Multi-axis linkage space multi-dimensional accurate displacement device and using method

Abstract

The invention provides a multi-axis linkage space multi-dimensional precise displacement device and a using method, the multi-axis linkage space multi-dimensional precise displacement device comprises a heavy load stable supporting base module, and a volute structure overall vertical rotating module is movably connected and supported above the heavy load stable supporting base module; an objective table duplex worm gear bevel gear horizontal rotation main control module is movably supported in the center of the interior of the volute structure overall vertical rotation module, and an objective table worm gear normal rotation main control module is movably supported between the objective table duplex worm gear bevel gear horizontal rotation main control module and the volute structure overall vertical rotation module. The upper portion of the objective table worm gear and worm normal rotation main control module is movably connected with a multi-dimensional rotation plane object carrying module, and the lower end of the multi-dimensional rotation plane object carrying module is movably connected with the objective table duplex worm gear bevel gear horizontal rotation main control module. According to the device, modular design is adopted, a planetary gear mechanism is introduced to conduct multi-axis linkage control, multiple modules are driven to work cooperatively, three-way rotation and displacement of a workpiece to be machined in a three-dimensional space can be achieved, and the machining requirement for structural parts in complex shapes in industrial production is met.

Description

Technical Field

[0001] This invention relates to the field of automated processing and manufacturing of industrial workpieces, specifically to a multi-axis linkage spatial multi-dimensional precision displacement device and its usage method. Background Technology

[0002] Positioners, as key auxiliary equipment in industrial automation systems, are primarily used to adjust the spatial position and orientation of workpieces through rotation, tilting, and flipping movements. This overcomes the limitations of traditional fixed clamping methods, enabling high-quality implementation of processes such as complex surface welding, precision cutting, and uniform spraying. It also optimizes machining accessibility, significantly improving machining accuracy and operational efficiency. Currently, most mainstream positioners in industrial production are limited to single-degree-of-freedom (DOF) structures, with systems possessing dual or triple DDFs remaining relatively scarce. With the deepening of automation and intelligent transformation and upgrading in my country's manufacturing industry, the demand for high-performance positioner technology is increasingly prominent. Developing positioners with multi-DOF, high precision, and high dynamic response characteristics has become an urgent need to support the collaborative operation of high-end CNC machine tools and industrial robots, and to promote the development of advanced manufacturing technologies. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a multi-axis linkage spatial multi-dimensional precision displacement device and its usage method. By adopting a modular structure design and introducing worm gear and planetary gear mechanism for multi-axis linkage control, multiple modules can be driven to work together, which can realize the rapid and precise three-dimensional rotation displacement of the workpiece in three-dimensional space.

[0004] To achieve the aforementioned technical features, the present invention aims to provide a multi-axis linkage spatial multi-dimensional precision displacement device, characterized in that it includes a heavy-duty stable support base module. Above the heavy-duty stable support base module, a volute structure integral vertical rotation module is movably supported via rolling bearings. Inside the volute structure integral vertical rotation module, a platform double-worm gear bevel gear horizontal rotation control module is movably supported via thrust bearings at its center. On the support shaft of the platform double-worm gear bevel gear horizontal rotation control module, and between it and the worm gear housing of the volute structure integral vertical rotation module, a platform worm gear normal rotation control module is movably supported via rolling bearings and an axial positioning sleeve. On both sides of the upper end of the platform worm gear normal rotation control module, a multi-dimensional rotating planar loading module is movably connected via rolling bearings. The lower end of the multi-dimensional rotating planar loading module is movably connected to the platform double-worm gear bevel gear horizontal rotation control module via a bevel gear pair.

[0005] Preferably, the heavy-duty stable support base module includes a base plate, a fixing frame I, and a support platform. The fixing frame I and the support platform are located above the base plate. The fixing frame I is symmetrically distributed from left to right, and the support platform is symmetrically distributed from front to back.

