Detla-like mechanical arm multi-degree-of-freedom air floating platform

Abstract

The invention belongs to the technical field of ground microgravity environment simulation, and particularly relates to a detla-like mechanical arm multi-degree-of-freedom air floating platform which comprises an air floating supporting assembly, an air storage layer, an air path control layer and an electric control layer. The air floatation supporting assembly comprises a plurality of same plane air floatation bearings which are arranged at the bottom of the whole air floatation platform; the gas storage layer is matched with a high-pressure gas storage bottle and is positioned at the bottommost layer of the gas floating platform; the gas path control layer is positioned above the gas storage layer and comprises a high-pressure reducing valve, a low-pressure reducing valve, a battery, three electromagnetic valves, three adjustable nozzles and corresponding pipelines; the electric control layer is located on the gas path control layer and comprises a controller, three relays, a wireless module, a gyroscope and a battery. A layer type structure is adopted for building, different layers are connected through the standard stand columns, and the structure is simple, easy to install, reliable and practical.

Description

Technical Field

[0001] The invention belongs to the technical field of ground microgravity environment simulation, in particular to a DETLA-like robotic arm multi-degree-of-freedom air floating platform. Background Art

[0002] With the rapid development of space science and technology, the role of air-floating platforms in simulating satellite maneuvers in the microgravity environment on Earth has become increasingly prominent. Modern spacecraft have placed higher demands on orbital maneuverability, so the use of air-floating platforms with multiple degrees of freedom is urgently needed to simulate the microgravity environment on Earth.

[0003] On the one hand, the nozzles that act as the motorized actuators of air flotation platforms are currently mostly fixed in a fixed arrangement to achieve maneuverability. To meet the needs of multi-directional operation, the number of nozzles must be increased, which in turn leads to an increase in the number of solenoid valves and a more complex control system. On the other hand, to achieve vertical movement of the air flotation platform, current research generally adopts the solution of adding a gravity-balancing servo motion mechanism, which also increases the complexity of the air flotation platform structure to a certain extent. Summary of the Invention

[0004] To address the aforementioned issues with existing air flotation platform structures, the present invention aims to provide a DETLA-like multi-degree-of-freedom air flotation platform. This DETLA-like multi-degree-of-freedom air flotation platform can adjust the nozzle angle to achieve multi-degree-of-freedom maneuverability, reducing the complexity of the overall structural design of the air flotation platform.

[0005] The object of the present invention is achieved through the following technical solutions: The present invention includes an air-floating support assembly, an air storage layer, an air circuit control layer and an electric control layer arranged in sequence from bottom to top. The air-floating support assembly includes a plurality of planar air-floating bearings respectively installed at the bottom of the air-floating platform; the air storage layer includes at least one high-pressure gas storage cylinder for storing a working medium; the air circuit control layer includes a high-pressure pressure reducing valve, a low-pressure pressure reducing valve, an electromagnetic valve, a nozzle, a stepped shaft and a motor. The number of the electromagnetic valves and nozzles is the same and they correspond one to one. Each of the nozzles corresponds to a set of stepped shafts and a motor. The motor drives the stepped shaft to rotate, thereby driving the The nozzle installed on the stepped rotating shaft swings to change the air outlet angle, and each of the nozzles is connected to the corresponding solenoid valve through a pipeline; the high-pressure gas storage cylinder is connected to the gas source and the inlet of the high-pressure reducing valve through the gas tank pipeline, and the outlet of the high-pressure reducing valve is connected to the inlet of the low-pressure reducing valve. The outlet of the low-pressure reducing valve is divided into two paths, and one path is further divided into multiple branches. Each branch is connected to a solenoid valve, and the other path is connected to each planar air bearing; the high-pressure reducing valve, low-pressure reducing valve, solenoid valve and motor are respectively connected to the control system on the electronic control layer.

[0006] Wherein: each of the planar air-floating bearings is evenly distributed along the circumferential direction with the axis of the air-floating platform as a reference, and floats the entire air-floating platform during ventilation operation.

