Heavy-load three-degree-of-freedom posture adjusting device

Abstract

The invention relates to butt joint equipment, in particular to a heavy-load three-degree-of-freedom posture adjusting device which comprises a bearing platform, a first base plate, a second base plate and a third base plate, the bearing platform is used for placing a butt joint piece, and the bearing platform is suitable for moving in the X-axis direction relative to the first base plate through a guide rail; the first substrate is suitable for moving in the Y-axis direction relative to the second substrate through a guide rail, and the second substrate is suitable for rotating in the Z-axis direction relative to the third substrate. According to the heavy-load three-degree-of-freedom posture adjusting device, the position of the bearing platform can be adjusted at will according to actual needs through one posture adjusting device, namely, the position of a butt joint piece is adjusted, the heavy-load three-degree-of-freedom posture adjusting device is more suitable for heavy-load structure butt joint pieces which are large in size and heavy in weight, the butt joint efficiency is improved, and the position adjusting precision is improved; the bearing platform can be customized according to the actual needs of the butt joint piece, and the application range is wider.

Description

Technical Field

[0001] The invention relates to a docking device, in particular to a heavy-load three-degree-of-freedom posture adjustment device. Background Art

[0002] During the equipment docking process, the position of the docking parts needs to be adjusted. The existing method is to complete the position adjustment of the docking parts through rails and posture adjustment supports. This method has low position adjustment accuracy of the docking parts and requires multiple attempts during the adjustment process, resulting in low docking efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a heavy-load three-degree-of-freedom posture adjustment device with high position adjustment accuracy and high docking efficiency.

[0004] In order to solve the above technical problems, this application provides the following technical solutions:

[0005] The present invention discloses a heavy-load three-degree-of-freedom posture adjustment device, comprising a carrying platform, a first substrate, a second substrate, and a third substrate. The carrying platform is used to place a docking piece. The carrying platform is suitable for moving along the X-axis direction relative to the first substrate. The first substrate is suitable for moving along the Y-axis direction relative to the second substrate. The second substrate is suitable for rotating around the Z-axis direction relative to the third substrate.

[0006] Furthermore, it also includes a first driving member, a first guide rail is arranged on the top surface of the first substrate, the first guide rail is arranged along the X-axis direction, a first slider is arranged on the bottom surface of the carrying platform, the first driving member is connected to the carrying platform, the first driving member drives the carrying platform to move relative to the first substrate, and the first slider slides relative to the first guide rail during the movement.

[0007] Furthermore, two first guide rails are provided, and the two first guide rails are respectively located close to two side edges of the first substrate along the width direction, the two first guide rails are parallel to each other, and the first sliding blocks correspond to the first guide rails one by one.

[0008] Furthermore, the first driving member is a servo electric cylinder.

[0009] Furthermore, it also includes a second driving member, a second guide rail is arranged on the top surface of the second substrate, the second guide rail is arranged along the Y-axis direction, a second slider is arranged on the bottom surface of the first substrate, the second driving member is connected to the first substrate, the second driving member drives the first substrate to move relative to the second substrate along the Y-axis direction, and during the movement, the second slider slides relative to the second guide rail.

[0010] Furthermore, a plurality of the second guide rails are provided, and the plurality of the second guide rails are sequentially arranged along the width direction of the second substrate, and the second sliding blocks correspond one to one to the second guide rails.

[0011] Furthermore, the second driving member is a servo electric cylinder.

[0012] Furthermore, it also includes a third driving member, a third slide rail is arranged on the top surface of the third substrate, the third slide rail is arc-shaped, a third slider is arranged on the bottom surface of the second substrate, the third driving member is connected to the second substrate, and the third driving member drives the second substrate to rotate relative to the third substrate along the center of the third substrate. During the rotation, the third slider slides relative to the third slide rail.

[0013] Furthermore, two third slide rails are provided, and the two third slide rails are symmetrically arranged relative to the center of the third substrate, and the third sliding blocks correspond to the third slide rails one by one.

