Series-parallel connection structure-based six-degree-of-freedom attitude adjusting system and method

Abstract

The invention relates to the technical field of aircraft assembly, and discloses a six-degree-of-freedom attitude adjusting system and method based on a series-parallel connection structure, the attitude adjusting system comprises a moving seat, a mounting frame, a multi-shaft driving assembly and a mounting platform, each driving assembly is provided with a servo motor and a hand wheel dual power source, and is connected with a lead screw module through a bevel gear transmission mechanism; an elastic deflection mechanism is arranged between the power source and the bevel gear and used for achieving auxiliary torque supply, and the multi-shaft driving assembly can achieve adjustment of six postures of front-back, left-right, up-down, pitching, rolling and rotation in the horizontal plane when the large power part of the aircraft is assembled. According to the six-degree-of-freedom attitude adjusting system, through the innovative design of series-parallel mechanism fusion, double-power-source redundant drive, electric cooperative control and the like, high-precision assembly and installation of heavy-weight parts such as aero-engines can be achieved, and high-precision assembly and installation of the heavy-weight parts are high in precision, high in reliability, low in labor intensity and high in adaptability.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly attitude adjustment technology, specifically to a 6-DOF attitude adjustment system and method based on a series-parallel structure. Background Technology

[0002] Aircraft engines are the core mechanical devices that power aircraft. Based on their working principles and fuel types, they are mainly divided into two categories: turbine engines and piston engines. Turbine engines, encompassing turbojet engines and turboprop engines, are widely used in commercial and military aircraft. Turbine jet engines generate thrust by compressing air, mixing fuel, and igniting it to produce high-temperature, high-pressure gas, which pushes the gas out through the nozzle. In contrast, piston engines, similar to car engines, are mainly used in small aircraft. They generate power by burning fuel to drive a piston.

[0003] Therefore, the design and manufacturing of aero-engines is an interdisciplinary field involving multiple disciplines such as aerodynamics, thermodynamics, and materials science. Key performance indicators include thrust, efficiency, weight, and reliability. Because aero-engines are typically heavy, especially large turbine engines, lifting structures are usually required for installation and removal. Using lifting structures not only safely supports the engine's weight and reduces the risks of manual handling, but also facilitates fine-tuning, ensuring correct engine installation and precise alignment with the fuselage's mating structure. The assembly process of large power components such as engines requires precise attitude adjustment by moving along the X, Y, and Z axes while bearing the heavy weight of the components themselves. This places extremely high demands on the rigidity, load-bearing capacity, and control precision of the attitude adjustment system. Currently, the mainstream aero-engine attitude adjustment technologies mainly rely on two types of solutions: hydraulically driven attitude adjustment systems and purely electric driven serial mechanisms (such as multi-axis robotic arms) or parallel mechanisms. However, both have significant technical limitations.

[0004] As aircraft manufacturing transforms towards digitalization, flexibility, and high reliability, there is an urgent need for an attitude adjustment system that combines high precision with high load capacity, redundant drive from multiple power sources, and high reliability with no pollution. Summary of the Invention

[0005] To address the problems and shortcomings of existing technologies, this invention proposes a 6-DOF attitude adjustment system and method based on a series-parallel structure. To achieve the above-mentioned objectives, the technical solution of the present invention is as follows: This invention discloses a 6-DOF (DoF) attitude adjustment system based on a series-parallel structure. The 6-DOF attitude adjustment system includes: a movable base; a mounting frame movably mounted on top of the movable base via a lifting assembly; a Z-axis movable frame movably mounted inside the mounting frame via a Z-axis drive assembly; a Y-axis transverse frame movably mounted on top of the Z-axis movable frame via a Y-axis drive assembly; an X-axis transverse frame movably mounted on top of the Y-axis transverse frame via an X-axis drive assembly; and a mounting platform fixedly mounted on the X-axis transverse frame. The lifting assembly includes a lifting drive assembly. The lifting drive assembly, Z-axis drive assembly, Y-axis drive assembly and X-axis drive assembly each include a first power source, a second power source and a lead screw transmission module, and the two power sources are connected to the lead screw transmission module through a transmission mechanism; The transmission mechanism includes an outer housing and a first bevel gear, a second bevel gear, and a third bevel gear rotatably mounted inside the outer housing, wherein the first bevel gear and the second bevel gear mesh with the third bevel gear respectively. The output end of the first power source is connected to the first bevel gear through the first elastic deflection mechanism, so as to allow the output end of the first power source to deflect a certain amount relative to the first bevel gear, and gradually increase the torque on the first bevel gear during the deflection process; The output end of the second power source is connected to the second bevel gear through the second elastic deflection mechanism, so as to allow the output end of the second power source to deflect a certain amount relative to the second bevel gear, and gradually increase the torque on the second bevel gear during the deflection process, and cooperate with the first elastic deflection mechanism to achieve auxiliary torque supply. The input end of the lead screw of the lead screw drive module is connected to the third bevel gear, and the drive nut is hinged to the load-bearing structure through a ball joint hinge or a spherical bearing.

[0006] Preferably, the first elastic deflection mechanism includes a first outer cylinder fixedly mounted inside the first bevel gear, a first rotating disk rotatably mounted inside the first outer cylinder, and a first limiting deflection component for limiting the quantitative deflection of the first rotating disk; the output end of the first power source is fixedly connected to the first rotating disk. The second elastic deflection mechanism includes a second outer cylinder fixedly mounted inside the second bevel gear, a second rotating disk rotatably mounted inside the second outer cylinder, and a second limiting deflection assembly for limiting the quantitative deflection of the second rotating disk; the output end of the second power source is connected to the second rotating disk.

[0007] Preferably, the first limiting deflection assembly includes a first arc-shaped shell, a first limiting ring structure, and a first elastic limiting structure; wherein... The first arc-shaped shell is coaxial with the first outer cylinder and fixedly installed on the inner wall of the first outer cylinder. The first arc-shaped shell has a first arc groove through one end near the first rotating disk. The first limiting ring structure includes a first limiting ring and a first limiting block. The first limiting ring is coaxially fixedly installed on the first rotating disk on the side close to the first arc-shaped shell. The first limiting block is slidably adapted in the first arc groove and fixedly connected to the first limiting ring. The first elastic limiting structure includes a first abutting block, a first abutting rod, a first pre-tensioning spring, and an auxiliary infrared ranging sensor. The first abutting block is slidably installed in the first cavity of the first arc-shaped shell and can only slide along the axial direction of the first outer cylinder. A first V-groove is provided on the side of the first abutting block near the first limiting block. The first abutting rod is fixedly installed on the first limiting block, and a first ball is embedded in the end of the first abutting rod away from the first limiting block. The first pre-tensioning spring is assembled at the end of the first abutting block away from the first limiting block and is used to keep the first ball of the first abutting rod always in close contact with the V-shaped surface of the first V-groove. The auxiliary infrared ranging sensor is installed in the first cavity at the end away from the first rotating disk and is used to detect the distance moved by the first abutting block.