[0007] A gas tank connector is installed at the mouth of the high-pressure gas cylinder of the high-pressure gas cylinder. One outlet of the gas tank connector is connected to the stop valve and the inflation interface nut in sequence through the first gas tank pipeline, and is connected to the gas source through the inflation interface nut. The other outlet of the gas tank connector is connected to the inlet of the high-pressure reducing valve through the second gas tank pipeline, and bottle mouth valves are respectively installed on the two gas tank pipelines near the gas tank connector; the bottle mouth valve and the stop valve are respectively connected to the control system on the electronic control layer.

[0008] The high-pressure gas cylinder is fixed to the upper surface of the bottom plate through a high-pressure gas cylinder retaining frame, and each of the planar air bearings is installed on the lower surface of the bottom plate. The bottom plate and the second plate in the gas path control layer are fixedly connected through a support tube; a gas tank pipeline support frame is also fixed to the upper surface of the bottom plate, which is used to support the first gas tank pipeline connected to an outlet of the gas tank connector.

[0009] The high-pressure pressure reducing valve and the low-pressure pressure reducing valve are respectively fixed to the second plate through a retaining frame, and the second plate is respectively fixed to the lowest plate in the gas storage layer and the third plate in the electric control layer through a support tube; the outlet of the low-pressure pressure reducing valve is connected to the first interface of the three-way joint, the second interface of the three-way joint is connected to the first interface of the first four-way joint through a pipeline, and the other three interfaces of the first four-way joint are respectively connected to three solenoid valves; the third interface of the three-way joint is connected to the first interface of the second four-way joint through a pipeline, and the other three interfaces of the second four-way joint are respectively connected to three planar air bearings.

[0010] A stepped shaft holder is fixedly connected to the support tube, and the stepped shaft is rotatably mounted on the stepped shaft holder through a deep groove ball bearing. The motor is fixed to the support tube, one end of the stepped shaft is connected to the motor shaft of the motor through a coupling, and the nozzle is mounted on the other end of the stepped shaft.

[0011] Batteries for supplying power to each solenoid valve are installed on the third layer board.

[0012] The nozzle directions of the nozzles cannot converge at one point.

[0013] The control system in the electronic control layer includes a controller, a wireless module, a gyroscope and a relay respectively installed on the third layer board. The number of the relays is the same as that of the solenoid valves and they correspond one to one. The controller establishes a Bluetooth communication connection with the upper machine position through the wireless module. The high-pressure pressure reducing valve, the low-pressure pressure reducing valve, the solenoid valve, the motor, the gyroscope and the relays are respectively connected to the controller.

[0014] A fourth layer of plate is provided above the third layer of plate, and the fourth layer of plate is fixedly connected to the third layer of plate through a supporting tube.

[0015] The advantages and positive effects of the present invention are: 1. The present invention adopts a hierarchical structure, with different layers connected by standard columns, ensuring a simple structure and easy installation.

[0016] 2. The nozzle of the present invention is designed to be adjustable. The nozzle is driven by a motor and a stepped shaft. When the nozzle is facing downward, the air flotation platform rises, and when the nozzle is facing upward, the air flotation platform descends.

