A large-scale space splicing surface adjustment mechanism based on a Kelvin kinematic support

Abstract

The present invention discloses a large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports, belonging to the technical field of kinematic structures for precision equipment adjustment. It includes an adjustment module, an adjustment base, Kelvin kinematic supports, adjustment linkages, and preloading springs. The adjustment base is arranged below the adjustment module, and the Kelvin kinematic supports are arranged on one side of the adjustment module close to the adjustment base, including three contacts, namely three-point contact, two-point contact, and one-point contact. There are three adjustment linkages, and each adjustment linkage includes an adjustment ball head and an electric push rod arranged on one side of the adjustment ball head. The free end of the electric push rod is connected to the adjustment base, and the preloading springs are arranged between the adjustment module and the adjustment base. The large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports provided by the present invention can ensure six-degree-of-freedom compliant adjustment control during the adjustment process of space precision instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of kinematic structures for precision equipment adjustment, and in particular to a large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports. Background Art

[0002] Nowadays, kinematic supports are widely used in the positioning, mating, and adjustment of high-precision mechanical structures. In the aviation field, to meet the high-precision task requirements of various aviation precision instruments, kinematic supports are widely used in precision optical instruments such as the adjustment of the optical mirror of the Five-hundred-meter Aperture Spherical Telescope (FAST) and the positioning and locking of satellite antenna panels. Structural interface contact has always been regarded as a repeatable mechanical connection. According to the principle of exact constraint design (ECD): the number of constraint points (contact points) should be greater than or equal to the number of degrees of freedom to be constrained, ensuring that all expected degrees of freedom can be controlled. Therefore, kinematic supports generally use 6 contact points to completely restrict the 6 spatial degrees of freedom between two precision components, thereby controlling and adjusting the relative positions of the two components in all angular orientations to keep them stable. Although higher load capacity can be achieved through more constraint points, under redundant constraints, the control requirements for the adjustment device are higher, and the improvement effect is minimal. Therefore, the commonly used 6-contact constraint has better comprehensive performance. In the design of the adjustment mechanisms of common precision equipment, a parallel mechanism connected by kinematic pairs is mostly used as the main body, which has numerous branch chains, complex kinematic pairs, and high adjustment accuracy, making it difficult to achieve precise control.

[0003] Therefore, the present invention provides a large-scale space splicing surface adjustment mechanism based on kinematic supports: the kinematic support uses the well-known Kelvin kinematic support, and the constraint points are distributed as "3-2-1", which can fully achieve 6-degree-of-freedom control, and the adjustment device uses an electric push rod device. Its advantage is that this adjustment mechanism uses point contact to equivalently replace the kinematic pairs of the traditional parallel mechanism, and the equivalent process is as follows: during the adjustment process of the mechanism, it is continuously subjected to the pre-tightening force of the spring, and the direction of the pre-tightening force is the same as the contact direction between the ball head and the contact surface. When point contact occurs, deformation will occur, and this deformation can be regarded as a translation pair moving along this direction. The number of original parallel branch chains can be converted into the number of contacts, and each branch chain consists of a fixed pair and a translation pair. The invention of this adjustment device greatly simplifies the structural complexity of the original precision adjustment device, reduces the production and installation costs, as well as the complexity of the adjustment device control, and has great value for the locking and adjustment work of high-precision equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports to solve the problems existing in the above background art.

[0005] To achieve the above object, the present invention provides a large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports, including an adjustment module, an adjustment base, Kelvin kinematic supports, adjustment linkages, and preloading springs. The adjustment base is disposed below the adjustment module. The Kelvin kinematic supports are disposed on one side of the adjustment module close to the adjustment base, including three contacts, namely three-point contact, two-point contact, and one-point contact. There are three adjustment linkages, and each adjustment linkage includes an adjustment ball head and an electric push rod disposed on one side of the adjustment ball head. The free end of the electric push rod is connected to the adjustment base. The adjustment base provides an installation position for the adjustment linkages. The preloading springs are disposed between the adjustment module and the adjustment base.

[0006] Preferably, the three adjustment linkages are arranged in an equilateral triangle shape on the adjustment base, and each adjustment ball head is correspondingly arranged with the three contacts of the Kelvin kinematic supports, so as to ensure that the adjustment ball head contacts the Kelvin kinematic supports during the movement process, realizing a total of six-point contact, and used to restrict six spatial degrees of freedom between two precision components.

[0007] Preferably, there are three preloading springs, and the three preloading springs are respectively disposed at the extension line of the midpoint of the connection line between adjacent two adjustment linkages and are connected between the adjustment module and the adjustment base in the form of a fixed pair. The preloading springs ensure the stability of the configuration between the adjustment base and the adjustment module when the electric push rod moves to control the contact between the adjustment ball head and the Kelvin kinematic supports.

[0008] Preferably, the adjustment ball head is connected to the electric push rod and the electric push rod is connected to the adjustment base in the form of a fixed pair.

[0009] Preferably, the electric push rods move independently, and are used to independently control the contact adjustment process between the adjustment ball head and the contact points, realizing the adjustment function of precision instruments.

[0010] Therefore, the present invention adopts the above-mentioned large-scale space splicing surface adjustment mechanism based on Kelvin kinematic supports. This adjustment mechanism uses point contact to equivalently replace the kinematic pairs of traditional parallel mechanisms. The equivalent process is as follows: During the adjustment process, the mechanism is continuously subjected to the preloading force of the spring. The direction of the preloading force is consistent with the contact direction between the ball head and the contact surface. When there is point contact, deformation will occur, and the deformation can be regarded as a translation pair moving along this direction. The original number of parallel linkages can be converted into the number of contacts, and each linkage consists of a fixed pair and a translation pair. This adjustment mechanism greatly simplifies the structural complexity of the original precision adjustment device, reduces the production and installation costs, and the complexity of the control of the adjustment device, and has great value for the locking and adjustment work of high-precision equipment.