[0008] Preferably, the second limiting deflection assembly includes a second arc-shaped housing, a second limiting ring structure, and a second elastic limiting structure; wherein... The second arc-shaped shell is coaxial with the second outer cylinder and fixedly installed on the inner wall of the second outer cylinder. The second arc-shaped shell has a second arc groove through one end near the second rotating disk. The second limiting ring structure includes a second limiting ring and a second limiting block. The second limiting ring is coaxially fixedly installed on the second rotating disk on the side close to the second arc-shaped housing. The second limiting block is slidably adapted in the second arc groove and fixedly connected to the second limiting ring. The second elastic limiting structure includes a second abutment block, a second abutment rod, a second preload spring, and a main infrared ranging sensor. The second abutment block is slidably installed in the second cavity of the second arc-shaped housing and can only slide along the axial direction of the second outer cylinder. A second V-groove is provided on the side of the second abutment block near the second limiting block. The second abutment rod is fixedly installed on the second limiting block, and a second ball is embedded in the end of the second abutment rod away from the second limiting block. The second preload spring is assembled at the end of the second abutment block away from the second limiting block and is used to ensure that the second ball of the second abutment rod is always in close contact with the V-shaped surface of the second V-groove. The main infrared ranging sensor is installed in the second cavity at the end away from the second rotating disk and is used to detect the distance the second abutment block has moved. Preferably, the output end of the second power source is slidably connected to the second rotating disk through a telescopic elastic component; a through hole is provided at the center of the second rotating disk, and the inner wall of the through hole is provided with a protrusion along the circumferential direction.

[0009] Preferably, the telescopic connection assembly includes a spline post adapted to the through hole, and a connector that is axially slidably connected to the spline post via an elastic structure, the connector being fixedly connected to the output end of the second power source.

[0010] Preferably, a hydraulic transmission component is further provided between the first outer cylinder and the second outer cylinder, the hydraulic transmission component including a first telescopic cylinder and a second telescopic cylinder; wherein... The first telescopic cylinder is located on the side of the first contact block away from the first limiting block, and the telescopic end of the first telescopic cylinder is fixedly connected to the first contact block, and the fixed end of the first telescopic cylinder is fixedly connected to one side wall of the first chamber. The second telescopic cylinder is fixed inside the second outer cylinder along the axial direction of the second outer cylinder by a fastener, and the output end of the second telescopic cylinder abuts against one end of the spline retainer through a third ball bearing.

[0011] Preferably, the hydraulic transmission component further includes an oil passage connecting the first telescopic cylinder and the second telescopic cylinder; the oil passage includes a first pipe connected to the cylinder of the first telescopic cylinder, a second pipe connected to the cylinder of the second telescopic cylinder, and a rotary joint; the first pipe has a first connecting section coaxial with the first outer cylinder, and the second pipe has a second connecting section coaxial with the second outer cylinder; the ends of the first connecting section and the second connecting section opposite to each other extend out of the first outer cylinder and the second outer cylinder respectively and are connected through the rotary joint.

[0012] Preferably, the lifting assembly further includes a scissor lift seat, and the lifting drive assembly drives the scissor lift seat to open and close so as to drive the mounting frame to complete the lifting action.

[0013] Preferably, the mounting frame includes lateral support bars symmetrically arranged on both sides of the top of the movable seat, with a telescopic cylinder between each end of the lateral support bar and the movable seat, and a lifting drive assembly installed in each telescopic cylinder; the scissor fork lifting seat is symmetrically arranged at the center position between the two lateral support bars and the movable seat.

[0014] Preferably, the two ends of the Z-axis moving frame are respectively provided with a first slide rail along the Y-axis direction, the Y-axis transverse moving frame is slidably installed on the two first slide rails, and the Y-axis drive assembly is installed on the first slide rails. Preferably, the top of the Y-axis transverse frame is provided with a second slide rail along the X-axis direction on both sides, the X-axis transverse frame is slidably mounted on the two second slide rails, and the Y-axis transverse frame is also provided with an X-axis drive assembly.

[0015] Preferably, the bottom of the mobile seat is equipped with a walking drive mechanism, which includes a walking wheel mounted on a rotating support, a first motor for driving the walking wheel to rotate so as to realize the walking movement of the mobile seat, and a second motor for driving the rotating support to rotate so as to change the direction of the walking wheel.

[0016] Preferably, an auxiliary support mechanism is installed at the bottom of the movable seat. The auxiliary support mechanism includes a support plate and a support drive assembly for driving the support plate to move along the Z-axis. The support drive assembly is fixed at the bottom of the movable seat, and the support plate is installed at the movable end of the support drive assembly. Based on the same inventive concept, another aspect of this invention discloses a 6-DOF attitude adjustment method based on a series-parallel structure. This method is implemented based on the aforementioned 6-DOF attitude adjustment system based on a series-parallel structure and includes the following steps: Step S1. After the system is powered on, monitor the status of the lifting drive component, Z-axis drive component, Y-axis drive component and X-axis drive component in real time; Step S2. Obtain the current attitude of the 6-DOF attitude adjustment system by combining control reference with kinematic calculation, and set the target pose. After setting, determine the feasibility of the trajectory. If it is feasible, proceed to the next process; if it is not feasible, return to the current attitude. Step S3. Set process parameters, including control reference, motion trajectory and discrete interval. After setting, determine whether the trajectory has changed. If it has changed, generate a new trajectory, refresh the trajectory count and output it. If the trajectory has not changed, keep the original trajectory and output the trajectory count. Step S4. Adjust the pose of the attitude adjustment system according to the output trajectory count. After the adjustment is completed, feed back the output pose to the current attitude. The pose adjustment of the 6-DOF attitude adjustment system includes forward and backward translation, horizontal lateral translation, horizontal rotation, pitch, roll and rise.

[0017] Preferably, the forward and backward translation adjustment specifically involves: the transmission screws of two parallel X-axis drive components rotating synchronously, and the transmission nut fitted on the transmission screw moving on the screw, thereby driving the X-axis transverse frame and the mounting platform fixedly installed on the X-axis transverse frame to move horizontally forward and backward along the X-axis direction.

[0018] Preferably, the horizontal lateral movement adjustment specifically involves: the transmission screws of two parallel Y-axis drive components rotating synchronously, and the transmission nut mounted on the transmission screw moving on the screw, thereby driving the Y-axis lateral movement frame to move horizontally along the Y-axis direction.

[0019] Preferably, the horizontal rotation adjustment specifically involves the lead screw transmission modules of two parallel Y-axis drive components performing differential motion, thereby driving the Y-axis transverse frame to rotate in the horizontal plane.

