Delta robot multi-degree-of-freedom air floating platform

Abstract

The present application belongs to the technical field of ground microgravity environment simulation, in particular to a multi-freedom degree air floating platform for delta-like mechanical arm, which comprises an air floating support assembly, an air storage layer, an air path control layer and an electric control layer; the air floating support assembly comprises a plurality of identical planar air floating bearings arranged at the bottom of the whole air floating platform; the air storage layer is located at the bottom layer of the air floating platform and is matched with a high-pressure air storage bottle; the air path control layer is located above the air storage layer and comprises a high-pressure pressure reducing valve, a low-pressure pressure reducing valve, a battery, three electromagnetic valves, three adjustable nozzles and corresponding pipelines; the electric control layer is located above the air path control layer and comprises a controller, three relays, a wireless module, a gyroscope and a battery. The present application is built in a layered structure, and different layers are connected by standard columns, so that the structure is simple, easy to install and reliable and practical.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ground microgravity environment simulation, in particular to a delta-like mechanical arm multi-degree-of-freedom air floating platform. BACKGROUND

[0002] With the rapid development of space science and technology, the air floating platform plays an increasingly important role in simulating the pose maneuver of satellites in the microgravity environment in orbit on the ground. Modern spacecraft have higher requirements for orbit maneuver performance, so it is urgent to realize ground microgravity environment simulation by using an air floating platform with multi-degree-of-freedom characteristics.

[0003] On the one hand, the nozzles as the maneuvering execution elements of the air floating platform are currently implemented in a fixed arrangement to meet the needs of multi-directional operation, which increases the number of nozzles and the number of electromagnetic valves, and complicates the control system. On the other hand, in order to realize the vertical lifting motion of the air floating platform, the current research generally adopts the scheme of increasing the gravity balance servo motion mechanism, which also increases the complexity of the structure of the air floating platform to some extent. SUMMARY

[0004] In view of the above problems existing in the structure of the existing air floating platform, the purpose of the present application is to provide a delta-like mechanical arm multi-degree-of-freedom air floating platform. The delta-like mechanical arm multi-degree-of-freedom air floating platform can adjust the angle of the nozzles to realize the multi-degree-of-freedom maneuver of the air floating platform, and reduce the complexity of the overall structure design of the air floating platform.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] The present application comprises, from bottom to top, an air floating support assembly, a gas storage layer, a gas path control layer and an electric control layer. The air floating support assembly comprises a plurality of planar air floating bearings respectively mounted on the bottom of the air floating platform. The gas storage layer comprises at least one high-pressure gas storage cylinder for storing working medium. The gas path control layer comprises high-pressure pressure reducing valves, low-pressure pressure reducing valves, electromagnetic valves, nozzles, stepped shafts and motors. The number of electromagnetic valves is the same as that of nozzles, and each nozzle corresponds to one set of stepped shafts and motors. The motor drives the rotation of the stepped shaft, which in turn drives the swinging of the nozzle mounted on the stepped shaft to change the gas outlet angle. Each nozzle is connected to the corresponding electromagnetic valve through a pipeline. The high-pressure gas storage cylinder is connected to the gas source and the inlet of the high-pressure pressure reducing valve through a gas tank pipeline. The outlet of the high-pressure pressure reducing valve is connected to the inlet of the low-pressure pressure reducing valve. The outlet of the low-pressure pressure reducing valve is divided into two paths. One path is divided into a plurality of branches, and each branch is connected to one electromagnetic valve. The other path is connected to each planar air floating bearing. The high-pressure pressure reducing valves, the low-pressure pressure reducing valves, the electromagnetic valves and the motors are connected to the control system on the electric control layer.

[0007] Each of the planar air floating bearings is uniformly distributed along the circumferential direction with the shaft center of the air floating platform as the reference, and the entire air floating platform is floated when air is supplied.