[0006] Preferably, the overall vertical rotation module of the worm housing structure includes a worm I and a worm wheel housing. The two ends of the worm I are movably connected to the fixed frame through rolling bearings. The worm wheel housing is located above the worm I and is movably connected to the worm I through a worm wheel and worm gear pair. The worm wheel and worm gear pair enables the overall vertical free rotation of the displacement device structure. The worm gear housing has two connection holes of the same size, namely I and II, which are symmetrically distributed front and back. The connection hole I is located to the lower right of the connection hole II. A cylindrical groove is provided in the center of the lower part of the worm gear housing.

[0007] Preferably, the main control module for the horizontal rotation of the platform with double worm gear bevel gears includes a worm II, a transmission worm gear I, a support shaft, a bevel gear I, and a thrust bearing. The worm II is movably connected to the connecting hole I via a rolling bearing. The transmission worm gear I is located to the left of the worm II and is movably connected to the worm II via a worm gear pair. Both the transmission worm gear I and the bevel gear I are fixedly connected to the support shaft via keys. The thrust bearing is held in a cylindrical groove. The support shaft is movably connected to the worm gear housing via the thrust bearing for support.

[0008] Preferably, the main control module for the normal rotation of the stage worm gear includes a worm gear III, a transmission worm gear II, a transmission hollow shaft, and a support base. The worm gear III is movably connected to the connecting hole II via a rolling bearing. The transmission worm gear II is located on the right side of the worm gear III and is movably connected to the worm gear III via a worm gear pair. Both the transmission worm gear II and the support base are fixedly connected to the transmission hollow shaft via a key. The transmission hollow shaft is movably connected to the opening of the worm gear housing via a rolling bearing. The support base is in contact with the top of the opening of the worm gear housing. The support base is provided with two fixed frames II, which are symmetrically distributed from left to right.

[0009] Preferably, the multidimensional rotating planar loading module includes a bevel gear II, a rotating connecting rod, and a loading platform. The bevel gear II is fixedly connected to the rotating connecting rod by a key, and the bevel gear II is movably connected to the bevel gear I by a bevel gear pair. The rotating connecting rod is movably connected to the fixed frame II by a rolling bearing, and the loading platform is fixed to the rotating connecting rod by a threaded connection.

[0010] Preferably, the support shaft in the platform double worm gear bevel gear horizontal rotation main control module passes through the center of the transmission hollow shaft of the platform worm gear normal rotation main control module.

[0011] Preferably, the bevel gear I in the horizontal rotation main control module of the double worm gear bevel gear of the platform, the bearing base in the normal rotation main control module of the platform worm gear, and the bevel gear II in the multi-dimensional rotational plane platform module form a gear train. The bevel gear I is a planet gear x, the bearing base is a planet carrier j, and the bevel gear II is a sun gear t. The platform has rotation in three directions, and the vertical rotation formula is: The formula for horizontal rotation is: The formula for normal rotation is: .

[0012] Another aspect of the present invention provides an operation method for a multi-axis linkage spatial multi-dimensional precision displacement device, comprising the following steps: Step 1: Place the workpiece on the platform of the multi-dimensional rotating planar loading module; Step 2: If you need the stage to rotate only vertically, that is... , , Then only the worm I in the vertical rotation module of the worm housing structure is rotated, and the worm I drives the worm wheel housing to rotate vertically, so that the stage only rotates vertically; Step 3: If you need the stage to rotate only in the normal direction, that is... , , If the worm gear III in the normal rotation control module of the platform worm gear and the worm gear II in the horizontal rotation control module of the platform double worm gear bevel gear are rotated simultaneously and their speeds are equal, then the speed of bevel gear II is equal to that of the bearing base. This allows the stage to rotate only in the normal direction. Step 4: If you need the stage to rotate only in the horizontal direction, that is... , , Then, only the worm II in the main control module for the horizontal rotation of the double worm gear bevel gear of the stage will rotate. The worm II drives the bevel gear I to rotate through the support shaft, which in turn drives the bevel gear II that meshes with it to rotate, so that the stage can only rotate in the horizontal direction.