[0020] Preferably, the pitch adjustment is as follows: two Z-axis drive components located in the short side direction of the Z-axis moving frame form a pair of pitch adjustment mechanisms, and four Z-axis drive components at the four corners of the Z-axis moving frame form two pairs of pitch adjustment mechanisms; the two pairs of pitch adjustment mechanisms perform differential motion, causing one side of the Z-axis moving frame to rise and the other side to fall.

[0021] Preferably, the roll attitude adjustment is as follows: two Z-axis drive components located in the long side direction of the Z-axis moving frame form a pair of roll attitude adjustment mechanisms, and four Z-axis drive components at the four corners of the Z-axis moving frame form two pairs of roll attitude adjustment mechanisms; the two pairs of roll attitude adjustment mechanisms perform differential motion, causing one side of the Z-axis moving frame to rise and the other side to fall.

[0022] Preferably, the lifting and adjusting posture includes coarse lifting and fine lifting and adjusting posture; wherein, the coarse lifting and adjusting posture involves the synchronous movement of the lifting drive components at the four corners of the mounting frame, which drives the mounting frame to rise or fall as a whole; the fine lifting and adjusting posture involves the synchronous movement of the four Z-axis drive components at the four corners of the Z-axis moving frame, which drives the Z-axis moving frame to rise or fall as a whole. The beneficial effects of this invention are: 1. The 6-DOF attitude adjustment system of the present invention, through innovative design such as the integration of series and parallel mechanisms, redundant drive of dual power sources, and electric collaborative control, can achieve high-precision assembly and installation of heavy components such as aero engines with high precision, high reliability, low labor intensity, and strong adaptability.

[0023] 2. This invention employs a series-parallel structure of a lifting assembly and Z-axis / Y-axis / X-axis drive assemblies. The lifting assembly, via a scissor-fork lifting seat and a lead screw drive, achieves high-precision adjustment of displacement in the Z-axis direction. The X / Y-axis drive assemblies are connected to the lead screw module via slide rails, far exceeding the adjustment precision of hydraulic systems and purely series systems, and can precisely match the docking requirements of the aero-engine and fuselage. This invention's attitude adjustment system can precisely adjust the position of the mounting platform within a very small range to ensure accurate docking of the engine and the fuselage. 3. This invention uses a transmission mechanism to connect the servo motor, handwheel, and lead screw module in a series-parallel structure. This allows the drive source for rotating the lead screw to be either a servo motor or a handwheel. This solves the problem of traditional manual or semi-automatic installation methods, which are limited by manual conditions or the stability and redundancy of the entire device under fully automatic conditions. This invention enables efficient and precise attitude adjustment, ensuring the stability of the entire device and its operability in emergency situations. 4. The present invention achieves a flexible connection between the power source and the transmission mechanism through the first / second elastic deflection mechanism. When the handwheel is driven, the limiting block of the second elastic deflection mechanism slides along the arc groove, which drives the abutment block to compress the pre-tightening spring. After the main infrared ranging sensor detects the deflection amount, the servo motor outputs auxiliary torque through the first elastic deflection mechanism, which significantly reduces the manual driving force of the operator.

[0024] 5. When the servo motor of the present invention is driven, the contact block of the first elastic deflection mechanism squeezes the first telescopic cylinder, and the oil pushes the second telescopic cylinder to extend through the oil pipeline, so that the spline clasp separates from the through hole of the second rotating disk, automatically releasing the connection between the handwheel and the second bevel gear, avoiding the risk of collision caused by the high-speed rotation of the handwheel with the motor.

[0025] 6. This invention adopts a design with pure electric screw drive as the main component and hydraulic auxiliary protection. Only a small amount of hydraulic oil is used in the power release link of the elastic deflection mechanism. The oil pipeline adopts rotary joints and sealed oil cylinders, eliminating the risk of leakage and avoiding contamination of the precision components of the aircraft engine by the hydraulic system, thus meeting the cleanliness requirements of aircraft manufacturing. Attached Figure Description

[0026] The foregoing and hereinafter detailed description of the invention becomes clearer when read in conjunction with the following drawings, in which: Figure 1 This is a first-view structural diagram of the 6-DOF attitude adjustment system of the present invention; Figure 2 This is a schematic diagram of the second-view structure of the 6-DOF attitude adjustment system of the present invention; Figure 3 This is a schematic diagram of the third-view structure of the 6-DOF attitude adjustment system of the present invention; Figure 4 yes Figure 3 A schematic diagram of the partial structure at point A; Figure 5 This is a schematic diagram of the drive component structure of the present invention; Figure 6 This is a schematic diagram of the transmission mechanism structure of the present invention; Figure 7 yes Figure 6 A top-view structural diagram; Figure 8 yes Figure 7 A schematic diagram of the AA-direction structure; Figure 9 This is a cross-sectional view of the first elastic deflection mechanism of the present invention; Figure 10 This is a cross-sectional view of the second elastic deflection mechanism of the present invention; Figure 11 This is a schematic diagram of the structure of the first and second bevel gears of the present invention after being cut open. Figure 12 yes Figure 11 A top-view structural diagram; Figure 13 This is a schematic diagram of the second rotating disk structure of the present invention; Figure 14 This is a schematic diagram of the structure of the first elastic deflection mechanism and the second elastic deflection mechanism of the present invention; Figure 15 yes Figure 14 A schematic diagram of the structure after the first and second outer cylinders are hidden.

