetic pole facing one end of the first permanent magnet by energizing in the forward and reverse directions. When the first electromagnet is in the energized state, the first electromagnet and the first permanent magnet generate magnetic force and drive the rotating base 22 to rotate around the Z axis. Among them, the bottom of the cylindrical concave cavity of the mounting base 21 is evenly distributed with a plurality of first mounting grooves 211 for embedding the first magnetic member 24, and the bottom of the rotating base 22 is evenly distributed with a plurality of second mounting grooves 223 for embedding the second magnetic member 25.

[0044] Continue to refer to 7. Figure 8 , Fig.11 , Fig.12In one embodiment of the present invention, the upper end of the rotating base 22 has a concave spherical surface 221, and the angle adjustment seat 23 has a convex spherical surface 231 on the outside for rotationally engaging with the concave spherical surface 221. The spherical rotation angle adjustment drive assembly includes a plurality of first magnetic links arranged on the concave spherical surface 221 of the rotating base 22 and a plurality of second magnetic links arranged on the convex spherical surface 231 of the angle adjustment seat 23; each first magnetic link passes through the axis of the rotating base 22 and is symmetrically distributed about the axis of the rotating base 22, each first magnetic link includes a plurality of third magnetic members 26 arranged at equal intervals, and all first magnetic links are uniformly distributed at equal angles on the concave spherical surface 221 and form a star-shaped spherical array; each second magnetic link passes through the axis of the angle adjustment seat 23 and is symmetrically distributed about the axis of the angle adjustment seat 23, each second magnetic link includes a plurality of fourth magnetic members 27 arranged at equal intervals, and all second magnetic links are uniformly distributed at equal angles on the convex spherical surface 231 and form a star-shaped spherical array. The number of the first magnetic link and the second magnetic link is the same, and the positions correspond one to one. The first magnetic link is a permanent magnet group, and the permanent magnet group includes a number of second permanent magnets arranged at equal intervals. The second magnetic link is an electromagnet group, and the electromagnet group includes a number of second electromagnets arranged at equal intervals. In the permanent magnet group, the second permanent magnet with the N pole facing the second electromagnet and the second permanent magnet with the S pole facing the second electromagnet are arranged alternately. In the electromagnet group, the second electromagnet controls its magnetic pole facing one end of the second permanent magnet by positive and negative power supply. When the second electromagnet is in the power-on state, the second electromagnet and the second permanent magnet generate magnetic force and drive the angle adjustment seat 23 to rotate on the rotating base 22. Among them, a number of third mounting grooves 222 for embedding the third magnetic member 26 are provided on the concave spherical surface 221 of the rotating base 22, and a number of fourth mounting grooves 234 for embedding the fourth magnetic member 27 are provided on the convex spherical surface 231 of the angle adjustment seat 23.

[0045] Among them, the positions of the four most central third magnetic parts 26 in each first magnetic chain are completely overlapped with the four most central fourth magnetic parts 27 in the corresponding second magnetic chain. These magnetic parts are used for magnetic fixation between the angle adjustment seat 23 and the rotating base 22, and the remaining magnetic parts are used to generate repulsive and attractive forces to drive the angle adjustment seat 23 to swing. Therefore, the positions of the remaining third magnetic parts and the corresponding fourth magnetic parts do not overlap and the deviation angles are the same.

[0046] Continue reading Figure 6In one embodiment of the present invention, the bearing air float 3 has an air inlet 31, a first air outlet 32 ​​and a first air guide channel 33 which are connected in sequence. The air inlet 31 is located at the side of the bearing air float 3, the first air outlet 32 ​​is located at the center of the upper end of the bearing air float 3, and the first air guide channel 33 is arranged at the upper end of the bearing air float 3 and is located around the first air outlet 32. The air inlet 31 is ventilated, and the first air outlet 32 ​​is exhausted. The first air guide channel 33 blows out the gas evenly, so that an air film is formed between the bearing air float 3 and the counterweight block, thereby balancing the gravity of the counterweight block.

[0047] Continue reading Figure 7 In one embodiment of the present invention, a second air outlet 233 and a second air guide channel 232 are connected on the angle adjustment seat 23. The second air outlet 233 is located at the center of the lower end of the angle adjustment seat 23, and is connected to the air inlet 31 of the bearing air flotation 3. There are several second air guide channels 232, which are evenly distributed on the convex spherical surface 231 of the angle adjustment seat 23. The angle adjustment seat 23 forms a downward blowing air flotation through the second air outlet 233 and the second air guide channel 232, so that the entire angle adjustment seat 23 is suspended on the rotating base 22.