[0017] 3. The layout of the nozzles in the present invention does not converge at a single point, but emits air in three different directions simultaneously, thereby achieving the rotational movement of the air flotation platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the structural distribution of the present invention; Figure 2 It is a structural schematic diagram of the present invention; Figure 3 Schematic diagram of the structure of the gas storage layer of the present invention; Figure 4 Schematic diagram of the structure of the gas path control layer of the present invention; Figure 5 Schematic diagram of the structure of the electric control layer of the present invention; Figure 6 This is a schematic diagram of the gas supply system of the present invention; Among them: 1 is the air flotation support assembly, 2 is the gas storage layer, 3 is the gas circuit control layer, 4 is the electric control layer, 5 is the gas tank pipeline support frame, 6 is the high-pressure gas bottle mouth, 7 is the second layer, 8 is the deep groove ball bearing, 9 is the ladder shaft retainer, 10 is the fourth layer, 11 is the bottle mouth valve, 12 is the square support aluminum tube, 13 is the third layer, 14 is the motor, 15 is the high-pressure gas bottle retainer, 16 is the support aluminum tube, 17 is the air inlet, 18 is the lowest layer, 19 is the plane air flotation Bearing, 20 is the inflation interface nut, 21 is the stop valve, 22 is the gas tank pipeline, 23 is the gas tank connector, 24 is the high-pressure gas cylinder, 25 is the nozzle, 26 is the coupling, 27 is the high-pressure reducing valve, 28 is the thick hose, 29 is the low-pressure reducing valve, 30 is the three-way connector, 31 is the four-way connector, 32 is the solenoid valve, 33 is the thin hose, 34 is the nozzle connector, 35 is the wireless module, 36 is the relay, 37 is the battery, 38 is the controller, and 39 is the gyroscope. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] like Figures 1 to 6As shown, the air flotation platform of the present invention is constructed with a layered structural design, and each layer is connected by a support pipe. The air flotation platform includes an air flotation support component 1, an air storage layer 2, an air path control layer 3 and an electric control layer 4 arranged in sequence from bottom to top. The air flotation support component 1 includes a plurality of planar air flotation bearings 19 respectively installed at the bottom of the air flotation platform, so that a smooth fit is formed between the planar air flotation bearings 19 and the bottom surface of the air flotation platform, and the air flotation platform is also able to float; the air storage layer 2 is located at the bottom of the air flotation platform and is used to store the working medium of the entire air flotation platform, including at least one high-pressure gas storage cylinder 24 for storing the working medium; the air path control layer 3 is located above the air storage layer 2 and is used to regulate and utilize the input high-pressure gas. The air path control layer 3 includes a high-pressure reducing valve 27, a low-pressure reducing valve 29, an electromagnetic valve 32, a nozzle 25, a stepped shaft and a motor 14. The number of the electromagnetic valves 32 and the nozzle 25 is the same and corresponds one to one. Each nozzle 25 Each corresponds to a set of stepped rotating shafts and motors 14. The motor 14 drives the stepped rotating shafts to rotate, thereby driving the nozzles 25 installed on the stepped rotating shafts to swing and change the air outlet angle. Each nozzle 25 is connected to the corresponding solenoid valve 32 through a pipeline. The high-pressure gas cylinder 24 is connected to the gas source and the inlet of the high-pressure reducing valve 27 through gas tank pipelines. The outlet of the high-pressure reducing valve 27 is connected to the inlet of the low-pressure reducing valve 29. The outlet of the low-pressure reducing valve 29 is divided into two paths, one of which is further divided into multiple branches, each of which is connected to a solenoid valve 32, and the other is connected to each planar air bearing 19. The high-pressure reducing valve 27, the low-pressure reducing valve 29, the solenoid valve 32 and the motor 14 are respectively connected to the control system on the electronic control layer 4. The electronic control layer 4 is located above the gas circuit control layer 3 and is used to provide power management, data processing and communication transmission functions, control the opening and closing of each solenoid valve 32 in the gas circuit control layer 3, and establish a Bluetooth communication connection with the upper machine position.

[0021] The air-floating support assembly 1 of this embodiment includes three identical planar air-floating bearings 19, which are evenly arranged at an angle of 120° on the lower surface of the bottom plate 18 with the axis of the air-floating platform as the reference. The air outlet of each planar air-floating bearing 19 is set toward the bottom surface of the air-floating platform (i.e., the lower surface of the bottom plate 18), and the air inlet 17 of each planar air-floating bearing 19 is respectively connected to a thin hose 33.