[0013] The present invention has the following beneficial effects: 1. This device, by setting up three-dimensional mechanical main control modules in the horizontal, vertical and normal directions, can realize free rotation and displacement of the workpiece in three-dimensional space, and meet the processing requirements of any position and direction of the workpiece in space.

[0014] 2. The rotation and displacement of the three main control modules of this device are all driven by worm gears. On the one hand, the transmission system adopts a pure mechanical structure design, which has the advantages of sensitive response, fast response and good stability. On the other hand, the use of worm gears can realize reverse stroke self-locking, ensuring the reliability of workpiece displacement processing and the final manufacturing accuracy.

[0015] 3. By introducing a worm gear bevel gear double gear mechanism and a planetary gear mechanism, this device can achieve quantitative and precise displacement control of multiple axes in the horizontal and normal directions. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the overall structure of the worm gear housing after it has been cut open according to the present invention.

[0019] Figure 3 Schematic diagram of the heavy-duty stable support base module structure Figure 4 This is a schematic diagram of the overall vertical rotation module structure of the volute.

[0020] Figure 5 This is a schematic diagram of the main control module for the horizontal rotation of the double worm gear bevel gear on the platform.

[0021] Figure 6 This is a schematic diagram of the main control module for the normal rotation of the stage worm gear.

[0022] Figure 7 This is a schematic diagram of a multidimensional rotating planar loading module.

[0023] In the diagram: 1. Heavy-duty stable support base module; 2. Overall vertical rotation module of volute structure; 3. Main control module for horizontal rotation of double worm gear bevel gear on the platform; 4. Main control module for normal rotation of worm gear on the platform; 5. Multidimensional rotating planar loading module. Base plate 1-1, fixing frame I 1-2, support platform 1-3; Worm gear I 2-1, worm wheel housing 2-2, connecting hole I 2-2-1, connecting hole II 2-2-2, cylindrical groove 2-2-3; Worm gear II 3-1, transmission worm wheel I 3-2, support shaft 3-3, bevel gear I 3-4, thrust bearing 3-5; Worm gear Ⅲ4-1, transmission worm wheel Ⅱ4-2, transmission hollow shaft 4-3, bearing base 4-4, fixing frame Ⅱ4-4-1; Bevel gear II 5-1, rotating connecting rod 5-2, platform 5-3. Detailed Implementation

[0024] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0025] Example 1: like Figure 1-2 As shown, a multi-axis linkage spatial multi-dimensional precision displacement device is disclosed. The invention uses a volute-structured overall vertical rotation module 2 as the main body. The volute-structured overall vertical rotation module 2 is movably supported by a heavy-duty stable support base module 1. Inside the volute-structured overall vertical rotation module 2, a platform double-worm gear bevel gear horizontal rotation control module 3 is movably connected via rolling bearings and thrust bearings. Inside the volute-structured overall vertical rotation module 2 and at its upper opening, a platform worm gear normal rotation control module 4 is movably connected via rolling bearings. Above the volute-structured overall vertical rotation module 2, a multi-dimensional rotating planar loading module 5 is movably connected to the platform worm gear normal rotation control module 4 via rolling bearings. The lower end of the multi-dimensional rotating planar loading module 5 is movably connected to the platform double-worm gear bevel gear horizontal rotation control module 3 via a bevel gear pair.