[0027] In the picture: 1. Movable base; 11. Mounting frame; 111. Lateral support bar; 112. Telescopic cylinder; 12. Z-axis moving frame; 121. First slide rail; 13. Y-axis transverse frame; 131. Second slide rail; 14. X-axis transverse frame; 15. Mounting platform; 10. Auxiliary support mechanism; 101. Support plate; 102. Support drive assembly; 21. Scissor lift seat; 22. Lifting drive assembly; 31. Z-axis drive assembly; 32. Y-axis drive assembly; 33. X-axis drive assembly; 41. First power source; 42. Second power source; 5. Transmission mechanism; 51. Housing; 52. First bevel gear; 53. Second bevel gear; 54. Third bevel gear; 6. Walking drive mechanism; 61. Rotating support; 62. Walking wheel; 63. First motor; 64. Second motor; 65. First gear; 66. Second gear; 7. First elastic deflection mechanism; 71. First limiting deflection assembly; 711. First arc-shaped housing; 7111. First chamber; 7112. First arc groove; 712. First limiting ring structure; 7121. First limiting ring; 7122. First limiting block; 7131. First abutting block; 71311. First V-groove; 7132. First abutting rod; 7133. First preload spring; 7134. Auxiliary infrared ranging sensor; 72. First outer cylinder; 73. First rotating disk; 8. Second elastic deflection mechanism; 81. Second limiting deflection assembly; 811. Second arc-shaped housing; 8111. Second chamber; 8112. Second arc groove; 812. Second limiting ring structure; 8121. Second limiting ring; 8122. Second limiting block; 8131. Second abutment block; 81311. Second V-groove; 8132. Second abutment rod; 8133. Second preload spring; 8134. Main infrared ranging sensor; 82. Second outer cylinder; 83. Second rotating disk; 831. Through hole; 832. Protrusion; 911. First telescopic cylinder; 912. Second telescopic cylinder; 9131. First pipeline; 9132. Second pipeline; 9133. Rotary joint; 92. Splined retaining post; 93. Elastic structure; 94. Connecting component. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of this invention, specific embodiments will be used to further illustrate the technical solutions for achieving the objectives of this invention. It should be noted that the technical solutions claimed by this invention include, but are not limited to, the following embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort should fall within the scope of protection of this invention. The embodiments of the present invention first disclose a 6-DOF attitude adjustment system based on a series-parallel structure. This 6-DOF attitude adjustment system is mainly used for the automatic assembly of large power components of aircraft, such as aircraft engines. Refer to the appendix of the specification first. Figure 1-2 As shown, the 6-DOF attitude adjustment system mainly includes the following components and structures: a movable base 1, a mounting frame 11 movably mounted on the top of the movable base 1 via a lifting assembly, a Z-axis movable frame 12 movably mounted inside the mounting frame 11 via a Z-axis drive assembly 31, a Y-axis transverse frame 13 movably mounted on the top of the Z-axis movable frame 12 via a Y-axis drive assembly 32, an X-axis transverse frame 14 movably mounted on the top of the Y-axis transverse frame 13 via an X-axis drive assembly 33, and a mounting platform 15 fixedly mounted on the X-axis transverse frame 14.

[0029] When the above-mentioned 6-DOF attitude adjustment system is in use, after the on-site operators transfer the aircraft engine to be installed onto the installation platform 15 using mechanical equipment, the height of the installation frame 11 can be initially roughly adjusted by the lifting component, so that the aircraft engine on the installation platform 15 can be raised to a suitable position (even if the aircraft engine is close to the fuselage), so that the technicians can then make precise adjustments to the position of the aircraft engine.

[0030] During the precise adjustment of the aircraft engine position, technicians can manipulate and adjust the Z-axis drive assembly 31, X-axis drive assembly 33 and Y-axis drive assembly 32 to drive the mounting platform 15 to move arbitrarily in six directions (forward and backward, left and right, up and down, pitch, roll and horizontal rotation) within a certain space, thereby changing the position of the mounting platform 15 and achieving precise docking between the aircraft engine and the airframe.

[0031] The following section will provide a more detailed introduction and explanation of the structure of each component in the aforementioned 6-DOF attitude adjustment system.

[0032] like Figure 2As shown, the lifting assembly consists of a lifting drive assembly 22 and a scissor lift seat 21. The lifting drive assembly 22 directly drives the mounting frame 11 connected to it to rise or fall, thereby realizing the lifting of the mounting platform 15. During the lifting of the mounting frame 11, the scissor lift seat 21 is configured to open and close with the lifting of the mounting frame 11, so as to assist in supporting the mounting frame 11 to complete the lifting action. That is to say, the scissor lift seat 21 can make the lifting of the mounting frame more stable and has a better support effect.

[0033] In the embodiments described in this invention, the lifting drive assembly 22, the Z-axis drive assembly 31, the X-axis drive assembly 33, and the Y-axis drive assembly 32 have the same structure, each including a first power source 41, a second power source 42, and a lead screw transmission module. The two power sources are connected to the lead screw transmission module through a transmission mechanism 5. The lead screw module typically includes a transmission lead screw and a transmission nut threaded onto the transmission lead screw. The two power sources are connected to the transmission lead screw through the transmission mechanism 5 to transmit power to drive the lead screw to rotate. Figure 5 As shown, the first power source 41 and the second power source 42 used to drive the transmission screw to rotate are a servo motor and a handwheel, respectively. The servo motor and the handwheel are connected to the transmission screw through the transmission mechanism 5. Both the servo motor and the handwheel can drive the transmission screw to rotate.

[0034] like Figure 6 As shown, in this embodiment, the transmission mechanism 5 includes a housing 51, and a first bevel gear 52, a second bevel gear 53, and a third bevel gear 54 rotatably mounted inside the housing 51 via bearing seats, wherein the first bevel gear 52 and the second bevel gear 53 respectively mesh with the third bevel gear 54; the output end of the servo motor extends into the housing 51 and is connected to the first bevel gear 52, the output end of the handwheel extends into the housing 51 and is connected to the second bevel gear 53, and the input end of the lead screw of the lead screw transmission module extends into the housing 51 and is connected to the third bevel gear 54.

[0035] In use, when a servo motor is used as the power input component, the servo motor can drive the third bevel gear 54 meshing with it to rotate through the first bevel gear 52 at its output end, thereby causing the transmission screw to rotate accordingly; when a handwheel is used as the power input component, the handwheel can drive the third bevel gear 54 meshing with it to rotate through the second bevel gear 53 at its output end, thereby causing the transmission screw to rotate accordingly.

[0036] Furthermore, such as Figure 1 and Figure 2As shown, the mounting frame 11 includes two opposing lateral support bars 111 symmetrically arranged on both sides of the top of the movable seat 1. Each lateral support bar 111 has a telescopic cylinder 112 between its two ends and the movable seat 1, and each telescopic cylinder 112 contains a lifting drive assembly 22. In this invention, the lifting drive assembly 22 and the telescopic cylinder 112 are respectively installed at the four corners of the mounting frame 11. The telescopic cylinder 112 provides support during the lifting or lowering process of the mounting frame 11 driven by the lifting drive assembly 22.

[0037] The scissor lift seats 21 have two pairs, symmetrically arranged at the center between the two lateral support bars 111 and the movable seat 1. The two ends of the X-shaped scissor arms of the scissor lift seats are hinged to the movable seat 1 and the lateral support bars 111, respectively. Furthermore, multiple support rods are rotatably connected between the X-shaped scissor arms of the two pairs of scissor lift seats. Through the internally configured scissor lift seats and the multiple sets of support rods added in the middle, the lateral overturning force and tensile / torsional force borne by the platform can be effectively counteracted as the mounting frame 11 is raised.