[0008] The gas cylinder joint is provided at the bottle mouth of the high-pressure gas cylinder, one outlet of the gas cylinder joint is connected with a first gas cylinder pipeline, a stop valve and a gas filling interface nut in sequence, and the gas filling interface nut is connected with a gas source, another outlet of the gas cylinder joint is connected with an inlet of a high-pressure pressure reducing valve through a second gas cylinder pipeline, and a bottle mouth valve is arranged on each of the two gas cylinder pipelines close to the gas cylinder joint.

[0009] The high-pressure gas cylinder is fixed on the upper surface of the bottom layer plate through a high-pressure gas cylinder holder, each of the planar air floating bearings is arranged on the lower surface of the bottom layer plate, and the bottom layer plate and a second layer plate in the gas pipeline control layer are fixedly connected through a support pipe.

[0010] The high-pressure pressure reducing valve and the low-pressure pressure reducing valve are fixed on the second layer plate through holders respectively, and the second layer plate is fixedly connected with the bottom layer plate in the gas storage layer and a third layer plate in the electric control layer through support pipes respectively, an outlet of the low-pressure pressure reducing valve is connected with a first interface of a three-way joint, a second interface of the three-way joint is connected with a first interface of a first four-way joint through a pipeline, and the other three interfaces of the first four-way joint are connected with three electromagnetic valves respectively, a third interface of the three-way joint is connected with a first interface of a second four-way joint through a pipeline, and the other three interfaces of the second four-way joint are connected with three planar air floating bearings respectively.

[0011] The support pipe is fixedly connected with a stepped rotating shaft holder, the stepped rotating shaft is rotatably arranged on the stepped rotating shaft holder through a deep groove ball bearing, the motor is fixed on the support pipe, one end of the stepped rotating shaft is connected with a motor shaft of the motor through a coupling, and the nozzle is arranged on the other end of the stepped rotating shaft.

[0012] The third layer plate is provided with a battery for supplying power to each of the electromagnetic valves.

[0013] The directions of the nozzles cannot converge at one point.

[0014] The control system in the electric control layer comprises a controller, a wireless module, a gyroscope and a relay which are arranged on the third layer plate respectively, the number of the relays is the same as that of the electromagnetic valves and corresponds to the electromagnetic valves one by one, the controller is connected with a computer through a wireless module to establish a Bluetooth communication connection, and the high-pressure pressure reducing valve, the low-pressure pressure reducing valve, the electromagnetic valves, the motor, the gyroscope and each of the relays are connected with the controller.

[0015] The fourth layer plate is arranged above the third layer plate and is fixed to the third layer plate through a support pipe.

[0016] The advantages and positive effects of the present application are:

[0017] 1. The present application adopts hierarchical structure to build, and the different layers are connected through standard columns to ensure that the structure is simple and easy to install.

[0018] 2. The nozzle of the present application is designed to be adjustable, and the nozzle can be driven to move by the motor and stepped shaft; when the nozzle is downward, the air floating platform rises, and when the nozzle is upward, the air floating platform descends.

[0019] 3. The layout of the nozzle in the present application is not concentrated in a single point, but air is discharged in three different directions at the same time, so as to realize the rotary motion of the air floating platform. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural distribution diagram of the present application;

[0021] Figure 2 It is a structural diagram of the present application;

[0022] Figure 3 It is a structural diagram of the gas storage layer of the present application;

[0023] Figure 4 It is a structural diagram of the gas path control layer of the present application;

[0024] Figure 5 It is a structural diagram of the electric control layer of the present application;

[0025] Figure 6 It is a principle diagram of the gas supply system of the present application;

