Three-degree-of-freedom attitude adjustment method and device for non-real-time heavy-load attitude adjustment working condition

Abstract

The invention provides a three-degree-of-freedom attitude adjustment method and device for a non-real-time heavy-load attitude adjustment working condition, and the attitude adjustment method comprises the steps: adjusting the thickness of a gasket to achieve precise positioning, adjusting two vertical jacks to achieve pitching and deflection two-degree-of-freedom adjustment, locking through a first group of locking bolts and a second group of locking bolts, and adjusting the two vertical jacks to achieve pitching and deflection two-degree-of-freedom adjustment. Adjustment of the rotation freedom degree is achieved through coordinated control of the four side type jacks, and the four side type jacks are locked through locking bolts. The posture adjusting device comprises a movable platform, a middle platform, a fixed platform, a first branch chain assembly, a second branch chain assembly and a third branch chain. Two ends of the first branch chain assembly, the second branch chain assembly and the third branch chain are respectively connected with the movable platform and the middle platform; and the first side jack, the second side jack, the third side jack and the fourth side jack are respectively connected with the middle platform and the fixed platform. The angle is adjusted through the jack, the bearing capacity is high, reliability is high, and the device is applied to small-range adjustment of heavy-load equipment.

Description

Technical Field

[0001] The present invention relates to the field of heavy-load attitude adjustment mechanisms, and in particular to a three-degree-of-freedom attitude adjustment method and device for non-real-time heavy-load attitude adjustment working conditions. Background Art

[0002] In some large heavy-load equipment use scenarios, attitude adjustment is non-real-time, and only the pitch, yaw and rotation angles in space need to be adjusted and installed once, and long-term attitude maintenance is achieved within a certain accuracy range. The attitude adjustment range required is generally small, such as plus or minus 2 degrees in each direction of pitch, yaw and rotation. Moreover, in the automatic filling and docking condition of the launch vehicle, the initial attitude of the umbilical connector panel on the rocket has a certain angle deviation compared to the ground umbilical tower, and the real-time change in attitude is relatively small, which belongs to the non-real-time attitude adjustment condition. Therefore, a heavy-load attitude adjustment mechanism is required to adjust the umbilical connection device and the umbilical connection panel on the rocket body to the same attitude, and to maintain the attitude for a long time. At the same time, after the docking is completed, the attitude maintenance is required for no less than 48 hours.

[0003] Among the current inventions regarding heavy-load attitude adjustment mechanisms, for example, patent CN116198686A, a three-degree-of-freedom attitude adjustment mechanism, solves the problems of low automation and poor docking accuracy in existing assembly and docking scenarios; patent CN109605299A, a three-degree-of-freedom attitude adjustment platform for assembly of large-size cabins of spacecraft, realizes the three-degree-of-freedom adjustment functions of lifting, rotating and flipping when the platform carries large-size cabins of spacecraft; patent CN118953637A, a heavy-load four-degree-of-freedom ship section docking positioning attitude adjustment device, in which the hydraulic system can control the main mobile platform to perform three-degree-of-freedom movement; patent CN105552554A, a three-degree-of-freedom attitude adjustment device suitable for radar antenna side blocks, realizes three-degree-of-freedom adjustment by controlling the telescopic length of the electric servo sliding mechanism.

