Roller disc type 2-dof inclination angle adjustment mechanism and use method

Abstract

The application relates to a 2-DOF (degree of freedom) inclination adjusting mechanism of a roller disc type and a use method, which comprises a vertical main shaft, a sliding sleeve vertically slidably connected to the main shaft, a height adjusting mechanism for driving the sliding sleeve to ascend and descend, a height adjusting bottom plate fixedly connected to the sliding sleeve, a roller mounting disc rotatably connected to the sliding sleeve and arranged above the height adjusting bottom plate, an inclination adjusting disc arranged above the roller mounting disc, a joint bearing for connecting the inclination adjusting disc and the sliding sleeve, a rotary driving mechanism arranged on the height adjusting bottom plate and used for driving the roller mounting disc to rotate, a plurality of rollers arranged in a circumferential direction on the roller mounting disc, and a plurality of pressing plates fixedly connected to the inclination adjusting disc and matched with the rollers, the inclination adjusting disc can rotate around the ball center of the joint bearing, the 2-DOF inclination adjusting mechanism can be adjusted in any direction perpendicular to the main shaft, the structure is simple and compact, the control is convenient, and the work is reliable.

Description

Technical Field

[0001] This invention relates to the field of attitude adjustment technology, specifically to a roller disc type 2-DOF tilt angle adjustment mechanism and its usage method. Background Technology

[0002] Tilt adjustment is a common technical problem in mechanical equipment, especially in the core of robot motion control, and is widely used in specific scenarios such as perpendicular to the ground normal or the working plane. It directly affects the reliability, accuracy, and energy efficiency of mechanical equipment, and is a key technology for intelligent equipment. Existing technologies often employ complex transmission systems, which are complex to control, expensive, bulky, and structurally non-compact. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a roller disc type 2-DOF tilt angle adjustment mechanism and its usage method, which reduces control difficulty and features a compact structure and reliable operation.

[0004] This invention is achieved through the following technical solution: a roller disc type 2-DOF tilt adjustment mechanism is provided, including a vertical main shaft, a sliding sleeve slidably mounted on the main shaft, and a height adjustment mechanism for driving the sliding sleeve to rise and fall. A height adjustment base plate is fixedly connected to the sliding sleeve. A roller mounting disc, rotatably connected to the sliding sleeve, is provided above the height adjustment base plate. A tilt adjustment disc is provided above the roller mounting disc. The tilt adjustment disc is connected to the sliding sleeve through a joint bearing. A rotation drive mechanism for driving the roller mounting disc to rotate is mounted on the height adjustment base plate. Multiple rollers arranged circumferentially are mounted on the roller mounting disc. Multiple pressure plates adapted to the rollers are fixedly connected to the tilt adjustment disc. An avoidance notch is opened on the tilt adjustment disc below the pressure plates.

[0005] In this design, the tilt adjustment disc is connected to a sliding sleeve via a spherical bearing, allowing it to swing in any direction. When the tilt adjustment disc needs to be kept horizontal, the rotary drive mechanism rotates the roller mounting disc, causing multiple rollers mounted on the roller mounting disc to move and rotate to the position below the corresponding pressure plate, thus adjusting the horizontal orientation of the tilt adjustment disc. To adjust the tilt angle of the disc upwards in a certain direction, one roller moves to the position below the disc in that direction, while the remaining rollers move to the clearance notch and are misaligned with the pressure plate. The rollers lift the disc in that direction, causing it to swing around the center of the spherical bearing, thus adjusting its tilt orientation. To adjust the overall height of the tilt adjustment disc, a height adjustment mechanism moves the height adjustment base plate up and down, thereby adjusting the height of the tilt adjustment disc.

[0006] As an optimization, the lower end of the main shaft is fixedly connected to the machine chassis. The height adjustment mechanism includes a height adjustment motor mounted on the machine chassis and a lead screw fixedly connected to the shaft of the height adjustment motor. The nut of the lead screw is fixedly connected to the height adjustment base plate. In this solution, the height adjustment motor drives the lead screw to rotate, thereby driving the height adjustment base plate through the nut to achieve height adjustment.