[0026] 1 is an air floating support assembly, 2 is a gas storage layer, 3 is a gas path control layer, 4 is an electric control layer, 5 is a gas tank pipeline support frame, 6 is a high-pressure gas cylinder mouth, 7 is a second layer plate, 8 is a deep groove ball bearing, 9 is a stepped shaft retainer, 10 is a fourth layer plate, 11 is a bottle mouth valve, 12 is a square support aluminum pipe, 13 is a third layer plate, 14 is a motor, 15 is a high-pressure gas cylinder retainer, 16 is a support aluminum pipe, 17 is an air inlet, 18 is a lowest layer plate, 19 is a plane air floating bearing, 20 is a gas filling interface nut, 21 is a stop valve, 22 is a gas tank pipeline, 23 is a gas tank joint, 24 is a high-pressure gas cylinder, 25 is a nozzle, 26 is a shaft coupling, 27 is a high-pressure pressure reducing valve, 28 is a thick hose, 29 is a low-pressure pressure reducing valve, 30 is a three-way joint, 31 is a four-way joint, 32 is an electromagnetic valve, 33 is a thin hose, 34 is a nozzle joint, 35 is a wireless module, 36 is a relay, 37 is a battery, 38 is a controller, and 39 is a gyroscope. Detailed Implementation

[0027] The invention will now be described in further detail with reference to the accompanying drawings.

[0028] like Figures 1-6 As shown, the air flotation platform of the present invention is constructed with a layered structure design, and the layers are connected by support pipes. The air flotation platform includes, from bottom to top, an air flotation support assembly 1, an air storage layer 2, an air path control layer 3, and an electrical control layer 4. The air flotation support assembly 1 includes multiple planar air flotation bearings 19 respectively installed at the bottom of the air flotation platform, so that the planar air flotation bearings 19 form a smooth fit with the bottom surface of the air flotation platform, and the air flotation platform can 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 air 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, a solenoid valve 32, a nozzle 25, a stepped rotating shaft, and a motor 14. The number of solenoid valves 32 and nozzles 25 are the same and correspond one-to-one. Each nozzle 25 Each corresponds to a set of stepped rotating shafts and motors 14. The motors 14 drive the stepped rotating shafts to rotate, which in turn causes the nozzles 25 installed on the stepped rotating shafts to swing and change the air outlet angle. Each nozzle 25 is connected to a 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 pressure reducing valve 27 through a gas cylinder pipeline. The outlet of the high-pressure pressure reducing valve 27 is connected to the inlet of the low-pressure pressure reducing valve 29. The outlet of the low-pressure pressure reducing valve 29 is divided into two paths. One path is further divided into multiple branches, each branch connecting to a solenoid valve 32. The other path is connected to each planar air bearing 19. The high-pressure pressure reducing valve 27, the low-pressure pressure reducing valve 29, the solenoid valve 32, and the motor 14 are connected to the control system on the electrical control layer 4. The electrical control layer 4 is located above the gas path control layer 3 and is used to provide power management, data processing, and communication transmission functions. It controls the opening and closing of each solenoid valve 32 in the gas path control layer 3 and establishes a Bluetooth communication connection with the upper unit.

[0029] The air-bearing support assembly 1 of this embodiment includes three identical planar air-bearing bearings 19, which are evenly arranged at a 120° angle on the lower surface of the bottom plate 18 with the axis of the air-bearing platform as the reference. The air outlet of each planar air-bearing bearing 19 is set towards the bottom surface of the air-bearing platform (i.e. the lower surface of the bottom plate 18), and the air inlet 17 of each planar air-bearing bearing 19 is connected to a thin flexible tube 33.