[0048] The air-floating platform angle adjustment mechanism of the present invention adjusts the axial rotation angle (rotation of the rotating base 22 relative to the mounting base 21 ) and the swing angle (rotation of the angle adjustment base 23 relative to the rotating base 22 ) of the air-floating support 3 .

[0049] like Fig.13 and Fig.14 As shown, taking the Y direction as an example, assuming that the swing angle of the carrier air flotation 3 to be adjusted is Y1, since the magnetic link (i.e., the second magnetic link) needs to correspond to the swing adjustment direction, it is assumed that the angle of deviation between the magnetic link and the swing adjustment direction is Z1. Fig.11 The four second electromagnets in the center of the rotating base 22 are charged, so that the second electromagnets have opposite magnetic poles to the first electromagnets, thereby causing the angle adjustment base 23 and the rotating base 22 to attract each other. After being relatively fixed, the rotating base movement angle is adjusted to Z1. Fig.12As shown, the power is turned off for the above four second electromagnets, and then the second electromagnet on the side opposite to the deflection direction of the angle adjustment seat 23 in this magnetic link is powered on, so that the second electromagnet and the second permanent magnet have opposite magnetic poles, and the angle adjustment seat 23 is swung to adjust the angle Y1. When the angle to be adjusted is large, so that a second electromagnet needs to pass through at least a plurality of second permanent magnets, the initial second electromagnet and the corresponding second permanent magnet have opposite magnetic poles. When the second electromagnet overlaps with the next second permanent magnet, it is reversely powered, and repulsive force is generated again to push the second permanent magnet forward. Since the second electromagnet has a speed, the second electromagnet will not stay at a position that completely overlaps with the first permanent magnet during movement. In addition, the spacing between adjacent permanent magnets on the same link is the same, and the spacing between adjacent electromagnets is also the same. Therefore, when a pair of electromagnets and permanent magnets overlap, the remaining electromagnets on the same side except the electromagnet that is not powered overlap with the corresponding permanent magnet.

[0050] Deceleration process: When the target position is about to be reached, the electromagnet current is controlled through angle feedback, thereby changing the direction of force so that its direction is opposite to the direction of movement, thereby achieving a deceleration effect.

[0051] The present invention can adjust a small angle by reducing the length of the magnet and the distance between adjacent magnets.

[0052] like Fig.10 and Fig.13 As shown, the first permanent magnet of the rotating base 22 interacts with the first electromagnet of the mounting base, so that it rotates at a certain angle. When the rotating base 22 rotates, the angle adjustment base 23 needs to rotate at the same angle. Therefore, the follower electromagnet on the upper part of the rotating base 22 will attract the follower permanent magnet of the angle adjustment base 23, so that it follows. When it rotates to the target position, the follower electromagnet on the rotating base 22 is powered off, so that the angle adjustment base 23 starts to adjust the tilt angle.

[0053] The control process of the present invention is as follows: when the test piece is offset during the test, the offset type will be determined. If it is an angle offset, the sensor determines the tilt angle of the test piece and the angle between the nearest magnetic force and the angle adjustment direction as Ɵ, thereby controlling the angle Ɵ between the rotating base 22 and the angle adjustment seat 23 to ensure that the magnets used to adjust the tilt angle correspond to each other, and then controlling the angle adjustment seat 23 to adjust the tilt ꞵ. If it is a spatial position offset, determine the position offset distance x, y, z, thereby controlling the motor movement in the three directions of XYZ. Then the air flotation adjustment is completed.