[0007] As an optimization, the rotary drive mechanism includes a large gear fixed to the roller mounting disk and a tilt adjustment motor fixed to the height adjustment base plate. A small gear meshing with the large gear is fixed to the shaft of the tilt adjustment motor. In this solution, the tilt adjustment motor achieves the rotation of the roller mounting disk through the transmission connection between the small gear and the large gear.

[0008] As an optimization, stop bar I and stop bar II are fixedly connected to the height adjustment base plate, and stop bar I and stop bar II are respectively set at the edges of the two clearance notches. In this solution, the rotation of the tilt adjustment disc is restricted by the stop bars I and stop bar II, so that it can only swing.

[0009] As an optimization, an angle adjustment sleeve is axially connected to the tilt adjustment disc. In this design, the tilt adjustment sleeve is axially connected to the tilt adjustment disc, so the tilt angle of the tilt adjustment sleeve can be adjusted by adjusting the tilt angle of the tilt adjustment disc, and the tilt adjustment sleeve can rotate freely, thereby enabling the output of external devices.

[0010] As an optimization, three rollers are provided and evenly distributed circumferentially, and three pressure plates are also evenly distributed circumferentially. Thus, the tilt angle can be adjusted via the three rollers.

[0011] A method for using a roller disc type 2-DOF tilt adjustment mechanism includes the following steps: a. When the tilt adjustment disc needs to be kept horizontal, the rotary drive mechanism drives the roller mounting disc to rotate, causing multiple rollers mounted on the roller mounting disc to move and rotate to the corresponding pressure plate, thereby adjusting the horizontal posture of the tilt adjustment disc.

[0012] b. To adjust the tilt angle of the tilt adjustment disc upwards in a certain direction, move one of the rollers below the tilt adjustment disc in that direction, and move the remaining rollers to the clearance notch and offset from the pressure plate. The rollers will lift the tilt adjustment disc in that direction, causing the tilt adjustment disc to swing around the center of the joint bearing, thereby adjusting the tilt posture.

[0013] c. To adjust the height of the tilt adjustment disc mechanism, the height adjustment base plate is moved up and down by the height adjustment mechanism, thereby adjusting the height of the tilt adjustment disc.

[0014] The beneficial effects of the present invention are as follows: The roller disc type 2-degree-of-freedom tilt angle adjustment mechanism and its usage method of the present invention, through the cooperation of the height adjustment base plate, the roller mounting disc, the roller, the tilt angle adjustment disc and the pressure plate, can realize the tilt angle adjustment of the tilt angle disc around the center of the spherical bearing in any direction perpendicular to the main axis with 2 degrees of freedom. The structure is simple and compact, the control is convenient and the operation is reliable. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 A top view of another state of the present invention; As shown in the figure: 1. Tilt adjustment motor; 2. Pinion gear; 3. Machine chassis; 4. Main shaft; 5. Large gear; 6. Sliding sleeve; 7. Bearing; 8. Rotary sleeve; 9. Height adjustment motor; 10. Lead screw; 11. Nut; 12. Height adjustment base plate; 13. Roller mounting disc; 14. Roller I; 15. Stop bar I; 16. Pressure plate I; 17. Tilt adjustment disc; 18. Tilt adjustment sleeve; 19. Spherical bearing; 20. Pressure plate II; 21. Roller II; 22. Stop bar II; 23. Pressure plate III; 24. Roller III. Detailed Implementation

[0016] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0017] like Figures 1-3 As shown, a roller disc type 2-DOF tilt adjustment mechanism of the present invention includes a vertical main shaft 4, a sliding sleeve 6 slidably connected to the main shaft 4, and a height adjustment mechanism for driving the sliding sleeve 6 to rise and fall. The main shaft 4 is made of steel pipe, and the lower end of the main shaft 4 is fixed to the machine chassis 3. The sliding sleeve 6 is sleeved on the main shaft 4 and can only move up and down.

[0018] A height adjustment base plate 12 is fixedly connected to the sliding sleeve 6. In this embodiment, the height adjustment base plate 12 is a circular plate and coaxial with the main shaft 4. The height of the sliding sleeve 6 can be adjusted by adjusting the height of the height adjustment base plate 12. Figure 1 As shown, the height adjustment mechanism includes a height adjustment motor 9 mounted on the machine chassis 3 and a lead screw 10 fixed to the rotating shaft of the height adjustment motor 9. The lead screw 10 passes through the height adjustment base plate 12, and the nut 11 of the lead screw 10 is fixed to the height adjustment base plate 12, thereby adjusting the height of the height adjustment base plate 12 by rotating the lead screw.