[0030] The gas storage layer 2 of the embodiment is located above the bottom layer 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 on the upper surface of the bottom layer plate 18 through a high-pressure gas cylinder holder 15, a gas cylinder joint 23 is installed at the high-pressure gas cylinder mouth 6 of each high-pressure gas cylinder 24, one outlet of the gas cylinder joint 23 is connected with a first gas cylinder pipeline 22 in sequence through a stop valve 21 and a gas filling interface nut 20, and connected with an external high-pressure nitrogen gas source through the gas filling interface nut 20; the other outlet of the gas cylinder joint 23 is connected with the inlet of a high-pressure pressure reducing valve 27 through a second gas cylinder pipeline 22, and a cylinder mouth valve 11 is installed on each of the two gas cylinder pipelines 22 close to the gas cylinder joint 23; the cylinder mouth valve 11 and the stop valve 21 are connected with the control system on the electric control layer 4. The bottom layer plate 18 is fixed with the second layer plate 7 in the gas pipeline control layer 3 through a support aluminum pipe 16; the upper surface of the bottom layer plate 18 is also fixed with a gas cylinder pipeline support frame 5 for supporting the first gas cylinder pipeline 22 connected with one outlet of the gas cylinder joint 23.

[0031] The high-pressure pressure reducing valve 27 and the low-pressure pressure reducing valve 29 of the embodiment are fixed on the second layer plate 7 through holders, the second layer plate 7 is fixed with the bottom layer plate 18 in the gas storage layer 2 and the third layer plate 13 in the electric control layer 4 through support aluminum pipes 16, and the third layer plate 13 is installed with a battery 37 for supplying power to each electromagnetic valve 32; the low-pressure pressure reducing valve 29 performs secondary pressure reduction on the high-pressure gas from the gas storage layer 2, the outlet of the low-pressure pressure reducing valve 29 is connected with the first interface of a three-way joint 30, the second interface of the three-way joint 30 is connected with the first interface of a first four-way joint 31 through a pipeline, the other three interfaces of the first four-way joint 31 are connected with three electromagnetic valves 32 respectively, the electromagnetic valves 32 are used for controlling the on-off of the nozzles 25 and are powered by the 24V battery 37; the third interface of the three-way joint 30 is connected with the first interface of a second four-way joint 31 through a pipeline, and the other three interfaces of the second four-way joint 31 are connected with three planar air floating bearings 19 respectively. A stepped shaft holder 9 is fixed on the square support aluminum pipe 12, a stepped shaft is rotatably installed on the stepped shaft holder 9 through a deep groove ball bearing 8, a motor 14 is fixed on the support aluminum pipe 16, one end of the stepped shaft is connected with the motor shaft of the motor 14 through a coupling 26, and the nozzles 25 are installed on the other end of the stepped shaft, so as to realize the pitching of the nozzles 25; the installation positions of the nozzles 25 are arranged to ensure that the directions of the nozzle outlets of the nozzles 25 cannot converge at one point.

[0032] The control system in the electric control layer 4 of the embodiment comprises a controller 38, a wireless module 35, a gyroscope 39 and relays 36 which are respectively installed on the third layer plate 13, the fourth layer plate 10 is arranged above the third layer plate 13, and the fourth layer plate 10 is fixedly connected with the third layer plate 13 through the supporting aluminum pipe 16; the relays 36 are the same in number as the electromagnetic valves 32 and one-to-one corresponding, each relay 36 is used for controlling the opening and closing of the corresponding electromagnetic valve 32 in the gas path control layer 3, the controller 38 establishes a Bluetooth communication connection with the upper machine position through the wireless module 35, and the gyroscope 39 is used for collecting the rotation angle information of the air cushion platform; the high-pressure pressure reducing valve 27, the low-pressure pressure reducing valve 29, the electromagnetic valve 32, the motor 14, the gyroscope 39 and each relay 36 are connected with the controller 38. The controller 38 of the embodiment adopts an STM32 single-chip microcomputer, is used for transmitting a driving control signal to each electromagnetic valve 32 in the gas path control layer 3, and thus the control of the opening and closing of the nozzle 25 and the size of the airflow is realized.