[0038] Specifically, a Z-axis drive assembly 31 is provided at both ends of the top of the two lateral support bars 111. The transmission screw of the Z-axis drive assembly 31 vertically passes through the lateral support bar 111, and its input end is connected to the third bevel gear 54 of the corresponding transmission mechanism 5. The transmission nut of each Z-axis drive assembly 31 is respectively assembled at the corresponding corner position of the Z-axis moving frame 12 and is movably connected to the Z-axis moving frame 12 through a ball joint hinge or a spherical bearing. There are four sets of Z-axis drive assemblies 31 in this invention, which are located at the four corners of the Z-axis moving frame 12. Since the transmission nut is hinged to the Z-axis moving frame 12, the vertical lifting, pitching and rolling adjustment of the Z-axis moving frame 12 can be realized through the cooperation between the four sets of Z-axis drive assemblies 31. Finally, the mounting platform 15 installed on it moves synchronously to realize the lifting, pitching and rolling posture adjustment.

[0039] Both ends of the Z-axis moving frame 12 are provided with first slide rails 121 along the Y-axis direction. The Y-axis transverse frame 13 is slidably mounted on the two first slide rails 121. Each first slide rail 121 is equipped with a Y-axis drive assembly 32. The transmission screw of the Y-axis drive assembly 32 is arranged along the direction of the first slide rail 121, and the transmission nut of the Y-axis drive assembly 32 is connected to the bottom of the Y-axis transverse frame 13. This invention has two Y-axis drive assemblies 32, and the transmission screws of the two Y-axis drive assemblies 32 are parallel to each other. Similarly, the input ends of the transmission screws of the two Y-axis drive assemblies 32 are connected to the third bevel gear 54 of the corresponding transmission mechanism 5. The transmission nut of each Y-axis drive assembly 32 is movably connected to the Y-axis transverse frame 13 via a ball joint hinge or a spherical bearing. Based on the above-mentioned activity connection relationship, the Y-axis transverse frame 13 can be horizontally moved and rotated in the horizontal plane through the cooperation between the two pairs of Y-axis drive components 32, which will eventually drive the installation platform 15 installed on it to move synchronously, thereby realizing the adjustment of the left and right horizontal posture and the angle posture in the horizontal plane.

[0040] The top of the Y-axis transverse frame 13 has two second slide rails 131 on both sides along the X-axis. The X-axis transverse frame 14 is slidably mounted on the two second slide rails 131. An X-axis drive assembly 33 is also provided on the Y-axis transverse frame 13 between the two second slide rails 131. The transmission screw of the X-axis drive assembly 33 is arranged along the X-axis, and the transmission nut of the X-axis drive assembly 33 is connected to the bottom of the X-axis transverse frame 14. The input end of the transmission screw of the X-axis drive assembly 33 is connected to the third bevel gear 54 of the corresponding transmission mechanism 5. The transmission nut of the X-axis drive assembly 33 is fixedly connected to the bottom of the X-axis transverse frame 14, without the need for a movable connection. The X-axis drive assembly 33 drives the X-axis transverse frame 14 to move horizontally back and forth, ultimately driving the mounting platform 15 mounted on it to move synchronously, achieving front and rear posture adjustment. like Figure 3 and Figure 4 As shown, in this embodiment, a walking drive mechanism 6 is installed at each of the four corners of the bottom of the mobile seat 1. The walking drive mechanism 6 includes a rotating support 61 rotatably mounted on the bottom of the mobile seat 1 via a rotating shaft, a walking wheel 62 rotatably mounted on the rotating support 61, a first motor 63 for driving the walking wheel 62 to rotate, and a second motor 64 connected to the rotating shaft via a second transmission structure. The second transmission structure includes a first gear 65 fixedly mounted on the rotating shaft and a second gear 66 fixedly mounted on the output end of the second motor 64 and meshing with the first gear 65.

[0041] Based on the above configuration, in this embodiment, during use, the second motor 64 drives the second gear 66 at its output end to rotate, the second gear 66 drives the first gear 65 meshing with it to rotate, thereby driving the rotating shaft to rotate, so that the rotating support 61 rotates around the rotating shaft to achieve the angle adjustment of the walking wheel 62 (achieving the effect of reversing the direction of the walking wheel 62), and the output end of the first motor 63 is connected to the walking wheel 62. After starting, it can drive the walking wheel 62 to rotate itself, realizing the walking movement of the moving seat 1.

[0042] like Figure 4 As shown, in this embodiment, an auxiliary support mechanism 10 is installed on the side of the bottom of the movable seat 1 near the walking drive mechanism 6. The auxiliary support mechanism 10 includes a support plate 101 and a support drive assembly 102 for driving the support plate to move along the Z-axis. The structure of the support drive assembly 102 is the same as that of the lifting drive assembly 22. The support drive assembly 102 is fixed to the bottom of the movable seat 1, and the support plate 101 is installed on the movable end of the support drive assembly.

[0043] Based on the above-described configuration, in this embodiment, when the movable seat 1 is moved, the support drive assembly 102 drives the support plate 101 upward, causing the support plate 101 to detach from the ground, so as to move the movable seat 1. After the movable seat 1 moves to the predetermined position, the support drive assembly 102 drives the support plate 101 downward, causing the support plate 101 to contact the ground, thereby fixing the position of the movable seat 1 and preventing the movable seat 1 from moving.

[0044] Example 2 Based on Example 1, when a handwheel is used as the power input component, in order to reduce the operator's workload, i.e., to reduce the driving torque of the handwheel (because the aircraft generator is heavy, the torque driving the transmission screw is large), such as... Figures 6-8 as well as Figure 14 As shown, the output end of the servo motor is connected to the first bevel gear 52 through the first elastic deflection mechanism 7. The first elastic deflection mechanism 7 includes a first outer cylinder 72 fixedly mounted inside the first bevel gear 52, a first rotating disk 73 rotatably mounted inside one end of the first outer cylinder 72, and a first limiting deflection component 71 for limiting the quantitative deflection of the first rotating disk 73.

[0045] Furthermore, combined Figure 9 , Figure 11 , Figure 12 and Figure 15 As shown, the first limiting deflection component 71 includes a first arc-shaped housing 711, a first limiting ring structure 712, and a first elastic limiting structure; The first arc-shaped shell 711 is coaxial with the first outer cylinder 72 and fixedly installed on the inner wall of the first outer cylinder 72. A first chamber 7111 is formed inside the first arc-shaped shell 711. A first arc groove 7112 is opened through one end of the first arc-shaped shell 711 near the first rotating disk 73. The first limiting ring structure 712 includes a first limiting ring 7121 and a first limiting block 7122. The first limiting ring 7121 is coaxially fixedly installed on the side of the first rotating disk 73 near the first arc-shaped housing 711. The first limiting block 7122 is slidably adapted in the first arc groove 7112 and fixedly connected to the first limiting ring 7121. The first elastic limiting structure includes a first abutment block 7131, a first abutment rod 7132, a first preload spring 7133, and an auxiliary infrared ranging sensor 7134. The first abutment block 7131 is slidably installed in the first chamber 7111 and can only slide along the axial direction of the first outer cylinder 72. A first V-groove 71311 is provided on the side of the first abutment block 7131 near the first limiting block 7122. The first abutment rod 7132 is fixedly installed on the first limiting block 7122. The first ball bearing is embedded at the end of the first abutment rod 7132 away from the first limiting block 7122. The first pre-tension spring 7133 is assembled at the end of the first abutment block 7131 away from the first limiting block 7122 and is used to keep the first ball bearing of the first abutment rod 7132 always in close contact with the V-shaped surface of the first V-groove 71311. The auxiliary infrared ranging sensor 7134 is installed at the end of the first chamber 7111 away from the first rotating disk 73 and is used to detect the distance moved by the first abutment block 7131.