[0004] In summary, the above heavy-loaded posture adjustment mechanisms all adjust their postures by hydraulic or electric drive, and the posture adjustment working condition is generally real-time rapid posture adjustment. After the posture adjustment is completed, it is not necessary to maintain the posture of the heavy-loaded equipment on it for a long time. Patent CN218819204U proposes a six-dimensional motion parallel mechanism and scientific precision instrument facilities. The posture state can be kept stable for a long time after the posture adjustment, but its driving ability is not suitable for the posture adjustment of the heavy-loaded mechanism. Therefore, the present invention proposes a three-degree-of-freedom posture adjustment device and method for non-real-time heavy-loaded posture adjustment working conditions. Compared with the solution using hydraulic or electric drive, a jack is used for posture fine-tuning, and the posture is maintained by bolt locking. It has a compact structure, high rigidity and strong load-bearing capacity, and has higher reliability for long-term posture maintenance of heavy-loaded equipment. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a three-degree-of-freedom attitude adjustment method and device for non-real-time heavy-load attitude adjustment conditions, which fine-tune the heights of the first group of gaskets and the second group of gaskets in the first branch chain assembly and the second branch chain assembly by increasing or decreasing the number of the first group of gaskets and the second group of gaskets to achieve precise positioning, obtain corresponding pitch and yaw angles by extending the first vertical jack and the second vertical jack, and lock them by the first group of locking bolts and the second group of locking bolts; through the length of the first side jack, the second side jack, the third side jack and the fourth side jack located on the fixed platform, the intermediate platform is cooperatively pushed to achieve clockwise or counterclockwise rotation around the pin shaft, so as to adjust the rotational freedom of the moving platform, and lock it by the locking bolts, thereby satisfying the one-time attitude adjustment and keeping the posture of the mechanism stable for a long time. The three-degree-of-freedom parallel attitude adjustment mechanism has strong load-bearing capacity and is locked by bolts.

[0006] The present invention provides a three-degree-of-freedom attitude adjustment method for a non-real-time heavy-load attitude adjustment working condition, which comprises the following steps:

[0007] S1. According to the target posture of the moving platform, the pitch angle and the yaw angle to be adjusted are decomposed into three directions: pitch, yaw and rotation;

[0008] S2, according to the pitch angle and yaw angle to be adjusted obtained in step S1, the lengths of the first branch chain assembly and the second branch chain assembly are obtained, and the lengths are adjusted by controlling the extension of the first vertical jack and the second vertical jack. The specific process is as follows:

[0009] S21, respectively establishing a dynamic coordinate system at the connection position of the third joint bearing and the dynamic platform, and establishing a fixed coordinate system at the intersection of the straight line where the third branch chain is located and the plane where the first connection end and the second connection end of the intermediate platform are located;

[0010] S22, according to the pitch angle α and the yaw angle β to be adjusted obtained in step S1, the height of the first group of gaskets is set to l1 and the height of the second group of gaskets is set to l2 respectively, so as to obtain the plane sub-constraint equation of the first branch chain assembly and the second branch chain assembly according to the constraint relationship, and the specific expression is:

[0011]

[0012] In the formula, represents the rotation matrix of the moving coordinate system relative to the fixed coordinate system, A1 and B1 represent the position vectors of the hinge points on the first branch component and the second branch component in the moving coordinate system, respectively, O represents the position vector of the hinge point on the third branch in the fixed coordinate system, x1 and y1 represent the position accompanying motion of the first branch component after posture adjustment, and x2 and y2 represent the position accompanying motion of the second branch component after posture adjustment;

[0013] S23, according to the plane pair constraint equations of the first branch chain assembly and the second branch chain assembly obtained in step S22, the heights of the first group of gaskets and the second group of gaskets are obtained, and the pitch angle and the yaw angle are obtained by adjusting the extension lengths of the first vertical jack and the second vertical jack;

[0014] S3, respectively locking the first branch chain assembly and the second branch chain assembly using the first set of locking bolts and the second set of locking bolts;

[0015] S4. According to the rotation angle to be adjusted obtained in step S1, the extension lengths of the first side jack, the second side jack, the third side jack and the fourth side jack are coordinated and controlled respectively, so that the intermediate platform rotates clockwise or counterclockwise around the pin shaft. When the fixed platform scale meets the rotation angle, the arc hole on the intermediate platform is locked by the locking bolt.

[0016] Preferably, in step S4, if the intermediate platform rotates clockwise around the pin shaft, the first side jack and the third side jack located at the diagonal line push the intermediate platform to rotate around the pin shaft along the circumferential direction of the rotation; if the intermediate platform rotates clockwise around the pin shaft, the second side jack and the fourth side jack located at the diagonal line push the intermediate platform to rotate around the pin shaft along the circumferential direction of the rotation.