[0033] The three planar air cushion bearings 19 of the embodiment are commercially available products, purchased from Essenberger Air Bearing Technology (Beijing) Co., Ltd., and the model is EZ-0053-045 assembly. The inflation interface nut 20 of the embodiment is a commercially available product, purchased from the GENTEC company in the United States, and the model is SS-QC4F-FNT4; the inflation interface nut 20 is a connecting piece with an external high-pressure nitrogen gas source device, adopts a threaded ball head seal, when inflating, the stop valve 21 is opened, the high-pressure nitrogen gas is filled into the high-pressure gas cylinder 24 through the stop valve 21 and the high-pressure stainless steel gas pipe, and when the inflation is completed, the stop valve 21 is closed. The high-pressure pressure reducing valve 27 of the embodiment is a commercially available product, purchased from the GENTEC company in the United States, and the model is R21SLBK-DHG-00-00. The low-pressure pressure reducing valve 29 of the embodiment is a commercially available product, purchased from the SMC company in Japan, and the model is IR1020-01BG-A. The nozzle 25 of the embodiment is a commercially available product, purchased from Suzhou Yiheda Automation Technology Co., Ltd., and the model is NHR67-1; the nozzle 25 adopts a Laval type nozzle, and the whole material adopts brass, and the inner wall is polished. The wireless module 35, the gyroscope 39 and the controller 38 of the embodiment are all commercially available products, all purchased from the ZhenDianZhiGu (Guangzhou) Technology Co., Ltd., the model of the wireless module 35 is ATK-ESR8266, the model of the gyroscope 39 is MS6DSV attitude solution module, and the model of the controller 38 is STM32F103 core board.

[0034] The installation and working principle of the application are as follows:

[0035] The air floating platform is built by layer structure design method, the high-pressure gas cylinder holder 15 is installed on the bottom layer plate 18 by bolts and nuts, the high-pressure gas cylinder holder 15 is placed in parallel and centered, the high-pressure gas cylinder 24 is installed on the high-pressure gas cylinder holder 15 and locked by bolts and nuts. The gas tank joint 23 is screwed on the high-pressure gas cylinder mouth 6 of each high-pressure gas cylinder 24, one outlet of the gas tank joint 23 is connected with one end of the first gas tank pipeline 22, the other end of the first gas tank pipeline 22 is screwed with a stop valve 21, and the other end of the second gas tank pipeline 22 is screwed with a gas filling interface nut 20, the gas tank pipeline support frame 5 is installed on the bottom layer plate 18 by screws to support the two gas tank pipelines 22, the other outlet of the gas tank joint 23 is screwed with a cylinder mouth valve 11, the other end of the cylinder mouth valve 11 is connected with the third gas tank pipeline 22 leading to the second layer plate 7. Three planar air floating bearings 19 are uniformly arranged on the lower surface of the bottom layer plate 18 at an angle of 120°, the air outlets of the three planar air floating bearings 19 are arranged towards the bottom surface of the air floating platform, and the air inlets 17 of the planar air floating bearings 19 are connected with the thin hoses 33. The second layer plate 7 is connected with the bottom layer plate 18 by three supporting aluminum pipes 16 and twelve square supporting aluminum pipes 12, the stepped shaft holder 9 is fixed on the six square supporting aluminum pipes 12, the deep groove ball bearing 8 is installed in the stepped shaft holder 9, the stepped shaft is matched with the deep groove ball bearing 8, the nozzle 25 is arranged in the middle of the stepped shaft, the other end of the nozzle 25 is connected with the nozzle joint 34, one end of the stepped shaft is connected with the motor shaft of the motor 14 through the coupling 26, and the motor 14 is fixed on the square supporting aluminum pipe 12. The high-pressure pressure reducing valve 27 and the low-pressure pressure reducing valve 29 are installed on the second layer plate 7 by holders respectively, the inlet of the high-pressure pressure reducing valve 27 is connected with the third gas tank pipeline 22 connected with the bottom layer plate 18 through the thick hose 28, the outlet of the high-pressure pressure reducing valve 27 is connected with the inlet of the low-pressure pressure reducing valve 29 through the thick hose 28, the outlet of the low-pressure pressure reducing valve 29 is connected with 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 with 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 with the three electromagnetic valves 32 through the thin hoses 33, the other ends of the three electromagnetic valves 32 are respectively connected with the three nozzle joints 34 through the thin hoses 33; the third interface of the three-way joint 30 is connected with 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 with the air inlets 17 of the three planar air floating bearings 19 arranged below the bottom layer plate 18 through the thin hoses 33. The third layer plate 13 is connected with the second layer plate 7 by three supporting aluminum pipes 16, and the controller 38, the gyroscope 39, the relay 36, the battery 37 and the wireless module 35 are sequentially fixed on the third layer plate 13. The fourth layer plate 10 is connected with the third layer plate 13 by six supporting aluminum pipes 16.