[0046] Furthermore, combining Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15 As shown, in this embodiment, the output end of the handwheel is connected to the second bevel gear 53 through the second elastic deflection mechanism 8. The second elastic deflection mechanism 8 includes a second outer cylinder 82 fixedly mounted inside the second bevel gear 53, a second rotating disk 83 rotatably mounted inside one end of the second outer cylinder 82, and a second limiting deflection component 81 for limiting the quantitative deflection of the second rotating disk 83. The second limiting deflection component 81 includes a second arc-shaped housing 811, a second limiting ring structure 812, and a second elastic limiting structure; The second arc-shaped shell 811 is coaxial with the second outer cylinder 82 and is fixedly installed on the inner wall of the second outer cylinder 82. A second chamber 8111 is formed inside the second arc-shaped shell 811. A second arc groove 8112 is opened through one end of the second arc-shaped shell 811 near the second rotating disk 83. The second limiting ring structure 812 includes a second limiting ring 8121 and a second limiting block 8122. The second limiting ring 8121 is coaxially fixedly installed on the side of the second rotating disk 83 near the second arc-shaped housing 811. The second limiting block 8122 is slidably adapted in the second arc groove 8112 and fixedly connected to the second limiting ring 8121. The second elastic limiting structure includes a second abutment block 8131, a second abutment rod 8132, a second preload spring 8133, and a main infrared ranging sensor 8134. The second abutment block 8131 is slidably installed in the second chamber 8111 and can only slide along the axial direction of the second outer cylinder 82. A second V-groove 81311 is provided on the side of the second abutment block 8122 near the second limiting block 8122. The second abutment rod 8132 is fixedly installed on the second limiting block 8122. The second ball bearing is embedded at the end of the second abutment rod 8132 away from the second limit block 8122. The second preload spring 8133 is assembled at the end of the second abutment block 8131 away from the second limit block 8122 and is used to keep the second ball bearing of the second abutment rod 8132 always in close contact with the V-shaped surface of the second V-groove 81311. The main infrared ranging sensor 8134 is installed at the end of the second chamber 8111 away from the second rotating disk 83 and is used to detect the distance moved by the second abutment block 8131.

[0047] Based on the above settings, in this embodiment, during the rotation of the drive screw, the output end of the handwheel is allowed to deflect a certain amount relative to the second bevel gear 53, and the torque on the second bevel gear 53 is gradually increased during this deflection. Similarly, the output end of the servo motor is also allowed to deflect a certain amount relative to the first bevel gear 52, and the torque on the first bevel gear 52 is gradually increased during this deflection.

[0048] Thus, when the handwheel is used as the power input component of the transmission screw, the output end of the servo motor is driven to rotate by feeding back the deflection angle of the output end of the handwheel relative to the second bevel gear 53. This allows the output end of the servo motor to deflect relative to the first bevel gear 52, thereby providing auxiliary torque to drive the third bevel gear 54 through the servo motor. This reduces the torque required for the operator to manually drive the handwheel to rotate the third bevel gear 54, ultimately reducing the operator's workload.

[0049] Specifically, initially, under the force of the first pre-tightening spring 7133, the ball at the end of the first abutment rod 7132 is at the center of the first V-groove 71311, and the first limiting block 7122 is at the center of the first arc groove 7112. Similarly, under the force of the second pre-tightening spring 8133, the ball at the end of the second abutment rod 8132 is at the center of the second V-groove 81311. When a handwheel is used as the power input component, the torque required for the transmission screw to rotate is relatively large. When the handwheel is rotated, its output end (i.e., the second rotating disk 83) will deflect relative to the second outer cylinder 82 (i.e., the second bevel gear 53). During this deflection, the second limit block 8122 will drive the second abutment rod 8132 to move, causing the second abutment block 8131 to move away from the second rotating disk 83. At this time, the second preload spring 8133 is compressed, and the main infrared ranging sensor 8134 can detect the distance the second abutment block 8131 has moved, driving the output end of the servo motor to rotate accordingly. This ensures that the auxiliary infrared ranging sensor 7134 detects a value equal to that detected by the main infrared ranging sensor 8134. The servo motor then provides the auxiliary torque to drive the third bevel gear 54, thereby reducing the torque required for technicians to manually drive the handwheel to rotate the third bevel gear 54 and reducing their workload. The rotation direction of the handwheel and the servo motor can be identified using sensors in existing technology, such as a steering angle sensor.

[0050] When a servo motor is used as the power input component, there is no need to consider the output torque of the servo motor. In this case, the output end of the servo motor rotates, which drives the third bevel gear 54 to rotate through the first bevel gear 52, thereby driving the transmission screw to rotate.

[0051] It is worth mentioning that during the rotation of the third bevel gear 54, the second bevel gear 53 will also rotate accordingly, driving the handwheel to rotate passively. Since the handwheel is relatively light, under the force of the second preload spring 8133, the ball at the end of the second contact rod 8132 is at the center of the second V-groove 81311, and the value detected by the main infrared ranging sensor 8134 is 0, which will not affect the normal rotation of the servo motor.

[0052] Furthermore, the output end of the servo motor is fixedly connected to the first rotating disk 73, and the output end of the handwheel is slidably connected to the second rotating disk 83 through a telescopic elastic component; a through hole 831 is provided through the center of the second rotating disk 83, and a protrusion 832 is provided on the inner side of the through hole 831 along the circumferential direction; The telescopic connection assembly includes a splined retainer 92 adapted to the through hole 831, and a connector 94 axially slidably connected to the splined retainer 92 via an elastic structure 93. The connector 94 is fixedly connected to the output end of the handwheel.