[0017] Another aspect of the present invention provides a three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions, which includes a moving platform, an intermediate platform, a fixed platform, a first branch chain assembly, a second branch chain assembly and a third branch chain. The first connecting end of the moving platform is connected to the upper flange of the first joint bearing in the first branch chain assembly, the second connecting end of the moving platform is connected to the upper flange of the second joint bearing in the second branch chain assembly, the third connecting end of the moving platform is connected to the upper flange of the third joint bearing in the third branch chain, the first connecting end of the intermediate platform is connected to the lower flange of the first joint bearing in the first branch chain assembly through the first group of gaskets and the first group of locking bolts in the first branch chain assembly, the second connecting end of the intermediate platform is connected to the lower flange of the second joint bearing in the second branch chain assembly through the second group of gaskets and the second group of locking bolts in the second branch chain assembly, the third connecting end of the intermediate platform is connected to the lower flange of the third joint bearing in the third branch chain, and the connecting end of the intermediate platform is symmetrically provided with arc holes, and the intermediate platform is connected to the fixed platform through locking bolts. The fourth connection end of the moving platform is connected to the extended end of the first vertical jack, the fifth connection end of the moving platform is connected to the extended end of the second vertical jack, the fixed ends of the first vertical jack and the second vertical jack are respectively connected to the first connection end and the second connection end of the fixed platform, the first vertical jack and the second vertical jack are extended at the same time to adjust the pitch angle, and the first vertical jack or the second vertical jack is extended to adjust the deflection angle. The fixed platform is provided with a fixed platform scale and a vertical plate, the third connection end of the fixed platform is connected to the first end of the pin shaft, and the second end of the pin shaft is connected to the fourth connection end of the intermediate platform.

[0018] Preferably, the first branch chain assembly includes a first spherical bearing, a first set of washers and a first set of locking bolts; and the second branch chain assembly includes a second spherical bearing, a second set of washers and a second set of locking bolts.

[0019] Preferably, the pin is located at the center of the fixed platform to achieve rotation of the intermediate platform relative to the fixed platform.

[0020] Preferably, the first vertical jack and the second vertical jack are symmetrically distributed on both sides of the moving platform, and the first side jack, the second side jack, the third side jack and the fourth side jack are symmetrically distributed on both sides of the middle platform.

[0021] Preferably, the number of the first group of gaskets and the number of the second group of gaskets are respectively greater than or equal to 1.

[0022] Preferably, the first vertical plate, the second vertical plate, the third vertical plate and the fourth vertical plate are respectively connected to the fixed ends of the first side jack, the second side jack, the third side jack and the fourth side jack, and the protruding ends of the first side jack, the second side jack, the third side jack and the fourth side jack are respectively connected to the fifth connecting end, the sixth connecting end, the seventh connecting end and the eighth connecting end of the intermediate platform.

[0023] Preferably, the movable platform is a rectangular truss structure, the intermediate platform is a T-shaped structure, and the fixed platform is a rectangular structure.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The device of the present invention is suitable for one-time posture adjustment and long-term posture maintenance under heavy-load conditions through locking bolt connection. The first branch chain assembly and the second branch chain assembly in the whole device are of the same composition, the first vertical jack and the second vertical jack are of the same model, and the first side jack, the second side jack, the third side jack and the fourth side jack are of the same model, so that the whole device has a high degree of modularity and is easy to produce and manufacture.