[0036] The initial state of the present application is shown in 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, and the pressure range of the high-pressure gas cylinders 24 is set to 0-18 MPa. When entering the working state, in order to keep the output pressure stable, two-stage pressure reduction is adopted, the high-pressure gas of the high-pressure gas cylinders 24 is first reduced to 0.7 MPa through a gas tank pipeline 22 and a high-pressure pressure reducing valve 27, and then is secondly reduced to 0.3 MPa by a low-pressure pressure reducing valve 29; then is divided into two ways through a three-way joint 30, one way is transmitted to the air inlet 17 of the planar air floating bearing 19, the planar air floating bearing 19 transmits the input air to the guide groove at the bottom through the throttle hole, due to the action of air pressure, the air in the guide groove is uniformly diffused to the outside between the bearing bottom surface and the table surface, and the diffusion process forms a micron-thick (5-50 μm) air cushion, so that the planar air floating bearing 19 and the air floating platform bottom surface form a very smooth cooperation, and the air floating platform is floated; the other way is transmitted to the electromagnetic valve 32 controlling the opening and closing of the three control nozzles 25; when the three nozzles 25 spray air at the same time, the air floating platform rotates; the three nozzles 25 downward or upward at the same time can realize the upward or downward of the air floating platform; when a single nozzle 25 sprays air, the planar movement of the air floating platform can be realized. The controller 38 on the third layer plate 13 can transmit control signals to the electromagnetic valve 32 through the relay 36; the wireless module 35 is used to establish Bluetooth communication connection with the upper computer; the gyroscope 39 is used to collect the rotation angle information of the air floating platform.

[0037] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-degree-of-freedom air-floating platform similar to a Detla robotic arm, characterized in that: It includes air float support assembly (1), gas storage layer (2), gas path control layer (3) and electric control layer (4) arranged from bottom to top successively, the air float support assembly (1) includes multiple flat air float bearings (19) installed on the bottom of air float platform respectively;The gas storage layer (2) includes at least one high-pressure gas storage bottle (24) for storing working medium, the gas path control layer (3) includes high-pressure pressure reducing valve (27), low-pressure pressure reducing valve (29), solenoid valve (32), nozzle (25), stepped shaft and motor (14), the solenoid valve (32) is same in number with nozzle (25), and one-to-one correspondence, each nozzle (25) corresponds a group of stepped shaft and motor (14), the motor (14) drives the rotation of stepped shaft, in turn drives the swing of nozzle (25) installed on the stepped shaft and changes the gas angle, each nozzle (25) is connected with corresponding solenoid valve (32) through pipeline;The high-pressure gas storage bottle (24) is connected with gas source and inlet of high-pressure pressure reducing valve (27) through gas tank pipeline (22) respectively, the outlet of high-pressure pressure reducing valve (27) is connected with the inlet of low-pressure pressure reducing valve (29), the outlet of low-pressure pressure reducing valve (29) is divided into two ways, one way is divided into multiple branches, each branch is connected with a solenoid valve (32), the other way is connected with each flat air float bearing (19) respectively;The high-pressure pressure reducing valve (27), low-pressure pressure reducing valve (29), solenoid valve (32) and motor (14) are connected with control system on electric control layer (4) respectively.