[0022] The gas storage layer 2 of this embodiment is located above the bottom plate 18 and includes two high-pressure gas cylinders 24. The capacity of the high-pressure gas cylinders 24 is 2L, and the gas storage pressure range is 0 MPa to 18 MPa; each high-pressure gas cylinder 24 is fixed to the upper surface of the bottom plate 18 through a high-pressure gas cylinder retaining frame 15, and a gas tank connector 23 is installed at the high-pressure gas cylinder bottle mouth 6 of each high-pressure gas cylinder 24. One outlet of the gas tank connector 23 is connected to the stop valve 21 and the charging interface nut 20 in sequence through the first gas tank pipeline 22, and is connected to the external high-pressure nitrogen gas source through the charging interface nut 20. The other outlet of the gas tank connector 23 is connected to the inlet of the high-pressure reducing valve 27 through the second gas tank pipeline 22, and a bottle mouth valve 11 is installed on the two gas tank pipelines 22 near the gas tank connector 23; the bottle mouth valve 11 and the stop valve 21 are respectively connected to the control system on the electronic control layer 4. The bottom layer plate 18 is fixedly connected to the second layer plate 7 in the gas path control layer 3 through the supporting aluminum tube 16; the upper surface of the bottom layer plate 18 is also fixed with a gas tank pipeline support frame 5, which is used to support the first gas tank pipeline 22 connected to an outlet of the gas tank connector 23.

[0023] The high-pressure reducing valve 27 and the low-pressure reducing valve 29 of this embodiment are respectively fixed to the second layer plate 7 via a retaining frame. The second layer plate 7 is respectively fixed to the bottom layer plate 18 in the gas storage layer 2 and the third layer plate 13 in the electronic control layer 4 via a supporting aluminum tube 16. A battery 37 for powering each solenoid valve 32 is installed on the third layer plate 13; the low-pressure reducing valve 29 performs a secondary pressure reduction on the high-pressure gas transmitted from the gas storage layer 2. The outlet of the low-pressure reducing valve 29 is connected to the first interface of a three-way joint 30, the second interface of the three-way joint 30 is connected to the first interface of a first four-way joint 31 via a pipeline, and the other three interfaces of the first four-way joint 31 are respectively connected to three solenoid valves 32. The solenoid valves 32 are used to control the on and off of the nozzle 25 and are powered by a 24V battery 37; the third interface of the three-way joint 30 is connected to the first interface of the second four-way joint 31 via a pipeline, and the other three interfaces of the second four-way joint 31 are respectively connected to three planar air bearings 19. A stepped shaft holder 9 is fixed to the square supporting aluminum tube 12. The stepped shaft is rotatably mounted on the stepped shaft holder 9 through a deep groove ball bearing 8. The motor 14 is fixed to the supporting aluminum tube 16. One end of the stepped shaft is connected to the motor shaft of the motor 14 through a coupling 26. The nozzle 25 is mounted on the other end of the stepped shaft to achieve the pitch of the nozzle 25. The installation position of each nozzle 25 must ensure that the nozzle directions of each nozzle 25 cannot converge at one point.

[0024] The control system in the electrical control layer 4 of this embodiment includes a controller 38, a wireless module 35, a gyroscope 39, and relays 36, each mounted on the third layer 13. A fourth layer 10 is located above the third layer 13 and is fixed to the third layer 13 via a supporting aluminum tube 16. The relays 36 are identical in number to the solenoid valves 32, corresponding one to one. Each relay 36 controls the opening and closing of a corresponding solenoid valve 32 in the air control layer 3. The controller 38 establishes a Bluetooth communication connection with the upper control station via the wireless module 35. The gyroscope 39 collects information about the rotation angle of the air flotation platform. The high-pressure pressure reducing valve 27, the low-pressure pressure reducing valve 29, the solenoid valve 32, the motor 14, the gyroscope 39, and each relay 36 are connected to the controller 38. The controller 38 of this embodiment uses an STM32 single-chip microcomputer to transmit drive control signals to each solenoid valve 32 in the air control layer 3, thereby controlling the opening and closing of the nozzle 25 and the amount of airflow.