[0019] A tilt adjustment disc 17 is provided above the height adjustment base plate 12. The tilt adjustment disc 17 is connected to the sliding sleeve 6 via a joint bearing 19, thereby enabling the tilt adjustment disc 17 to swing in any direction. Vertical stop rods I 15 and II 22 are fixedly connected to the height adjustment base plate 12. Stop rods I 15 and II 22 are located on both sides of the main shaft 4, respectively. Figure 1 As shown, the stop bar I 15 and stop bar II 22 are respectively set at the edges of the two clearance notches, thereby preventing the tilt adjustment disc 17 from rotating.

[0020] Above the height adjustment base plate 12 is a roller mounting disc 13 that is rotatably connected to the sliding sleeve 6. In this embodiment, the roller mounting disc 13 is rotatably connected to the sliding sleeve 6 through a bearing 7. The roller mounting disc 13 is located between the tilt adjustment disc 17 and the height adjustment base plate 12. The roller mounting disc 13 has multiple large notches to avoid the stop bar I 15 and the stop bar II 22. The height-adjustable base plate 12 is equipped with a rotary drive mechanism that drives the roller mounting disk 13 to rotate. The rotary drive mechanism includes a large gear 5 fixed to the roller mounting disk 13 and a tilt adjustment motor 1 fixed to the height-adjustable base plate 12. A small gear 2 that meshes with the large gear 5 is fixed to the shaft of the tilt adjustment motor 1. The diameter of the small gear 2 is smaller than that of the large gear 5, which serves to reduce speed and increase torque.

[0021] The roller mounting disk 13 is equipped with multiple rollers arranged circumferentially. In this embodiment, three rollers are provided and are evenly distributed circumferentially relative to the main shaft 4. The three rollers are roller I 14, roller II 21 and roller III 24. When the roller mounting disk 13 rotates, it drives roller I 14, roller II 21 and roller III 24 to revolve together. Roller I 14, roller II 21 and roller III 24 are all mounted on the upper end face of the roller mounting disk 13 to achieve the function of rolling support.

[0022] Multiple pressure plates adapted to the rollers are fixedly connected to the tilt adjustment disc 17. The pressure plates are connected to the tilt adjustment disc 17 by bolts, and the lower end face of the pressure plate is higher than the lower end face of the tilt adjustment disc 17. In this embodiment, the three pressure plates are evenly distributed around the main shaft 4, namely pressure plate I 16, pressure plate II 20 and pressure plate III 23. After the roller mounting disc 13 drives the rollers I 14, II 21 and III 24 to revolve, the rollers I 14, II 21 and III 24 can support the pressure plates I 16, II 20 and III 23 respectively.

[0023] The tilt adjustment disc 17 has a clearance notch located below the pressure plate, such as... Figure 2 , 3 As shown, the avoidance gaps are fan-shaped structures. The three avoidance gaps have the same circumferential length but are not evenly distributed, thus enabling the following... Figure 3 As shown, roller I14 is supported on the lower end face of tilt adjustment disc 17, and rollers II21 and III24 are located at the clearance opening.

[0024] The tilt adjustment disc 17 is connected to a tilt adjustment sleeve 18 on its shaft. The tilt angle of the tilt adjustment sleeve can be adjusted by adjusting the tilt angle of the tilt adjustment disc, and the tilt adjustment sleeve can rotate freely, thereby enabling the output of external devices.

[0025] A method for using a roller disc type 2-DOF tilt adjustment mechanism includes the following steps: a. When the tilt adjustment disc 17 needs to be kept horizontal, such as Figure 2 As shown, the tilt adjustment motor 1 drives the large gear 5 to rotate via the small gear 2. The large gear 5 drives the roller mounting disk 13 to rotate via the rotating sleeve 8, causing the rollers I 14, II 21 and III 24 mounted on the roller mounting disk 13 to move and rotate to below the corresponding pressure plates I 16, II 20 and III 23, thereby realizing the adjustment of the horizontal posture of the tilt adjustment disk 17.