[0026] The heavy-duty stable support base module 1, as the main support structure of the displacement device, is crucial for the stable operation of this device. The volute structure overall vertical rotation module 2, as the main body of the device, has multiple connection ports to connect and centralize other modules, resulting in a compact structure that significantly reduces the device's geometry and spatial dimensions. The stage double-worm gear bevel gear horizontal rotation main control module 3, as one of the functional modules, is movably connected to the multi-dimensional rotating plane loading module 5 via a bevel gear pair, enabling the horizontal rotation of the multi-dimensional rotating plane loading module 5 by rotating the worm gear II 3-1. The stage worm gear normal rotation main control module 4, also as one of the functional modules, is movably connected to the multi-dimensional rotating plane loading module 5 via rolling bearings, enabling the normal rotation tendency of the multi-dimensional rotating plane loading module 5 by rotating the worm gear III 4-1. The multi-dimensional rotating plane loading module 5, as the working module, achieves precise control and efficient displacement across all dimensions with the functional cooperation of other modules.

[0027] Furthermore, such as Figure 3 As shown, the heavy-duty stable support base module 1 includes a base plate 1-1, a fixing frame I1-2, and a support platform 1-3. The fixing frame I1-2 and the support platform 1-3 are located above the base plate 1-1. The fixing frame I1-2 is symmetrically distributed from left to right, and the support platform 1-3 is symmetrically distributed from front to back, thereby realizing stable support for the overall vertical rotation module 2 of the volute structure and ensuring the stability of the device during operation.

[0028] Furthermore, such as Figure 4 As shown, the vertical rotation module 2 of the worm housing structure is responsible for realizing the vertical rotation displacement of the device. Its structure mainly includes a worm I2-1 and a worm wheel housing 2-2. The two ends of the worm I2-1 are movably connected to the fixed frame 1-2 through rolling bearings. The worm wheel housing 2-2 is located above the worm I2-1 and is movably connected to the worm I2-1 through a worm wheel and worm gear pair. The worm wheel and worm gear pair can realize the vertical free rotation of the entire structure of the displacement device. At the same time, the worm wheel and worm gear transmission has a reverse stroke self-locking feature, which can realize the horizontal stable rotation displacement of the platform 5-3.

[0029] Furthermore, the worm gear housing 2-2 has connecting holes I2-2-1 and II2-2-2 of the same size, which are symmetrically distributed front and back for movably connecting worm II3-1 and fixing worm III4-1. Connecting hole I2-2-1 is located to the lower right of connecting hole II2-2-2. A cylindrical groove 2-2-3 is provided in the center of the lower part of the worm gear housing 2-2. The support shaft 3-3 is movably connected by inserting a thrust bearing 3-5, thereby realizing the movable connection of the platform double worm gear bevel gear horizontal rotation main control module 3 and the platform worm gear normal rotation main control module 4 inside the worm gear housing structure overall vertical rotation module 2.

[0030] Furthermore, such as Figure 5 As shown, the main control module 3 for the horizontal rotation of the platform with double worm gear bevel gears is responsible for realizing the horizontal rotational displacement of the device. Its structure mainly includes worm II 3-1, transmission worm gear I 3-2, support shaft 3-3, bevel gear I 3-4, and thrust bearing 3-5. The worm II 3-1 is movably connected to the connecting hole I 2-2-1 through a rolling bearing. The transmission worm gear I 3-2 is located to the left of the worm II 3-1 and is movably connected to the worm II 3-1 through a worm gear pair. The transmission worm gear I 3-2 and the bevel gear... Both I3-4 are fixedly connected to the support shaft 3-3 by a key. The thrust bearing 3-5 is locked in the cylindrical groove 2-2-3. The support shaft 3-3 is movably connected to the worm gear housing 2-2 through the thrust bearing 3-5. This enables the worm gear II3-1 to rotate, thereby driving the transmission worm gear I3-2, the support shaft 3-3, and the bevel gear I3-4 to jointly achieve the horizontal rotation and displacement of the platform 5-3. At the same time, the worm gear transmission has a reverse stroke self-locking feature, which can realize the stable and free horizontal rotation of the platform 5-3.