[0025] The three planar air bearings 19 of this embodiment are all commercially available products, purchased from Eisenberg Air Flotation Technology (Beijing) Co., Ltd., with the model number EZ-0053-045. The inflation interface nut 20 of this embodiment is a commercially available product, purchased from GENTEC Corporation in the United States, with the model number SS-QC4F-FNT4. The inflation interface nut 20 is a connector for the external high-pressure nitrogen gas source and uses a threaded ball seal. During inflation, the shutoff valve 21 is opened, and high-pressure nitrogen is fed into the high-pressure gas cylinder 24 through the shutoff valve 21 and the high-pressure stainless steel air pipe. The shutoff valve 21 is closed when inflation is complete. The high-pressure pressure reducing valve 27 of this embodiment is a commercially available product, purchased from GENTEC Corporation in the United States, with the model number R21SLBK-DHG-00-00. The low-pressure pressure reducing valve 29 of this embodiment is a commercially available product, purchased from SMC Corporation in Japan, with the model number IR1020-01BG-A. The nozzle 25 in this embodiment is a commercially available product, model NHR67-1, purchased from Suzhou Yiheda Automation Technology Co., Ltd.; the nozzle 25 uses a Laval-type nozzle, is made entirely of brass, and has a polished interior. The wireless module 35, gyroscope 39, and controller 38 in this embodiment are all commercially available products, purchased from Zhengdian Atom (Guangzhou) Technology Co., Ltd. The wireless module 35 is model ATK-ESR8266, the gyroscope 39 is model MS6DSV attitude calculation module, and the controller 38 is model STM32F103 core board.

[0026] The installation and working principle of the present invention are: The air flotation platform is constructed using a layered structural design. A high-pressure gas cylinder holder 15 is mounted on the bottommost plate 18 using studs and nuts, centered parallel to the cylinder holder 15. High-pressure gas cylinders 24 are mounted on the holder 15 and tightened using studs and nuts. A gas tank connector 23 is screwed onto the high-pressure gas cylinder mouth 6 of each high-pressure gas cylinder 24. One outlet of the gas tank connector 23 is connected to one end of a first gas tank pipeline 22. The other end of the first gas tank pipeline 22 is screwed onto a stop valve 21, which is then connected to one end of a second gas tank pipeline 22. A gas charging interface nut 20 is screwed onto the other end of the second gas tank pipeline 22. The gas tank pipeline support frame 5 is screwed onto the bottommost plate 18 to support the two gas tank pipelines 22. The other outlet of the gas tank connector 23 is screwed onto a bottle mouth valve 11, the other end of which is connected to a third gas tank pipeline 22 leading to the second layer 7. Three planar air bearings 19 are evenly arranged at a 120° angle on the lower surface of the bottom plate 18. The air outlets of the three planar air bearings 19 are all positioned toward the bottom surface of the air flotation platform. The air inlets 17 of the planar air bearings 19 are connected to a thin hose 33. The second plate 7 is connected to the bottom plate 18 via three supporting aluminum tubes 16 and twelve square supporting aluminum tubes 12. The stepped shaft holder 9 is fixed to the six square supporting aluminum tubes 12. The deep groove ball bearing 8 is installed in the stepped shaft holder 9. The stepped shaft and the deep groove ball bearing 8 are then mated. A nozzle 25 is arranged in the middle of the stepped shaft. The other end of the nozzle 25 is connected to the nozzle joint 34. One end of the stepped shaft is connected to the motor shaft of the motor 14 via a coupling 26. The motor 14 is then fixed to the square supporting aluminum tubes 12. The high-pressure reducing valve 27 and the low-pressure reducing valve 29 are respectively installed on the second layer plate 7 through a retaining frame. The inlet of the high-pressure reducing valve 27 is connected to the third gas tank pipeline 22 connected to the bottom layer plate 18 through a thick hose 28. The outlet of the high-pressure reducing valve 27 is connected to the inlet of the low-pressure reducing valve 29 through the thick hose 28. The outlet of the low-pressure reducing valve 29 is connected to the first interface of the three-way joint 30 through the thick hose 28. The second interface of the three-way joint 30 is connected to the first interface of the first four-way joint 31 through the thick hose 28. The other three interfaces of the first four-way joint 31 are connected to three solenoid valves 32 through thin hoses 33. The other ends of the three solenoid valves 32 are respectively installed with three nozzle joints 34 through the thin hoses 33; the third interface of the three-way joint 30 is connected to the first interface of the second four-way joint 31 through the thick hose 28, and the other three interfaces of the second four-way joint 31 are respectively connected to the air inlet 17 of the three planar air bearings 19 arranged under the bottom layer plate 18 through the thin hoses 33. The third layer 13 is connected to the second layer 7 via three supporting aluminum tubes 16. The controller 38, gyroscope 39, relay 36, battery 37, and wireless module 35 are sequentially fixed to the third layer 13. The fourth layer 10 is connected to the third layer 13 via six supporting aluminum tubes 16.