[0026] b. To adjust the tilt angle of the tilt adjustment disc 17 upwards in a certain direction, for example... Figure 3 As shown, to raise the upper left and lower the lower right, the tilt adjustment motor drives the large gear, the rotating sleeve, and the roller mounting disc to rotate via the small gear. Roller I on the roller mounting disc rotates to the lower part of the upper left of the tilt adjustment disc, while rollers II and III rotate to the notch of the tilt adjustment disc. Roller I lifts the upper left of the tilt adjustment disc, causing the tilt adjustment disc to rotate around the center of the spherical bearing, and lowers the lower right.

[0027] c. To adjust the height of the tilt adjustment disc 17, the height adjustment motor 9 drives the lead screw 10 to rotate, which in turn pushes the nut 12 and the height adjustment base plate to move up and down, thereby adjusting the height of the tilt adjustment disc 17.

[0028] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A roller-disc type 2-DOF tilt angle adjustment mechanism, characterized in that: The device includes a vertical main shaft (4), a vertical sliding sleeve (6) slidably connected to the main shaft (4), and a height adjustment mechanism for driving the sliding sleeve (6) to rise and fall. A height adjustment base plate (12) is fixedly connected to the sliding sleeve (6). A roller mounting disc (13) that is rotatably connected to the sliding sleeve (6) is provided above the height adjustment base plate (12). An angle adjustment disc (17) is provided above the roller mounting disc (13). The angle adjustment disc (17) is connected to the sliding sleeve (6) through a joint bearing (19). A rotation drive mechanism for driving the roller mounting disc (13) to rotate is mounted on the height adjustment base plate (12). Multiple rollers arranged circumferentially are mounted on the roller mounting disc (13). Multiple pressure plates adapted to the rollers are fixedly connected to the angle adjustment disc (17). An avoidance notch located below the pressure plate is opened on the angle adjustment disc (17).

2. The roller disc type 2-DOF tilt angle adjustment mechanism according to claim 1, characterized in that: The lower end of the main shaft (4) is fixed to the machine chassis (3). The height adjustment mechanism includes a height adjustment motor (9) installed on the machine chassis (3) and a lead screw (10) fixed to the shaft of the height adjustment motor (9). The nut (11) of the lead screw (10) is fixed to the height adjustment base plate (12).

3. The roller disc type 2-DOF tilt angle adjustment mechanism according to claim 1, characterized in that: The rotary drive mechanism includes a large gear (5) fixed on a roller mounting disc (13) and an angle adjustment motor (1) fixed on a height adjustment base plate (12). A small gear (2) that meshes with the large gear (5) is fixed on the shaft of the angle adjustment motor (1).

4. The roller disc type 2-DOF tilt angle adjustment mechanism according to claim 1, characterized in that: The height adjustment base plate (12) is fixedly connected with a stop bar I (15) and a stop bar II (22), which are respectively set at the edges of the two clearance openings.

5. The roller disc type 2-DOF tilt angle adjustment mechanism according to claim 1, characterized in that: The tilt adjustment disc (17) is connected to a tilt adjustment sleeve (18) on its upper shaft.

6. The roller disc type 2-DOF tilt angle adjustment mechanism according to claim 1, characterized in that: The rollers are arranged in three circumferentially, and the three pressure plates are also arranged circumferentially.

7. A method of using the roller disc type 2-DOF tilt angle adjustment mechanism as described in claim 1, characterized in that, Includes the following steps: a. When the tilt adjustment disc (17) needs to be kept horizontal, the rotary drive mechanism drives the roller mounting disc (13) to rotate, causing multiple rollers mounted on the roller mounting disc (13) to move and rotate to the corresponding pressure plate, thereby adjusting the horizontal attitude of the tilt adjustment disc (17). b. To adjust the tilt angle of the tilt adjustment disc (17) upward in a certain direction, one of the rollers is moved to the bottom of the tilt adjustment disc (17) in that direction, and the other rollers are moved to the clearance notch and misaligned with the pressure plate. The rollers lift up the tilt adjustment disc (17) in that direction, so that the tilt adjustment disc (17) swings around the center of the joint bearing to achieve the adjustment of the tilt posture. c. To adjust the height of the tilt adjustment disc (17), the height adjustment base plate (12) is moved up and down by the height adjustment mechanism, thereby adjusting the height of the tilt adjustment disc (17).

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