[0026] 2. The device of the present invention has decoupling properties, and the terminal posture on the moving platform is controlled by the vertical jack and the side jack respectively. The pitch angle and the deflection angle on the moving platform are kinematically inversely solved according to the connection relationship between the moving platform and the intermediate platform to obtain the length of the first branch chain assembly and the second branch chain assembly, thereby controlling the extension length of the first vertical jack and the second vertical jack to fine-tune the pitch angle and the deflection angle value of the moving platform in the device, and by changing the height of the first group of gaskets and the second group of gaskets in the first branch chain assembly and the second branch chain assembly, precise positioning, weight bearing and maintenance are performed, and the rotation angle on the moving platform is coordinated by controlling the extension length of the first side jack, the second side jack, the third side jack and the fourth side jack, so that the intermediate platform rotates clockwise or counterclockwise, thereby adjusting the rotation angle of the moving platform in the device. The angle adjustment of the entire device has corresponding adjustment components. The entire device has a certain decoupling property and a strong bearing capacity. It has good application prospects in non-real-time attitude adjustment conditions of heavy-load equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an overall structural diagram of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions of the present invention;

[0028] Figure 2 It is a diagram of the upper part of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions of the present invention;

[0029] Figure 3 It is a diagram of the lower part of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions of the present invention;

[0030] Figure 4 It is an overall structural diagram of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions after adjusting the pitch angle of the present invention;

[0031] Figure 5 It is an overall structural diagram of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions of the present invention after the deflection angle is adjusted;

[0032] Figure 6 It is an overall structural diagram of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment working conditions of the present invention after adjusting the pitch, yaw and rotation angles;

[0033] Figure 7 The present invention is a simplified diagram of the upper mechanism of the three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions.

[0034] Main reference numerals:

[0035] Moving platform 100, intermediate platform 300, fixed platform 400, first branch chain assembly 210, first joint bearing 211, first set of gaskets 212, first set of locking bolts 213, second branch chain assembly 220, second joint bearing 221, second set of gaskets 222, second set of locking bolts 223, third branch chain 230, third joint bearing 231, fixed platform scale 410, pin 510, arc hole 520, first vertical jack 610, second vertical jack 620, first side jack 710, second side jack 720, third side jack 730, fourth side jack 740. DETAILED DESCRIPTION

[0036] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0037] The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions adopts manual adjustment and locking, has a compact structure, strong load-bearing capacity and high reliability, and is used in small-scale attitude adjustment occasions of heavy-load equipment. Figure 1 As shown, it includes a moving platform 100, an intermediate platform 300, a fixed platform 400, a first branch chain assembly 210, a second branch chain assembly 220, a third branch chain 230, a pin 510, a first vertical jack 610, a second vertical jack 620, a first side jack 710, a second side jack 720, a third side jack 730 and a fourth side jack 740, and the intermediate platform 300 is a common platform.

[0038] Specifically, the first branch chain assembly 210 includes a first joint bearing 211, a first set of gaskets 212 and a first set of locking bolts 213; the second branch chain assembly 220 includes a second joint bearing 221, a second set of gaskets 222 and a second set of locking bolts 223, the number of the first set of gaskets 212 and the second set of gaskets 222 is greater than or equal to 1, and the third branch chain 230 is used as a constraint branch chain, so that the movable platform 100 has only two degrees of freedom, namely, pitch and deflection, relative to the intermediate platform 300. The first vertical jack 610 and the second vertical jack 620 are symmetrically distributed on both sides of the movable platform 100. The first vertical jack 610 and the second vertical jack 620 are used as driving units to realize the support after pitch and deflection adjustment. The first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 are symmetrically distributed on both sides of the intermediate platform 300.