[0027] The initial state of the present invention is as follows Figure 3 As shown, two high-pressure gas cylinders 24 are connected in parallel, and high-pressure nitrogen is filled into the two high-pressure gas cylinders 24 through a stop valve 21. The pressure range of the high-pressure gas cylinders 24 is set to 0MPa to 18MPa. When entering the working state, in order to maintain the stability of the output pressure, a two-stage pressure reduction is adopted. The high-pressure gas in the high-pressure gas cylinder 24 passes through the gas tank pipeline 22 and is first reduced to 0.7MPa by the high-pressure pressure reducing valve 27, and then reduced to 0.3MPa by the low-pressure pressure reducing valve 29 for the second time; then it is divided into two ways through the three-way joint 30, one of which is transmitted to the air inlet 17 of the plane air floating bearing 19. The plane air floating bearing 19 transmits the input air to the guide groove on the bottom through the throttle hole. Due to the effect of air pressure, the air in the guide groove is evenly distributed. Air diffuses between the bearing bottom and the platform surface, forming a micrometer-thick (5-50 μm) air cushion. This creates a very smooth fit between the planar air bearing 19 and the bottom of the air platform, allowing the platform to float. Another signal is transmitted to the solenoid valve 32, which controls the opening and closing of the three nozzles 25. When all three nozzles 25 simultaneously spray air, the air platform rotates. Directing all three nozzles 25 downward or upward simultaneously allows the air platform to ascend or descend. Spraying from a single nozzle 25 allows the platform to move in a plane. The controller 38 on the third layer 13 transmits control signals to the solenoid valve 32 via a relay 36. The wireless module 35 establishes a Bluetooth communication connection with the host computer. The gyroscope 39 collects information about the air platform's rotation angle.

[0028] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A DETLA-like robotic arm multi-degree-of-freedom air-floating platform, characterized by: The invention comprises an air-floating support assembly (1), an air storage layer (2), an air path control layer (3) and an electric control layer (4) which are arranged in sequence from bottom to top. The air-floating support assembly (1) comprises a plurality of planar air-floating bearings (19) respectively installed at the bottom of the air-floating platform; the air storage layer (2) comprises at least one high-pressure gas storage cylinder (24) for storing a working medium; the air path control layer (3) comprises a high-pressure pressure reducing valve (27), a low-pressure pressure reducing valve (29), an electromagnetic valve (32), a nozzle (25), a stepped rotating shaft and a motor (14); the number of the electromagnetic valves (32) and the nozzles (25) is the same and they correspond one to one; each of the nozzles (25) corresponds to a set of stepped rotating shafts and a motor (14); the motor (14) drives the stepped rotating shaft to rotate, thereby driving The nozzle (25) installed on the stepped rotating shaft swings to change the air outlet angle, and each nozzle (25) is connected to the corresponding solenoid valve (32) through a pipeline; the high-pressure gas storage cylinder (24) is connected to the gas source and the inlet of the high-pressure reducing valve (27) through the gas tank pipeline (22), and the outlet of the high-pressure reducing valve (27) is connected to the inlet of the low-pressure reducing valve (29), and the outlet of the low-pressure reducing valve (29) is divided into two paths, one of which is further divided into multiple branches, each of which is connected to a solenoid valve (32), and the other is connected to each plane air bearing (19); the high-pressure reducing valve (27), the low-pressure reducing valve (29), the solenoid valve (32) and the motor (14) are respectively connected to the control system on the electric control layer (4).

2. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 1, characterized in that: The plane air-floating bearings (19) are evenly distributed along the circumferential direction with the axis of the air-floating platform as a reference, and float the entire air-floating platform during ventilation operation.

3. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 1, characterized in that: A gas tank connector (23) is installed at the high-pressure gas tank bottle mouth (6) of the high-pressure gas storage bottle (24); one outlet of the gas tank connector (23) is connected to the stop valve (21) and the charging interface nut (20) in sequence through the first gas tank pipeline (22), and is connected to the gas source through the charging interface nut (20); the other outlet of the gas tank connector (23) is connected to the inlet of the high-pressure reducing valve (27) through the second gas tank pipeline (22), and a bottle mouth valve (11) is respectively installed on the two gas tank pipelines (22) near the gas tank connector (23); the bottle mouth valve (11) and the stop valve (21) are respectively connected to the control system on the electric control layer (4).

4. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 3, characterized in that: The high-pressure gas cylinder (24) is fixed to the upper surface of the bottom plate (18) through a high-pressure gas cylinder retainer (15), and each of the planar air bearings (19) is installed on the lower surface of the bottom plate (18). The bottom plate (18) and the second plate (7) in the gas path control layer (3) are fixedly connected through a support tube; a gas tank pipeline support frame (5) is also fixed to the upper surface of the bottom plate (18) for supporting a first gas tank pipeline (22) connected to an outlet of the gas tank connector (23).

5. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 1, characterized in that: The high-pressure pressure reducing valve (27) and the low-pressure pressure reducing valve (29) are respectively fixed on the second layer plate (7) through a retaining frame, and the second layer plate (7) is respectively fixed to the bottom layer plate (18) in the gas storage layer (2) and the third layer plate (13) in the electric control layer (4) through a support pipe; the outlet of the low-pressure pressure reducing valve (29) is connected to the first interface of the three-way joint (30), the second interface of the three-way joint (30) is connected to the first interface of the first four-way joint (31) through a pipeline, and the other three interfaces of the first four-way joint (31) are respectively connected to three solenoid valves (32); the third interface of the three-way joint (30) is connected to the first interface of the second four-way joint (31) through a pipeline, and the other three interfaces of the second four-way joint (31) are respectively connected to three plane air bearings (19).

6. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 5, characterized in that: A stepped shaft holder (9) is fixedly connected to the support tube, and the stepped shaft is rotatably mounted on the stepped shaft holder (9) via a deep groove ball bearing (8). The motor (14) is fixed to the support tube, and one end of the stepped shaft is connected to the motor shaft of the motor (14) via a coupling (26). The nozzle (25) is mounted on the other end of the stepped shaft.

7. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 5, characterized in that: The third layer plate (13) is provided with a battery (37) for supplying power to each solenoid valve (32).

8. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 1, characterized in that: The nozzle directions of each nozzle (25) cannot converge at one point.

9. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 1, characterized in that: The control system in the electric control layer (4) includes a controller (38), a wireless module (35), a gyroscope (39) and a relay (36) respectively installed on the third layer board (13), wherein the number of the relays (36) is the same as that of the solenoid valves (32) and the relays (36) are in one-to-one correspondence; the controller (38) establishes a Bluetooth communication connection with the upper machine position through the wireless module (35), and the high-pressure pressure reducing valve (27), the low-pressure pressure reducing valve (29), the solenoid valve (32), the motor (14), the gyroscope (39) and each relay (36) are respectively connected to the controller (38).

10. The DETLA-like robotic arm multi-degree-of-freedom air-floating platform according to claim 9, characterized in that: A fourth layer plate (10) is provided above the third layer plate (13), and the fourth layer plate (10) is fixedly connected to the third layer plate (13) via a support tube.

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