[0031] Furthermore, such as Figure 6As shown, the main control module 4 for the normal rotation of the worm gear on the platform is responsible for realizing the normal rotation displacement of the device. Its structure mainly includes a worm gear III 4-1, a transmission worm wheel II 4-2, a transmission hollow shaft 4-3, and a bearing base 4-4. The worm gear III 4-1 is movably connected to the connecting hole II 2-2-2 via a rolling bearing. The transmission worm wheel II 4-2 is located on the right side of the worm gear III 4-1 and is movably connected to the worm gear III 4-1 via a worm gear pair. The transmission worm wheel II 4-2 and the bearing base 4-4... -4 are all fixedly connected to the hollow transmission shaft 4-3 by keys. The hollow transmission shaft 4-3 is movably connected to the opening of the worm gear housing 2-2 by rolling bearings. The bearing base 4-4 is in contact with the opening of the worm gear housing 2-2, so that by driving the worm gear Ⅲ 4-1 to rotate, the transmission worm gear Ⅱ 4-2 and the hollow transmission shaft 4-3 can be driven to rotate and change the normal direction of the platform 5-3. At the same time, the worm gear transmission has a reverse stroke self-locking feature, which can realize the stable and free normal rotation of the platform 5-3.

[0032] The bearing base 4-4 is provided with two fixed frames II4-4-1, which are symmetrically distributed on the left and right sides, and are used to movably connect the rotating connecting rod 5-2 through rolling bearings.

[0033] Furthermore, such as Figure 7 As shown, the multi-dimensional rotating planar loading module 5 is a workpiece clamping and support worktable, mainly including bevel gear II 5-1, rotating connecting rod 5-2, and loading platform 5-3. The bevel gear II 5-1 is fixedly connected to the rotating connecting rod 5-2 by a key. The bevel gear II 5-1 is movably connected to the bevel gear I 3-4 through a bevel gear pair. The rotating connecting rod 5-2 is movably connected to the fixed frame II 4-4-1 through a rolling bearing. The loading platform 5-3 is fixed to the rotating connecting rod 5-2 by a threaded connection. Under the action of the loading platform double worm gear bevel gear horizontal rotation main control module 3 and the loading platform worm gear normal rotation main control module 4, the rotating connecting rod 5-2 rotates in both horizontal and normal directions, thereby realizing the rotation of the loading platform 5-3 in both horizontal and normal directions.

[0034] Furthermore, the support shaft 3-3 in the platform double worm gear bevel gear horizontal rotation main control module 3 passes through the center of the transmission hollow shaft 4-3 of the platform worm gear normal rotation main control module 4. This integrates the two modules, resulting in a compact structure and significantly reducing the device's geometry and spatial dimensions.

[0035] Furthermore, the bevel gear I 3-4 in the platform double worm gear bevel gear horizontal rotation main control module 3, the bearing base 4-4 in the platform worm gear normal rotation main control module 4, and the bevel gear II 5-1 in the multi-dimensional rotating plane platform module 5 can be regarded as a gear train. The bevel gear I 3-4 is a planet gear x, the bearing base 4-4 is a planet carrier j, and the bevel gear II 5-1 is a sun gear t. The platform 5-3 has three directions of rotation, and the vertical rotation formula is: The formula for horizontal rotation is: The formula for normal rotation is: .