[0039] The device of the present invention realizes the adjustment of the two degrees of freedom of pitch and yaw of the dynamic platform 100 through the first vertical jack 610 and the second vertical jack 620, and realizes the precise positioning of the two angles of pitch and yaw by increasing or decreasing the number of the first group of gaskets 212 in the first branch chain assembly 210 and the second group of gaskets 222 in the second branch chain assembly 220. The diameters of the bolt holes in the lower flange of the first joint bearing 211, the first group of gaskets 212, the lower flange of the second joint bearing 221 and the second group of gaskets 222 are larger than the diameters of the locking bolts, so that the position tolerance of the first group of gaskets 212 and the second group of gaskets 222 after the posture adjustment can be realized. After the posture adjustment is completed, the first group of locking bolts 212 are tightened to adjust the position of the first group of gaskets 212 and the second group of gaskets 222. 3 and the second group of locking bolts 223 respectively fasten the corresponding first joint bearing 211, the first group of gaskets 212, the second joint bearing 221 and the second group of gaskets 222 together on the intermediate platform 300, so as to lock the adjusted pitch and yaw angles; the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 are used to adjust the rotational freedom of the dynamic platform 100, and the rotation positioning is achieved through the fixed platform scale 410 on the intermediate platform 300, and the arc hole 520 on the intermediate platform 300 is tightened by the locking bolts, so as to lock the adjusted rotation angle.

[0040] like Figure 2As shown, the moving platform 100 is a rectangular truss structure. Since the moving platform 100 and the intermediate platform 300 are supported only by the first branch chain assembly 210, the second branch chain assembly 220 and the third branch chain 230, in order to retain only the structure of the useful part of the intermediate platform 300 and reduce weight as much as possible, the intermediate platform 300 is designed to be T-shaped, and a large number of weight-reducing grooves are used in the middle part of the intermediate platform 300, so that the first branch chain assembly 210, the second branch chain assembly 220 and the third branch chain 230 are distributed on the three edge protrusion structures of the intermediate platform 300, so that the intermediate platform 300 is a T-shaped structure, and the first connecting end, the second connecting end and the third connecting end of the moving platform 100 are respectively connected to the upper flange of the first joint bearing 211 in the first branch chain assembly 210, the second branch chain assembly 220 and the third branch chain 230. The upper flange of the second joint bearing 221 in the component 220 is connected to the upper flange of the third joint bearing 231 in the third branch chain 230, the first connecting end of the intermediate platform 300 is connected to the lower flange of the first joint bearing 211 in the first branch chain component 210 through the first group of gaskets 212 and the first group of locking bolts 213 in the first branch chain component 210, the second connecting end of the intermediate platform 300 is connected to the lower flange of the second joint bearing 221 in the second branch chain component 220 through the second group of gaskets 222 and the second group of locking bolts 223 in the second branch chain component 220, the third connecting end of the intermediate platform 300 is connected to the lower flange of the third joint bearing 231 in the third branch chain 230, and arc holes 520 are symmetrically provided at the connecting end of the intermediate platform 300.

[0041] The fourth connection end and the fifth connection end of the moving platform 100 are respectively connected to the protruding ends of the first vertical jack 610 and the second vertical jack 620, and the fixed ends of the first vertical jack 610 and the second vertical jack 620 are respectively connected to the first connection end and the second connection end of the fixed platform 400. The first vertical jack 610 and the second vertical jack 620 are located behind the first branch chain assembly 210 and the second branch chain assembly 220. The first vertical jack 610 and the second vertical jack 620 are extended at the same time to realize the adjustment support of the pitch angle, and the first vertical jack 610 and the second vertical jack 620 are not extended at the same time to realize the adjustment support of the deflection angle.

[0042] like Figure 3As shown, the fixed platform 400 is a rectangular structure, and a fixed platform scale 410 and a vertical plate are provided on the fixed platform 400. The fixed platform scale 410 is used to measure the rotation angle adjustment. The third connection end of the fixed platform 400 is connected to the first end of the pin shaft 510, and the second end of the pin shaft 510 is connected to the fourth connection end of the intermediate platform 300. The first vertical plate, the second vertical plate, the third vertical plate and the fourth vertical plate are respectively connected to the first side jack 710, the second side jack 720, and the third side jack 730. It is connected to the fixed end of the fourth side jack 740, and the protruding ends of the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 are respectively connected to the fifth connecting end, the sixth connecting end, the seventh connecting end and the eighth connecting end of the middle platform 300, and the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 act as driving units to realize coordinated driving rotation adjustment.