[0011] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0012] Figure 1 It is a two-dimensional schematic diagram of a large-scale space splicing surface adjustment mechanism based on a Kelvin kinematic support of the present invention;

[0013] Figure 2 It is a schematic diagram of the installation position of the Kelvin kinematic support of the present invention;

[0014] Figure 3 It is a schematic diagram of the installation position of the pre-tightening spring and the adjustment link of the present invention;

[0015] Figure 4 It is the overall schematic diagram of the adjustment mechanism of the present invention Figure 1 ;

[0016] Figure 5 It is the overall schematic diagram of the adjustment mechanism of the present invention Figure 2 ;

[0017] Figure 6 It is a specific equivalent motion schematic diagram of the present invention that uses point contact to equivalently replace the kinematic pairs of the traditional parallel mechanism. Among them, (a) is point contact; (b) is the traditional parallel mechanism;

[0018] Reference numerals: 1, adjustment module; 2, adjustment base; 3, three-point contact; 4, two-point contact; 5, one-point contact; 6, adjustment ball head; 7, electric push rod; 8, pre-tightening spring. Specific Embodiments

[0019] The following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0020] Please refer to Figures 1-6, A large-scale space splicing surface adjustment mechanism based on Kelvin kinematic support, including an adjustment module 1, an adjustment base 2, a Kelvin kinematic support, adjustment chains, and a warning spring 8. The adjustment base 2 is arranged below the adjustment module 1. The Kelvin kinematic support is arranged on one side of the adjustment module 1 close to the adjustment base 2, including three contacts, namely three-point contact 3, two-point contact 4, and one-point contact 5. There are three adjustment chains, which are arranged on the adjustment base 2 in an equilateral triangle shape. The adjustment base 2 provides an installation position for each adjustment chain, and its installation method can be regarded as being connected in the form of a fixed pair. Each adjustment chain includes an adjustment ball head 6 and an electric push rod 7 arranged on one side of the adjustment ball head 6.

[0021] The electric push rod 7 is connected to the adjustment ball head 6 in the form of a fixed pair. The electric push rod 7 moves up and down around its own screw axis under the action of its own motor. Each electric push rod 7 can move independently, and then independently control the contact adjustment process between the adjustment ball head 6 and the contact point, realizing the adjustment function of precision instruments, realizing the adjustment function of precision instruments.

[0022] The three adjustment ball heads 6 are respectively arranged corresponding to the three contacts of the Kelvin kinematic support, realizing a total of six-point contact, which is used to limit the six spatial degrees of freedom between two precision components; the distribution of the three contact points is consistent with the distribution of the three adjustment chains, which is used to ensure that the adjustment ball head 6 comes into contact with the Kelvin kinematic support during the movement process.

[0023] There are three warning springs 8, which are respectively arranged at the midpoint extension line of the connection line between adjacent two adjustment chains, and are connected between the adjustment module 1 and the adjustment base 2 in the form of a fixed pair. The warning spring 8 ensures the stability of the configuration between the adjustment base 2 and the adjustment module 1 when the electric push rod 7 moves to control the contact between the adjustment ball head 6 and the Kelvin kinematic support.

[0024] The adjustment ball head 6 is connected to the electric push rod 7 and the electric push rod 7 is connected to the adjustment base 2 in the form of a fixed pair.

[0025] Therefore, the present invention adopts the above-mentioned large-scale space splicing surface adjustment mechanism based on Kelvin kinematic support, combines the kinematic support with the adjustment device, which is beneficial to using point contact to equivalently replace the kinematic pairs of traditional parallel mechanisms, greatly reducing the control difficulty and manufacturing cost.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A large-scale space splicing surface adjustment mechanism based on a Kelvin kinematic support, characterized in that: It includes an adjustment module, an adjustment base, a Kelvin kinematic support, adjustment links, and preloading springs. The adjustment base is disposed below the adjustment module. The Kelvin kinematic support is disposed on one side of the adjustment module close to the adjustment base and includes three contacts, namely three-point contact, two-point contact, and one-point contact. There are three adjustment links, and each adjustment link includes an adjustment ball head and an electric push rod disposed on one side of the adjustment ball head. The free end of the electric push rod is connected to the adjustment base. The preloading springs are disposed between the adjustment module and the adjustment base. The three adjustment links are arranged in an equilateral triangle shape on the adjustment base, and each adjustment ball head is respectively arranged corresponding to the three contacts of the Kelvin kinematic support, so as to ensure that the adjustment ball head contacts the Kelvin kinematic support during movement, achieving a total of six-point contact for restricting six spatial degrees of freedom between two precision components. There are three preloading springs, and the three preloading springs are respectively disposed at the midlines of the connections between adjacent two adjustment links and are connected between the adjustment module and the adjustment base in the form of a fixed pair.

2. The large-scale space splicing profile adjustment mechanism based on the Kelvin kinematic support according to claim 1, characterized in that: The adjustment ball head is connected to the electric push rod and the electric push rod is connected to the adjustment base in the form of a fixed pair.

3. A large-scale space splicing surface adjustment mechanism based on a Kelvin kinematic support according to claim 1, characterized in that: The electric push rods move independently and are used to independently control the contact adjustment process between the adjustment ball head and the contact.

Images