[0054] The above is a one-time adjustment, during which the traditional PID control algorithm is used to perform feedback control on the moving position and angle offset.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An air floating platform device with multi-degree-of-freedom adjustment capability, characterized in that: It comprises an air-floating space position adjustment mechanism (1), an air-floating platform angle adjustment mechanism (2) arranged on the air-floating space position adjustment mechanism (1), and a bearing air-floating (3) arranged on the air-floating platform angle adjustment mechanism (2), wherein the air-floating space position adjustment mechanism (1) adjusts the XYZ three-axis spatial position of the bearing air-floating (3), and the air-floating platform angle adjustment mechanism (2) adjusts the installation angle of the bearing air-floating (3); The air-floating space position adjustment mechanism (1) comprises a mechanical arm platform (18), an X-axis connecting rod assembly, a Y-axis connecting rod assembly, a Z-axis connecting rod assembly, an X-axis adjustment drive assembly, a Y-axis adjustment drive assembly and a Z-axis adjustment drive assembly. The mechanical arm platform (18) is used to install the air-floating platform angle adjustment mechanism (2). One end of the X-axis connecting rod assembly is connected to the mechanical arm platform (18) for rotation around the X-axis, and the other end is connected to the X-axis adjustment drive assembly for rotation around the X-axis. The X-axis adjustment drive assembly drives the X-axis connecting rod assembly to move along the X-axis direction. One end of the Y-axis connecting rod assembly is connected to the mechanical arm platform (18) for rotation around the Y-axis, and the other end is connected to the Y-axis adjustment drive assembly for rotation around the Y-axis. The Y-axis adjustment drive assembly drives the Y-axis connecting rod assembly to move along the Y-axis direction. One end of the Z-axis connecting rod assembly is connected to the mechanical arm platform (18) for rotation around the Z-axis, and the other end is connected to the Z-axis adjustment drive assembly for rotation around the Z-axis. The Z-axis adjustment drive assembly drives the Z-axis connecting rod assembly to move along the Z-axis direction.

2. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 1, characterized in that: The X-axis connecting rod assembly comprises a first X-axis connecting rod (12a) and a second X-axis connecting rod (13a), one end of the first X-axis connecting rod (12a) being rotatably connected to the robot arm platform (18) around the X-axis, and the other end of the first X-axis connecting rod (12a) being rotatably connected to one end of the second X-axis connecting rod (13a) around the X-axis, and the second X-axis connecting rod (13a) being rotatably connected to the X-axis adjusting driving assembly around the X-axis; The Y-axis connecting rod assembly comprises a first Y-axis connecting rod (12b) and a second Y-axis connecting rod (13b), one end of the first Y-axis connecting rod (12b) being rotatably connected to the robot arm platform (18) around the Y-axis, and the other end of the first Y-axis connecting rod (12b) being rotatably connected to one end of the second Y-axis connecting rod (13b) around the Y-axis, and the second Y-axis connecting rod (13b) being rotatably connected to the Y-axis adjusting driving assembly around the Y-axis; The Z-axis connecting rod assembly comprises a first Z-axis connecting rod (12c) and a second Z-axis connecting rod (13c); one end of the first Z-axis connecting rod (12c) is connected to the robot arm platform (18) for rotation around the Z-axis, and the other end is connected to one end of the second Z-axis connecting rod (13c) for rotation around the Z-axis; the second Z-axis connecting rod (13c) is connected to the Z-axis adjusting drive assembly for rotation around the Z-axis.

3. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 1, characterized in that: The X-axis adjustment drive assembly is an X-axis slide mechanism arranged along the X-axis, wherein the X-axis slide (17a) is connected to the X-axis connecting rod assembly for rotation around the X-axis, thereby driving the X-axis connecting rod assembly to move along the X-axis direction; The Y-axis adjustment drive assembly is a Y-axis slide mechanism arranged along the Y-axis, wherein the Y-axis slide (17b) is connected to the Y-axis connecting rod assembly for rotation around the Y-axis, thereby driving the Y-axis connecting rod assembly to move along the Y-axis direction; The Z-axis adjustment drive assembly is a Z-axis slide mechanism arranged along the Z-axis, wherein the Z-axis slide (17c) is connected to the Z-axis connecting rod assembly for rotation around the Z-axis, thereby driving the Z-axis connecting rod assembly to move along the Z-axis direction.

4. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 1, characterized in that: The air-floating platform angle adjustment mechanism (2) comprises a mounting base (21), a rotating base (22), an angle adjustment base (23), a Z-axis rotation angle adjustment drive assembly and a spherical rotation angle adjustment drive assembly. The rotating base (22) is mounted in the mounting base (21) to rotate around the Z axis. The angle adjustment base (23) is mounted in the rotating base (22) by spherical rotation. The bearing air flotation (3) is arranged on the angle adjustment base (23). The Z-axis rotation angle adjustment drive assembly is used to drive the rotating base (22) to rotate around the Z axis on the mounting base (21). The spherical rotation angle adjustment drive assembly is used to drive the angle adjustment base (23) to rotate along the spherical direction on the rotating base (22).

5. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 4, characterized in that: The Z-axis rotation angle adjustment drive assembly comprises a plurality of first magnetic members (24) uniformly distributed on the mounting base (21) with the axis of the mounting base (21) as the center line, and a plurality of second magnetic members (25) uniformly distributed on the rotating base (22) with the axis of the rotating base (22) as the center line, the first magnetic members (24) and the second magnetic members (25) being the same in number and corresponding in position to each other, one of the first magnetic members (24) and the second magnetic members (25) being a first permanent magnet and the other being a first electromagnet, and when the first electromagnet is in a powered-on state, the first electromagnet and the first permanent magnet generate magnetic force and drive the rotating base (22) to rotate around the Z-axis.

6. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 5, characterized in that: The first permanent magnet with its N pole facing the first electromagnet and the first permanent magnet with its S pole facing the first electromagnet are arranged alternately, and the first electromagnet controls its magnetic pole facing one end of the first permanent magnet by energizing it in forward and reverse directions.

7. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 4, characterized in that: The rotating base (22) has a concave spherical surface (221), the angle adjustment seat (23) has a convex spherical surface (231) for rotationally connecting with the concave spherical surface (221), and the spherical surface rotation angle adjustment driving assembly comprises a plurality of first magnetic links arranged on the concave spherical surface (221) of the rotating base (22) and a plurality of second magnetic links arranged on the convex spherical surface (231) of the angle adjustment seat (23); each first magnetic link passes through the axis of the rotating base (22) and is axially connected to the axis of the rotating base (22). Symmetrical distribution, each first magnetic link comprises a plurality of third magnetic members (26) arranged at equal intervals, all first magnetic links are evenly distributed at equal angles on the concave spherical surface (221) and form a star-shaped spherical array; each second magnetic link passes through the axis of the angle adjustment seat (23) and is symmetrically distributed about the axis of the angle adjustment seat (23), each second magnetic link comprises a plurality of fourth magnetic members (27) arranged at equal intervals, all second magnetic links are evenly distributed at equal angles on the convex spherical surface (231) and form a star-shaped spherical array; The first magnetic links and the second magnetic links are of the same number and have one-to-one corresponding positions; one of the first magnetic links and the second magnetic links is a permanent magnet group, which includes a plurality of second permanent magnets arranged at equal intervals; and the other is an electromagnet group, which includes a plurality of second electromagnets arranged at equal intervals; when the second electromagnets are in an energized state, the second electromagnets and the second permanent magnets generate magnetic force and drive the angle adjustment seat (23) to rotate on the rotating base (22).

8. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 7, characterized in that: In the permanent magnet group, the second permanent magnet with the N pole facing the second electromagnet and the second permanent magnet with the S pole facing the second electromagnet are arranged alternately. In the electromagnet group, the second electromagnet controls its magnetic pole facing one end of the second permanent magnet by energizing in forward and reverse directions.

9. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 7, characterized in that: The bearing air flotation (3) has an air inlet (31), a first air outlet (32) and a first air guide channel (33) which are connected in sequence. The air inlet (31) is located at the side of the bearing air flotation (3), the first air outlet (32) is located at the center of the upper end of the bearing air flotation (3), and the first air guide channel (33) is arranged at the upper end of the bearing air flotation (3) and is located around the first air outlet (32). The air inlet (31) is ventilated, the first air outlet (32) is exhausted, and the first air guide channel (33) blows out the gas evenly, so that an air film is formed between the bearing air flotation (3) and the counterweight block, thereby balancing the gravity of the counterweight block.

10. The air floating platform device with multi-degree-of-freedom adjustment capability according to claim 9, characterized in that: The angle adjustment seat (23) is provided with a second air outlet hole (233) and a second air guide channel (232) which are connected to each other. The second air outlet hole (233) is located at the center of the lower end of the angle adjustment seat (23) and is connected to the air inlet hole (31) of the air flotation (3). There are a plurality of second air guide channels (232) which are evenly distributed on the convex spherical surface (231) of the angle adjustment seat (23). The angle adjustment seat (23) forms air flotation blowing downwards through the second air outlet hole (233) and the second air guide channel (232), so that the entire angle adjustment seat (23) is suspended on the rotating base (22).

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