[0043] Furthermore, in order to ensure that the intermediate platform 300 can smoothly rotate around the fixed platform 400 without getting stuck, the pin 510 needs to be placed at the center of the fixed platform 400. The pin 510 acts as a constraint branch chain, so that the intermediate platform 300 has only rotational freedom relative to the fixed platform 400. Since the load of the entire device is large, up to about one ton, when the entire device and the heavy-load equipment it carries are driven to rotate, multiple drives are evenly distributed around the circumference of the rotatable structure to drive it to rotate together. Therefore, the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 are symmetrically distributed on the middle platform 300. The three edges cause the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 to extend or shorten respectively along the circumferential direction of rotation, and cooperate to push the intermediate platform 300 to realize clockwise or counterclockwise rotation around the pin shaft 510, and realize rotation positioning of the intermediate platform 300 on the fixed platform scale 410 on the fixed platform 400, and lock the arc hole 520 on the intermediate platform 300 on the fixed platform 400 by the locking bolt.

[0044] The following is a further description of a three-degree-of-freedom attitude adjustment device and method for non-real-time heavy-load attitude adjustment conditions of the present invention in conjunction with an embodiment:

[0045] The three-degree-of-freedom attitude adjustment method for non-real-time heavy-load attitude adjustment conditions includes the following steps:

[0046] S1. According to the target posture of the moving platform 100, decompose it into angle values ​​to be adjusted in three directions: pitch, yaw and roll.

[0047] S2. According to the pitch angle and yaw angle to be adjusted obtained in step S1, the lengths of the first branch chain assembly 210 and the second branch chain assembly 220 are obtained, the number of the first group of gaskets 212 and the second group of gaskets 222 in the first branch chain assembly 210 and the second branch chain assembly 220 is increased or decreased, and the extension lengths of the first vertical jack 610 and the second vertical jack 620 are controlled to make adjustments so that the weight of the moving platform 100 is completely supported by the first branch chain assembly 210, the second branch chain assembly 220 and the third branch chain 230, so as to achieve precise positioning of the pitch and yaw angles. The specific process is as follows:

[0048] S21, such as Figure 7 As shown, A1A2 represents the first branch chain assembly 210, B1B2 represents the second branch chain assembly 220, O1O2 represents the third branch chain 230, and a dynamic coordinate system is established at the connection position between the third joint bearing 231 and the moving platform 100, and a fixed coordinate system is established at the intersection of the straight line where the third branch chain 230 is located and the plane where the first connection end and the second connection end (plane pair A2, B2) of the intermediate platform 300 are located. The centers of the dynamic coordinate system and the fixed coordinate system coincide with O1 and O2 respectively, the dynamic coordinate system is fixedly connected to the moving platform 100, and the fixed coordinate system is fixedly connected to the fixed platform 400.

[0049] S22, according to the pitch angle α and the yaw angle β to be adjusted obtained in step S1, the heights of the first group of gaskets 212 and the second group of gaskets 222 are set to l1 and l2 respectively, so as to obtain the plane pair constraint equation of the first branch chain assembly 210 and the second branch chain assembly 220 according to the constraint relationship of the three-degree-of-freedom posture adjustment device, and the specific expression is:

[0050]

[0051] In the formula, represents the rotation matrix of the moving coordinate system relative to the fixed coordinate system, A1 and B1 represent the position vectors of the hinges on the first branch chain component 210 and the second branch chain component 220 in the moving coordinate system, respectively, O represents the position vector of the hinge point on the third branch chain 230 in the fixed coordinate system, x1 and y1 represent the position associated motion of the first branch chain component 210 after posture adjustment, and x2 and y2 represent the position associated motion of the second branch chain component 220 after posture adjustment.