[0014] Furthermore, a rotary support is provided between the second substrate and the third substrate, and the third driving member is a rotary servo electric cylinder.

[0015] Compared with the prior art, the heavy-duty three-degree-of-freedom posture adjustment device of the present invention has at least the following beneficial effects:

[0016] The present invention discloses a heavy-load three-degree-of-freedom attitude adjustment device. Since the bearing platform is suitable for moving relative to a first substrate along the X-axis direction, the first substrate is suitable for moving relative to a second substrate along the Y-axis direction, and the second substrate is suitable for rotating relative to a third substrate around the Z-axis direction, and the bearing platform is used to place docking parts, the position of the bearing platform can be arbitrarily adjusted according to actual needs through a set of attitude adjustment devices, that is, the position of the docking parts can be adjusted. The device is more suitable for heavy-load structural docking parts with large volume and weight, and the docking efficiency is improved. At the same time, the position of the bearing platform relative to the first substrate, the position of the first substrate relative to the second substrate, and the position of the second substrate relative to the third substrate can be arbitrarily adjusted, thereby improving the position adjustment accuracy. The bearing platform can be customized according to the actual needs of the docking parts, and the scope of application is wider.

[0017] The heavy-duty three-degree-of-freedom posture adjustment device of the present invention will be further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the heavy-duty three-degree-of-freedom posture adjustment device of the present invention;

[0019] Figure 2 It is a schematic diagram of the connection structure between the carrying platform and the first base plate in the heavy-load three-degree-of-freedom posture adjustment device of the present invention;

[0020] Figure 3 for Figure 2 A partial view of

[0021] Figure 4 It is a schematic diagram of the connection structure between the first substrate and the second substrate in the heavy-load three-degree-of-freedom posture adjustment device of the present invention;

[0022] Figure 5 for Figure 4 A partial view of

[0023] Figure 6 It is a schematic diagram of the connection structure between the second substrate and the third substrate in the heavy-load three-degree-of-freedom posture adjustment device of the present invention;

[0024] Figure 7 It is a structural diagram of the third substrate in the heavy-load three-degree-of-freedom posture adjustment device of the present invention. DETAILED DESCRIPTION

[0025] like Figure 1 As shown, a heavy-load three-degree-of-freedom posture adjustment device of the present invention includes a bearing platform 11, a first substrate 12, a second substrate 13, and a third substrate 14. The bearing platform 11 is used to place docking parts. The bearing platform 11 is suitable for moving along the X-axis direction relative to the first substrate 12, the first substrate 12 is suitable for moving along the Y-axis direction relative to the second substrate 13, and the second substrate 13 is suitable for rotating around the Z-axis direction relative to the third substrate 14. Specifically, the bearing platform 11, the first substrate 12, the second substrate 13, and the third substrate 14 are all made of high-strength steel plates after welding and machining. The bearing platform 11 includes a bearing area 112 and a supporting area 113. The width of the bearing area 112 is greater than the width of the supporting area 113. A reinforcing rib 114 is provided between the bearing area 112 and the supporting area 113 to support the heavy-load structural docking parts. The present invention discloses a heavy-load three-degree-of-freedom posture adjustment device. When in use, the docking member is fixed on a carrying platform 11. According to the specific position of the docked member, the carrying platform 11 is moved relative to a first substrate 12, the first substrate 12 is moved relative to a second substrate 13, and the second substrate 13 is rotated relative to a third substrate 14, so that the docking member is aligned with the docked member. The present invention discloses a heavy-load three-degree-of-freedom attitude adjustment device. Since a carrying platform 11 is suitable for moving relative to a first substrate 12 along an X-axis direction, the first substrate 12 is suitable for moving relative to a second substrate 13 along a Y-axis direction, and the second substrate 13 is suitable for rotating relative to a third substrate 14 around a Z-axis direction, the carrying platform 11 is used to place docking parts. Therefore, a set of attitude adjustment devices can be used to arbitrarily adjust the position of the carrying platform 11 according to actual needs, that is, adjust the position of the docking parts. The device is more suitable for heavy-load structural docking parts with large volume and weight, and improves docking efficiency. At the same time, the position of the carrying platform 11 relative to the first substrate 12, the position of the first substrate 12 relative to the second substrate 13, and the position of the second substrate 13 relative to the third substrate 14 can be arbitrarily adjusted to improve docking accuracy. The carrying platform 11 can be customized according to the actual needs of the docking parts, and has a wider range of applications.