2. The delta-like robot multi-degree-of-freedom air floating platform according to claim 1, characterized in that: Each flat air float bearing (19) is uniformly distributed along the circumferential direction with the shaft center of air float platform as the reference, and the air float platform is floated during air supply. 3.The delta-like robot arm multi-DOF air floating platform according to claim 1, wherein: The high-pressure gas storage bottle (24) is installed with gas tank connector (23) at high-pressure gas storage bottle mouth (6), one outlet of gas tank connector (23) is connected with stop valve (21) and inflation interface nut (20) through first gas tank pipeline (22) in turn, and is connected with gas source through inflation interface nut (20), the other outlet of gas tank connector (23) is connected with the inlet of high-pressure pressure reducing valve (27) through second gas tank pipeline (22), and bottle mouth valve (11) is installed on two gas tank pipelines (22) near gas tank connector (23) respectively;The bottle mouth valve (11) and stop valve (21) are connected with control system on electric control layer (4) respectively.

4. The delta-like robot multi-DOF air floating platform according to claim 3, characterized in that: The high-pressure gas storage bottle (24) is fixed on the upper surface of the bottom layer plate (18) through high-pressure gas storage bottle holder (15), each flat air float bearing (19) is installed on the lower surface of the bottom layer plate (18), the bottom layer plate (18) is fixed with the second layer plate (7) in the gas path control layer (3) through support pipe;The upper surface of the bottom layer plate (18) is also fixed with gas tank pipeline support frame (5) for supporting first gas tank pipeline (22) connected with one outlet of gas tank connector (23).

5. The delta-like robot multi-DOF air floating platform according to claim 1, wherein: The high-pressure pressure reducing valve (27) and the low-pressure pressure reducing valve (29) are fixed on the second layer plate (7) through holders, and the second layer plate (7) is fixed with the bottom layer plate (18) in the gas storage layer (2) and the third layer plate (13) in the electric control layer (4) through support pipes; the outlet of the low-pressure pressure reducing valve (29) is connected with the first interface of the three-way joint (30), the second interface of the three-way joint (30) is connected with 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 connected with three electromagnetic valves (32) respectively; the third interface of the three-way joint (30) is connected with 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 connected with three planar air floating bearings (19) respectively. 6.The delta-like robot arm multi-DOF air floating platform of claim 5, wherein: The support pipe is fixed with a stepped shaft holder (9), the stepped shaft is rotatably installed on the stepped shaft holder (9) through a deep groove ball bearing (8), the motor (14) is fixed on the support pipe, one end of the stepped shaft is connected with the motor shaft of the motor (14) through a coupling (26), and the nozzle (25) is installed on the other end of the stepped shaft.

7. The delta-like robot multi-DOF 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 electromagnetic valve (32). 8.The delta-like robot arm multi-DOF air floating platform according to claim 1, wherein: The jet directions of the nozzles (25) cannot converge at one point. 9.The delta-like robot arm multi-DOF air floating platform according to claim 1, wherein: The control system in the electric control layer (4) includes a controller (38), a wireless module (35), a gyroscope (39) and relays (36) installed on the third layer plate (13) respectively, the number of the relays (36) is the same as that of the electromagnetic valves (32) and they are one-to-one corresponding, the controller (38) is connected with the upper machine position to establish a Bluetooth communication connection through the wireless module (35), and the high-pressure pressure reducing valve (27), the low-pressure pressure reducing valve (29), the electromagnetic valve (32), the motor (14), the gyroscope (39) and each relay (36) are connected with the controller (38) respectively.

10. The delta-like robot multi-DOF air floating platform according to claim 9, characterized in that: A fourth layer plate (10) is arranged above the third layer plate (13), and the fourth layer plate (10) is fixed with the third layer plate (13) through a support pipe.

Images