[0053] A hydraulic transmission component is also provided between the first outer cylinder 72 and the second outer cylinder 82. The hydraulic transmission component includes a first telescopic cylinder 911, a second telescopic cylinder 912, and an oil pipeline connecting the first telescopic cylinder 911 and the second telescopic cylinder 912. The first telescopic cylinder 911 is located on the side of the first contact block 7131 away from the first limiting block 7122, and the telescopic end of the first telescopic cylinder 911 is fixedly connected to the first contact block 7131, and the fixed end of the first telescopic cylinder 911 is fixedly connected to one side wall of the first chamber 7111. The second telescopic cylinder 912 is fixed inside the second outer cylinder 82 along the axial direction of the second outer cylinder 82 by a fastener, and the output end of the second telescopic cylinder 912 abuts against one end of the splined stud 92 by a third ball. The oil circuit includes a first pipe 9131 connected to the cylinder of the first telescopic cylinder 911, a second pipe 9132 connected to the cylinder of the second telescopic cylinder 912, and a rotary joint 9133. The first pipe 9131 has a first connecting section coaxial with the first outer cylinder 72, and the second pipe 9132 has a second connecting section coaxial with the second outer cylinder 82. The ends of the first connecting section and the second connecting section, respectively, extend out of the first outer cylinder 72 and the second outer cylinder 82 and are connected through the rotary joint 9133.

[0054] Based on the above-described configuration, when a servo motor is used as the power input component, as mentioned earlier, the output end of the servo motor (i.e., the first rotating disk 73) will deflect relative to the first outer cylinder 72 (the first bevel gear 52). During this process, the first contact block 7131 will press the first telescopic cylinder 911, causing the oil inside the first telescopic cylinder 911 to enter the second telescopic cylinder 912 through the oil passage, thereby extending the second telescopic cylinder 912. The extension of the second telescopic cylinder 912 will push the spline retainer 92 out of the through hole 831, automatically disengaging the connection between the handwheel output end and the second bevel gear 53 to prevent the handwheel from rotating and causing a safety hazard. (Because the handwheel is generally located on the outside of the movable seat 1 for the convenience of technicians, when the servo motor drives the third bevel gear 54 to rotate through the first bevel gear 52, the handwheel will rotate rapidly, which could cause injury if it hits a nearby technician).

[0055] In this embodiment, the protrusion 832 has symmetrically arranged first inclined surfaces on both sides near the handwheel end, and the spline retainer 92 has a second inclined surface corresponding to the first inclined surface at the end away from the handwheel. This allows the spline retainer 92 to smoothly engage with the through hole 831 under the elastic force of the elastic structure 93 through the cooperation of the second inclined surfaces when the servo motor stops rotating.

[0056] Example 3 Based on the same inventive concept, this invention also discloses a 6-DOF attitude adjustment method based on a series-parallel structure. The attitude adjustment method is implemented based on the aforementioned 6-DOF attitude adjustment system, and the specific attitude adjustment process is as follows: Step S1. After the system is powered on, the status of the four lifting drive components 22, the four Z-axis drive components 31, the two Y-axis drive components 32 and the one X-axis drive component 33 is monitored in real time. Specifically, since the transmission screw of each screw module can be driven by a servo motor, and each servo motor has an encoder, the system can obtain the position information of the transmission screw of each screw module by reading the information of each encoder, and thus obtain the status of each drive component.

[0057] Step S2. Obtain the current attitude of the 6-DOF attitude adjustment system by combining control reference with kinematic calculation, and set the target pose. After setting, determine the feasibility of the trajectory. If it is feasible, proceed to the next process; if it is not feasible, return to the current attitude.

[0058] Step S3. Set process parameters, including control reference, motion trajectory and discrete interval. After setting, determine whether the trajectory has changed. If it has changed, generate a new trajectory, refresh the trajectory count and output it. If the trajectory has not changed, keep the original trajectory and output the trajectory count.

[0059] Step S4. Adjust the pose of the attitude adjustment system according to the output trajectory count. After the adjustment is completed, feed back the output pose to the current attitude. The pose adjustment of the 6-DOF attitude adjustment system includes forward and backward translation, horizontal lateral translation, horizontal rotation, pitch, roll and rise.

[0060] In the embodiments described in this invention, kinematic calculation and trajectory calculation are common knowledge in the art and will not be described in detail here.

[0061] The specific adjustment process for the above-mentioned forward / backward translation, horizontal lateral translation, horizontal rotation, pitch, roll, and vertical adjustments is as follows: (1) Adjusting posture by forward and backward translation The transmission screw of the X-axis drive assembly 33 located on the Y-axis transverse frame 13 rotates under the drive of a servo motor or handwheel. The transmission nut fitted on the transmission screw moves horizontally on the screw, thereby driving the X-axis transverse frame 14 connected to it and the mounting platform 15 fixedly installed on the X-axis transverse frame 14 to move horizontally back and forth along the X-axis direction, thereby realizing the adjustment of the overall front and back position.

[0062] (2) Horizontal lateral movement posture adjustment The transmission screws of the two parallel Y-axis drive components 32 located on the Z-axis moving frame 12 rotate synchronously. The transmission nut fitted on the transmission screw moves on the screw, driving the Y-axis transverse frame 13 connected to it to move horizontally along the Y-axis direction, ultimately realizing the adjustment of the position of the installation platform 15 in the Y-axis direction.

[0063] (3) Horizontal rotation posture adjustment Horizontal rotation and attitude adjustment are still achieved through the Y-axis drive assembly 32. Specifically, the system controls the lead screw transmission modules of the two parallel Y-axis drive assemblies 32 to perform differential motion. For example, one lead screw moves faster and the other moves slower, or the two lead screws rotate in opposite directions. In this way, the transmission nuts mounted on the lead screws are not in the same position in the Y-axis direction, that is, the two transmission nuts have a distance difference in the Y-axis direction. Since the Y-axis transverse frame 13 is connected to the transmission nuts through ball joints or spherical bearings, the Y-axis transverse frame 13 will rotate in the horizontal plane, driving the entire mounting platform 15 to rotate, and finally realizing the position and attitude adjustment of the mounting platform 15 in the horizontal plane.

[0064] (4) Adjusting posture by bending forward and backward In this invention, Z-axis drive components 31 are respectively provided at the four corners of the Z-axis moving frame 12. During pitch adjustment, the two Z-axis drive components 31 located in the short side direction of the Z-axis moving frame 12 form a pair of pitch adjustment mechanisms. Thus, the four Z-axis drive components 31 at the four corners of the Z-axis moving frame 12 form two pairs of pitch adjustment mechanisms. The system controls the two pairs of pitch adjustment mechanisms to perform differential motion (the differential motion is the same as the horizontal rotation adjustment, and will not be described in detail here). This will cause one short side of the Z-axis moving frame 12 to rise and the other short side to fall. The mounting platform 15 moves synchronously with the Z-axis moving frame 12, thereby realizing the pitch attitude adjustment of the mounting platform 15.