[0026] Alternatively, if Figure 2 , Figure 3 As shown, it also includes a first driving member, a first guide rail 121 is arranged on the top surface of the first substrate 12, and the first guide rail 121 is arranged along the X-axis direction, which is the length direction of the first substrate 12. A first slider 111 is arranged on the bottom surface of the carrying platform 11. The first driving member is connected to the carrying platform 11, and the first driving member drives the carrying platform 11 to move relative to the first substrate 12. During the movement, the first slider 111 slides relative to the first guide rail 121. By setting the first guide rail 121 and the first slider 111, the displacement of the carrying platform 11 during the movement is avoided. Stops 124 are respectively arranged on both sides of the first substrate 12 along the width direction, and the stoppers 124 are used for limiting. A through hole 125 is arranged on the first substrate 12 for easy installation.

[0027] Optionally, two first guide rails 121 are provided, and the two first guide rails 121 are respectively located near the two side edges of the first substrate 12 along the width direction, and the two first guide rails 121 are parallel to each other, and the first sliders 111 correspond one to one with the first guide rails 121. Two first guide rails 121 are provided, so that the movement process of the carrying platform 11 relative to the first substrate 12 is smoother.

[0028] Optionally, the first driving member is a servo electric cylinder 15. The servo electric cylinder 15 drives the carrying platform 11 to move relative to the first substrate 12, so that the movement process of the carrying platform 11 can be controlled more accurately, further improving the docking efficiency.

[0029] Alternatively, if Figure 4 , Figure 5 As shown, it also includes a second driving member. A second guide rail 131 is arranged on the top surface of the second substrate 13. The second guide rail 131 is arranged along the Y-axis direction. The Y-axis direction is the width direction of the second substrate 13. A second slider 122 is arranged on the bottom surface of the first substrate 12. The second driving member is connected to the first substrate 12. The second driving member drives the first substrate 12 to move relative to the second substrate 13 along the Y-axis direction. During the movement, the second slider 122 slides relative to the second guide rail 131.

[0030] Optionally, a plurality of second guide rails 131 are provided, and the plurality of second guide rails 131 are sequentially arranged along the width direction of the second substrate 13 , and the second sliders 122 correspond one-to-one to the second guide rails 131 . Specifically, the second guide rails 131 are grooves arranged on the second substrate 13 .

[0031] Optionally, the second driving member is a servo electric cylinder 16 .

[0032] Alternatively, if Figure 6 , Figure 7As shown, it also includes a third driving member. A third slide rail 141 is arranged on the top surface of the third substrate 14, and the third slide rail 141 is arc-shaped. A third slider 132 is arranged on the bottom surface of the second substrate 13. The third driving member is connected to the second substrate 13. The third driving member drives the second substrate 13 to rotate relative to the third substrate 14 along the center of the third substrate 14. During the rotation, the third slider 132 slides relative to the third slide rail 141.

[0033] Optionally, two third rails 141 are provided, and the two third rails 141 are symmetrically arranged relative to the center of the third substrate 14, and the third sliders 132 correspond one to one with the third rails 141. Providing two third rails 141 makes the rotation process of the second substrate 13 relative to the third substrate 14 more stable.