[0052] S23, according to the plane pair constraint equation of the first branch chain assembly 210 and the second branch chain assembly 220 obtained in step S22, the height of the first group of gaskets 212 and the second group of gaskets 222 are obtained, and the pitch angle and the yaw angle are obtained by adjusting the extension length of the first vertical jack 610 and the second vertical jack 620. The length of the first vertical jack 610 and the second vertical jack 620 is increased or decreased together to achieve the adjustment of the pitch angle (rotation around the Y axis of the fixed coordinate system), such as Figure 4As shown, the first vertical jack 610 and the second vertical jack 620 have different lengths, so as to adjust the deflection angle (rotate around the X-axis of the fixed coordinate system), as shown in FIG. Figure 5 shown.

[0053] S3. Fasten the first spherical bearing 211, the first set of gaskets 212, the second spherical bearing 221 and the second set of gaskets 222 in the first branch chain assembly 210 and the second branch chain assembly 220 to the intermediate platform 300 using the first set of locking bolts 213 and the second set of locking bolts 223 respectively.

[0054] S4. According to the rotation angle to be adjusted obtained in step S1, the extension lengths of the first side jack 710, the second side jack 720, the third side jack 730 and the fourth side jack 740 are respectively controlled cooperatively to make the intermediate platform 300 rotate clockwise or counterclockwise around the pin shaft 510, and the rotation positioning of the intermediate platform 300 on the fixed platform scale 410 on the fixed platform 400 is achieved, and the arc hole 520 on the intermediate platform 300 is locked by the locking bolt.

[0055] If the intermediate platform 300 rotates clockwise around the pin shaft 510, the first side jack 710 extends, the second side jack 720 shortens, and the third side jack 730 extends, the fourth side jack 740 shortens, and the first side jack 710 and the third side jack 730 on the diagonal line push the intermediate platform 300 to rotate around the pin shaft 510 along the circumferential direction of the rotation; if the intermediate platform 300 rotates clockwise around the pin shaft 510, the second side jack 720 and the fourth side jack 740 on the diagonal line push the intermediate platform 300 to rotate around the pin shaft 510 along the circumferential direction of the rotation. After all the angles are adjusted, Figure 6 shown.

[0056] The embodiments described above are only descriptions of the 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 three-degree-of-freedom attitude adjustment method for non-real-time heavy-load attitude adjustment conditions, characterized in that: It includes the following steps: S1. According to the target posture of the moving platform, the pitch angle and the yaw angle to be adjusted are decomposed into three directions: pitch, yaw and rotation; S2, according to the pitch angle and yaw angle to be adjusted obtained in step S1, the lengths of the first branch chain assembly and the second branch chain assembly are obtained, and the lengths are adjusted by controlling the extension of the first vertical jack and the second vertical jack. The specific process is as follows: S21, respectively establishing a dynamic coordinate system at the connection position of the third joint bearing and the dynamic platform, and establishing a fixed coordinate system at the intersection of the straight line where the third branch chain is located and the plane where the first connection end and the second connection end of the intermediate platform are located; S22, according to the pitch angle α and the yaw angle β to be adjusted obtained in step S1, the height of the first group of gaskets is set to l1 and the height of the second group of gaskets is set to l2 respectively, so as to obtain the plane sub-constraint equation of the first branch chain assembly and the second branch chain assembly according to the constraint relationship, and the specific expression is: In the formula, represents the rotation matrix of the moving coordinate system relative to the fixed coordinate system, A1 and B1 represent the position vectors of the hinge points on the first branch component and the second branch component in the moving coordinate system, respectively, O represents the position vector of the hinge point on the third branch in the fixed coordinate system, x1 and y1 represent the position accompanying motion of the first branch component after posture adjustment, and x2 and y2 represent the position accompanying motion of the second branch component after posture adjustment; S23, according to the plane pair constraint equations of the first branch chain assembly and the second branch chain assembly obtained in step S22, the heights of the first group of gaskets and the second group of gaskets are obtained, and the pitch angle and the yaw angle are obtained by adjusting the extension lengths of the first vertical jack and the second vertical jack; S3, respectively locking the first branch chain assembly and the second branch chain assembly using the first set of locking bolts and the second set of locking bolts; S4. According to the rotation angle to be adjusted obtained in step S1, the extension lengths of the first side jack, the second side jack, the third side jack and the fourth side jack are coordinated and controlled respectively, so that the intermediate platform rotates clockwise or counterclockwise around the pin shaft. When the fixed platform scale meets the rotation angle, the arc hole on the intermediate platform is locked by the locking bolt.