[0036] Example 2: The method of using any one of the multi-axis linkage spatial multidimensional precision displacement devices includes the following steps: Step 1: Place the item to be processed on the stage 5-3 of the multi-dimensional rotating plane loading module 5; Step 2: If you need to rotate the stage 5-3 vertically, that is... , , If only the worm gear I2-1 in the vertical rotation module 2 of the worm housing structure is rotated, the worm gear I2-1 will drive the worm wheel housing 2-2 to rotate vertically, thereby driving the multi-dimensional rotating plane loading module 5 to rotate vertically, and thus realizing that only the loading platform 5-3 rotates vertically. Step 3: If you need to rotate the stage 5-3 in the normal direction, that is... , , Simultaneously, the worm gear Ⅲ4-1 in the normal rotation control module 4 of the platform and the worm gear Ⅱ3-1 in the horizontal rotation control module 3 of the platform's double worm gear bevel gear rotate at the same speed, thereby driving the bevel gear Ⅱ5-1 to rotate at the same speed as the bearing base 4-4, i.e. This allows 5-3 stages to rotate normally. Step 4: If you need to rotate stage 5-3 horizontally, that is... , , Then, only the worm II 3-1 in the main control module 3 for horizontal rotation of the double worm gear bevel gear of the platform is rotated. The worm II 3-1 drives the bevel gear I 3-4 to rotate through the support shaft 3-3, which in turn drives the bevel gear II 5-1 that meshes with it to rotate, thereby realizing that the platform 5-3 only rotates in the horizontal direction.

[0037] Based on the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept, all of which are within the scope of protection of this invention. Matters not covered in this invention are common knowledge to those skilled in the art.

Claims

1. A multi-axis linkage spatial multi-dimensional precision displacement device, characterized in that, The system includes a heavy-duty stable support base module (1), on which a volute structure overall vertical rotation module (2) is movably supported via rolling bearings. Inside the volute structure overall vertical rotation module (2), a platform double worm gear bevel gear horizontal rotation main control module (3) is movably supported via thrust bearings (3-5). On the support shaft (3-3) of the platform double worm gear bevel gear horizontal rotation main control module (3), and between it and the worm gear housing (2-2) of the volute structure overall vertical rotation module (2), a platform worm gear normal rotation main control module (4) is movably supported via rolling bearings and an axial positioning sleeve. The upper two sides of the platform worm gear normal rotation main control module (4) are movably connected via rolling bearings to a multi-dimensional rotating plane loading module (5). The lower end of the multi-dimensional rotating plane loading module (5) is movably connected to the platform double worm gear bevel gear horizontal rotation main control module (3) via a bevel gear pair.

2. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 1, characterized in that: The heavy-duty stable support base module (1) includes a base plate (1-1), a fixing frame I (1-2), and a support platform (1-3). The fixing frame I (1-2) and the support platform (1-3) are located above the base plate (1-1). The fixing frame I (1-2) is symmetrically distributed from left to right, and the support platform (1-3) is symmetrically distributed from front to back.

3. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 1, characterized in that: The overall vertical rotation module (2) of the worm housing structure includes a worm I (2-1) and a worm wheel housing (2-2). The two ends of the worm I (2-1) are movably connected to the fixed frame (1-2) through rolling bearings. The worm wheel housing (2-2) is located above the worm I (2-1) and is movably connected to the worm I (2-1) through a worm wheel and worm pair. The vertical free rotation of the entire structure of the displacement device is realized through the worm wheel and worm pair. The worm gear housing (2-2) has two connecting holes of the same size, namely I (2-2-1) and II (2-2-2). The connecting holes I (2-2-1) and II (2-2-2) are symmetrically distributed front and back. The connecting hole I (2-2-1) is located to the lower right of the connecting hole II (2-2-2). A cylindrical groove (2-2-3) is provided in the center of the lower part of the worm gear housing (2-2).

4. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 3, characterized in that: The main control module (3) for horizontal rotation of the platform with double worm gear bevel gear includes a worm II (3-1), a transmission worm gear I (3-2), a support shaft (3-3), a bevel gear I (3-4), and a thrust bearing (3-5). The worm II (3-1) is movably connected to the connecting hole I (2-2-1) through a rolling bearing. The transmission worm gear I (3-2) is located to the left of the worm II (3-1) and is movably connected to the worm II (3-1) through a worm gear pair. The transmission worm gear I (3-2) and the bevel gear I (3-4) are both fixedly connected to the support shaft (3-3) through a key. The thrust bearing (3-5) is stuck in the cylindrical groove (2-2-3). The support shaft (3-3) is movably connected to the worm gear housing (2-2) through the thrust bearing (3-5).

5. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 3, characterized in that: The main control module (4) for the normal rotation of the worm gear on the platform includes a worm gear III (4-1), a transmission worm wheel II (4-2), a transmission hollow shaft (4-3), and a bearing base (4-4). The worm gear III (4-1) is movably connected to the connecting hole II (2-2-2) through a rolling bearing. The transmission worm wheel II (4-2) is located to the right of the worm gear III (4-1) and is movably connected to the worm gear III (4-1) through a worm gear pair. The transmission worm wheel II (4-2) and the bearing base (4-4) are both fixedly connected to the transmission hollow shaft (4-3) through a key. The transmission hollow shaft (4-3) is movably connected to the opening of the worm wheel housing (2-2) through a rolling bearing. The bearing base (4-4) is in contact with the opening of the worm wheel housing (2-2). The supporting base (4-4) is provided with two fixed frames II (4-4-1), which are symmetrically distributed on the left and right.

6. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 5, characterized in that: The multidimensional rotating planar loading module (5) includes a bevel gear II (5-1), a rotating connecting rod (5-2), and a loading platform (5-3). The bevel gear II (5-1) is fixedly connected to the rotating connecting rod (5-2) by a key. The bevel gear II (5-1) is movably connected to the bevel gear I (3-4) through a bevel gear pair. The rotating connecting rod (5-2) is movably connected to the fixed frame II (4-4-1) through a rolling bearing. The loading platform (5-3) is fixed to the rotating connecting rod (5-2) by a threaded connection.

7. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 6, characterized in that: The support shaft (3-3) in the platform double worm gear bevel gear horizontal rotation main control module (3) passes through the center of the transmission hollow shaft (4-3) of the platform worm gear normal rotation main control module (4).

8. The multi-axis linkage spatial multi-dimensional precision displacement device according to claim 7, characterized in that: The bevel gear I (3-4) in the double worm gear bevel gear horizontal rotation main control module (3), the bearing base (4-4) in the worm gear normal rotation main control module (4) of the platform, and the bevel gear II (5-1) in the multi-dimensional rotating plane platform module (5) form a gear train. The bevel gear I (3-4) is a planet gear x, the bearing base (4-4) is a planet carrier j, and the bevel gear II (5-1) is a sun gear t. The platform (5-3) has three directions of rotation. The vertical rotation formula is: The formula for horizontal rotation is: The formula for normal rotation is: .

9. The operating method of the multi-axis linkage spatial multi-dimensional precision displacement device according to claim 8, characterized in that, Includes the following steps: Step 1: Place the workpiece on the stage (5-3) of the multi-dimensional rotating planar loading module (5); Step 2: If you need the stage (5-3) to rotate only vertically, that is... , , If only the worm I (2-1) in the vertical rotation module (2) of the worm housing structure is rotated, the worm I (2-1) will drive the worm wheel housing (2-2) to rotate vertically, so that the platform (5-3) will only rotate vertically. Step 3: If you need the stage (5-3) to rotate only in the normal direction, that is... , , If the worm gear III (4-1) in the normal rotation control module (4) of the platform worm gear and the worm gear II (3-1) in the horizontal rotation control module (3) of the platform double worm gear bevel gear are rotated at the same speed, then the bevel gear II (5-1) and the bearing base (4-4) will rotate at the same speed. This allows the stage (5-3) to rotate only in the normal direction; Step 4: If you need the stage (5-3) to rotate only in the horizontal direction, that is... , , If the worm gear II (3-1) in the main control module (3) for horizontal rotation of the double worm gear bevel gear of the platform is rotated, the worm gear II (3-1) drives the bevel gear I (3-4) to rotate through the support shaft (3-3), thereby driving the bevel gear II (5-1) that meshes with it to rotate, so that the platform (5-3) can only rotate in the horizontal direction.

Images