[0034] Optionally, a slewing support 18 is further provided between the second substrate 13 and the third substrate 14. The slewing support 18 is provided to further improve the stability of the rotation process of the second substrate 13 relative to the third substrate 14. The third driving member is a rotary servo cylinder 17, which makes the rotation process of the second substrate 13 relative to the third substrate 14 more accurately controlled.

[0035] The above embodiments are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A heavy-load three-degree-of-freedom posture adjustment device, characterized in that: The invention comprises a carrying platform (11), a first substrate (12), a second substrate (13), and a third substrate (14); the carrying platform (11) is used for placing a docking component; the carrying platform (11) is suitable for moving along the X-axis direction relative to the first substrate (12); the first substrate (12) is suitable for moving along the Y-axis direction relative to the second substrate (13); and the second substrate (13) is suitable for rotating around the Z-axis direction relative to the third substrate (14).

2. The heavy-load three-degree-of-freedom posture adjustment device according to claim 1, characterized in that: The invention also comprises a first driving member, a first guide rail (121) is arranged on the top surface of the first substrate (12), the first guide rail (121) is arranged along the X-axis direction, a first slider (111) is arranged on the bottom surface of the carrying platform (11), the first driving member is connected to the carrying platform (11), the first driving member drives the carrying platform (11) to move relative to the first substrate (12), and the first slider (111) slides relative to the first guide rail (121) during the movement.

3. The heavy-load three-degree-of-freedom posture adjustment device according to claim 2, characterized in that: Two first guide rails (121) are provided, and the two first guide rails (121) are respectively located near two side edges of the first substrate (12) along the width direction, the two first guide rails (121) are parallel to each other, and the first sliding blocks (111) correspond to the first guide rails (121) one by one.

4. The heavy-load three-degree-of-freedom posture adjustment device according to claim 3, characterized in that: The first driving member is a servo electric cylinder (15).

5. The heavy-load three-degree-of-freedom posture adjustment device according to claim 1, characterized in that: The second substrate (13) further comprises a second driving member, wherein a second guide rail (131) is arranged on the top surface of the second substrate (13), and the second guide rail (131) is arranged along the Y-axis direction; a second slider (122) is arranged on the bottom surface of the first substrate (12); the second driving member is connected to the first substrate (12), and the second driving member drives the first substrate (12) to move relative to the second substrate (13) along the Y-axis direction; during the movement, the second slider (122) slides relative to the second guide rail (131).

6. The heavy-load three-degree-of-freedom posture adjustment device according to claim 5, characterized in that: A plurality of the second guide rails (131) are provided, and the plurality of the second guide rails (131) are arranged in sequence along the width direction of the second substrate (13), and the second sliding blocks (122) correspond one to one to the second guide rails (131).

7. The heavy-load three-degree-of-freedom posture adjustment device according to claim 6, characterized in that: The second driving member is a servo electric cylinder (16).

8. The heavy-load three-degree-of-freedom posture adjustment device according to claim 1, characterized in that: The third substrate (14) further comprises a third driving member, wherein a third slide rail (141) is arranged on the top surface of the third substrate (14), and the third slide rail (141) is arc-shaped; a third slider (132) is arranged on the bottom surface of the second substrate (13); the third driving member is connected to the second substrate (13), and the third driving member drives the second substrate (13) to rotate relative to the third substrate (14) along the center of the third substrate (14); during the rotation process, the third slider (132) slides relative to the third slide rail (141).

9. The heavy-load three-degree-of-freedom posture adjustment device according to claim 8, characterized in that: Two third slide rails (141) are provided, and the two third slide rails (141) are symmetrically arranged relative to the center of the third substrate (14), and the third sliding blocks (132) correspond to the third slide rails (141) one by one.

10. The heavy-load three-degree-of-freedom posture adjustment device according to claim 9, characterized in that: A rotary support (18) is also provided between the second substrate (13) and the third substrate (14), and the third driving member is a rotary servo electric cylinder (17).

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