2. The three-degree-of-freedom attitude adjustment method for non-real-time heavy-load attitude adjustment conditions according to claim 1 is characterized in that: In step S4, if the intermediate platform rotates clockwise around the pin shaft, the first side jack and the third side jack on the diagonal line push the intermediate platform to rotate around the pin shaft along the circumferential direction of rotation; if the intermediate platform rotates clockwise around the pin shaft, the second side jack and the fourth side jack on the diagonal line push the intermediate platform to rotate around the pin shaft along the circumferential direction of rotation.

3. A three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions, comprising a moving platform, an intermediate platform, a fixed platform, a first branch chain assembly, a second branch chain assembly and a third branch chain, characterized in that: The first connecting end of the moving platform is connected to the upper flange of the first joint bearing in the first branch chain assembly, the second connecting end of the moving platform is connected to the upper flange of the second joint bearing in the second branch chain assembly, the third connecting end of the moving platform is connected to the upper flange of the third joint bearing in the third branch chain, the first connecting end of the intermediate platform is connected to the lower flange of the first joint bearing in the first branch chain assembly through the first group of gaskets and the first group of locking bolts in the first branch chain assembly, the second connecting end of the intermediate platform is connected to the lower flange of the second joint bearing in the second branch chain assembly through the second group of gaskets and the second group of locking bolts in the second branch chain assembly, the third connecting end of the intermediate platform is connected to the lower flange of the third joint bearing in the third branch chain, arc holes are symmetrically provided at the connecting ends of the intermediate platform, and the intermediate platform is connected to the fixed platform through locking bolts; The fourth connection end of the moving platform is connected to the extended end of the first vertical jack, the fifth connection end of the moving platform is connected to the extended end of the second vertical jack, the fixed ends of the first vertical jack and the second vertical jack are respectively connected to the first connection end and the second connection end of the fixed platform, the first vertical jack and the second vertical jack are extended at the same time to adjust the pitch angle, and the deflection angle is adjusted when one of the first vertical jack or the second vertical jack is extended; The fixed platform is provided with a fixed platform scale and a vertical plate, the third connecting end of the fixed platform is connected to the first end of the pin shaft, and the second end of the pin shaft is connected to the fourth connecting end of the intermediate platform.

4. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The first branch chain assembly includes a first spherical bearing, a first set of washers and a first set of locking bolts; the second branch chain assembly includes a second spherical bearing, a second set of washers and a second set of locking bolts.

5. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The pin shaft is located at the center of the fixed platform to realize the rotation of the intermediate platform relative to the fixed platform.

6. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The first vertical jack and the second vertical jack are symmetrically distributed on both sides of the moving platform, and the first side jack, the second side jack, the third side jack and the fourth side jack are symmetrically distributed on both sides of the middle platform.

7. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The number of the first group of gaskets and the number of the second group of gaskets are respectively greater than or equal to 1.

8. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The first vertical plate, the second vertical plate, the third vertical plate and the fourth vertical plate are respectively connected to the fixed ends of the first side jack, the second side jack, the third side jack and the fourth side jack, and the extending ends of the first side jack, the second side jack, the third side jack and the fourth side jack are respectively connected to the fifth connecting end, the sixth connecting end, the seventh connecting end and the eighth connecting end of the intermediate platform.

9. The three-degree-of-freedom attitude adjustment device for non-real-time heavy-load attitude adjustment conditions according to claim 3 is characterized in that: The moving platform is a rectangular truss structure, the middle platform is a T-shaped structure, and the fixed platform is a rectangular structure.

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