[0065] (5) Rolling and adjusting posture Similarly, roll attitude adjustment is also achieved through four Z-axis drive components 31. Specifically, when adjusting the roll angle, the two Z-axis drive components 31 located on the long side of the Z-axis moving frame 12 form a pair of roll attitude adjustment mechanisms, and the four Z-axis drive components 31 at the four corners of the Z-axis moving frame 12 form two pairs of roll attitude adjustment mechanisms. The system controls the two pairs of roll attitude adjustment mechanisms to perform differential motion (the differential motion is the same as the horizontal rotation attitude adjustment, and will not be described in detail here), which will drive one long side of the Z-axis moving frame 12 to rise and the other long side to fall. The mounting platform 15 moves synchronously with the Z-axis moving frame 12, thereby realizing the roll attitude adjustment of the mounting platform 15.

[0066] (6) Lifting and adjusting posture It includes coarse and fine lifting adjustments; the coarse lifting adjustment involves the system controlling the synchronous movement of the lifting drive components 22 at the four corners of the mounting frame 11, causing the mounting frame 11 to rise or fall as a whole, and the mounting platform 15 to move synchronously with the mounting frame 11; the fine lifting adjustment involves the system controlling the synchronous movement of the four Z-axis drive components 31 at the four corners of the Z-axis moving frame 12, causing the Z-axis moving frame 12 to rise or fall as a whole, and the mounting platform 15 to move synchronously with the Z-axis moving frame 12. The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A 6-DOF attitude adjustment system based on a series-parallel structure, characterized in that, The system includes a movable base (1), a mounting frame (11) movably mounted on top of the movable base (1) via a lifting assembly, a Z-axis movable frame (12) movably mounted inside the mounting frame (11) via a Z-axis drive assembly (31), a Y-axis transverse frame (13) movably mounted on top of the Z-axis movable frame (12) via a Y-axis drive assembly (32), an X-axis transverse frame (14) movably mounted on top of the Y-axis transverse frame (13) via an X-axis drive assembly (33), and a mounting platform (15) fixedly mounted on the X-axis transverse frame (14); the lifting assembly includes a lifting drive assembly (22); wherein, The lifting drive assembly (22), Z-axis drive assembly (31), Y-axis drive assembly (32) and X-axis drive assembly (33) each include a first power source (41), a second power source (42) and a lead screw transmission module. The two power sources are connected to the lead screw transmission module through a transmission mechanism (5). The transmission mechanism (5) includes a housing (51) and a first bevel gear (52), a second bevel gear (53) and a third bevel gear (54) rotatably mounted inside the housing (51). The first bevel gear (52) and the second bevel gear (53) mesh with the third bevel gear (54) respectively. The output end of the first power source (41) is connected to the first bevel gear (52) through the first elastic deflection mechanism (7) so as to allow the output end of the first power source (41) to deflect relative to the first bevel gear (52) and gradually increase the torque on the first bevel gear (52) during the deflection process; The output end of the second power source (42) is connected to the second bevel gear (53) through the second elastic deflection mechanism (8) so that the output end of the second power source (42) can be deflected relative to the second bevel gear (53), and the torque on the second bevel gear (53) is gradually increased during the deflection process, and the auxiliary torque supply is achieved in conjunction with the first elastic deflection mechanism (7). The input end of the lead screw of the lead screw drive module is connected to the third bevel gear (54), and the drive nut is hinged to the load-bearing structure through a ball joint or a spherical bearing.

2. The 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The first elastic deflection mechanism (7) includes a first outer cylinder (72) fixedly mounted inside the first bevel gear (52), a first rotating disk (73) rotatably mounted inside the first outer cylinder (72), and a first limiting deflection assembly (71) for limiting the quantitative deflection of the first rotating disk (73); the output end of the first power source (41) is fixedly connected to the first rotating disk (73); The second elastic deflection mechanism 8 includes a second outer cylinder (82) fixedly mounted inside the second bevel gear (53), a second rotating disk (83) rotatably mounted inside the second outer cylinder (82), and a second limiting deflection assembly (81) for limiting the quantitative deflection of the second rotating disk (83); the output end of the second power source (42) is connected to the second rotating disk (83).

3. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 2, characterized in that, The first limiting deflection assembly (71) includes a first arc-shaped housing (711), a first limiting ring structure (712), and a first elastic limiting structure; wherein, The first arc-shaped shell (711) is coaxial with the first outer cylinder (72) and fixedly installed on the inner wall of the first outer cylinder (72). The first arc-shaped shell (711) has a first arc groove (7112) through one end near the first rotating disk (73). The first limiting ring structure (712) includes a first limiting ring (7121) and a first limiting block (7122). The first limiting ring (7121) is coaxially fixedly installed on the first rotating disk (73) on one side near the first arc-shaped housing (711). The first limiting block (7122) is slidably installed in the first arc groove (7112) and fixedly connected to the first limiting ring (7121). The first elastic limiting structure includes a first abutment block (7131), a first abutment rod (7132), a first preload spring (7133), and an auxiliary infrared ranging sensor (7134). The first abutment block (7131) is slidably installed in the first chamber (7111) of the first arc-shaped housing (711) and can only slide along the axial direction of the first outer cylinder (72). A first V-groove (71311) is provided on the side of the first abutment block (7122) near the first limiting block (7122). The first abutment rod (7132) is fixedly installed on the first limiting block (7122). 2) On the first contact rod (7132), a first ball is embedded at the end away from the first limit block (7122). The first pre-tightening spring (7133) is assembled at the end of the first contact block (7131) away from the first limit block (7122) and is used to keep the first ball of the first contact rod (7132) always in close contact with the V-shaped surface of the first V-groove (71311). The auxiliary infrared ranging sensor (7134) is installed in the first chamber (7111) and at the end away from the first rotating disk (73) and is used to detect the distance moved by the first contact block (7131).

4. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 2, characterized in that, The second limiting deflection assembly (81) includes a second arc-shaped housing (811), a second limiting ring structure (812), and a second elastic limiting structure; wherein, The second arc-shaped shell (811) is coaxial with the second outer cylinder (82) and fixedly installed on the inner wall of the second outer cylinder (82). The second arc-shaped shell (811) has a second arc groove (8112) through one end near the second rotating disk (83). The second limiting ring structure (812) includes a second limiting ring (8121) and a second limiting block (8122). The second limiting ring (8121) is coaxially fixedly installed on the second rotating disk (83) on one side near the second arc-shaped housing (811). The second limiting block (8122) is slidably adapted in the second arc groove (8112) and fixedly connected to the second limiting ring (8121). The second elastic limiting structure includes a second abutment block (8131), a second abutment rod (8132), a second preload spring (8133), and a main infrared ranging sensor (8134). The second abutment block (8131) is slidably installed in the second chamber (8111) of the second arc-shaped housing (811) and can only slide along the axial direction of the second outer cylinder (82). A second V-groove (81311) is provided on the side of the second abutment block (8122) near the second limiting block (8122). The second abutment rod (8132) is fixedly installed on the second limiting block (8122). 2) On the second contact rod (8132), a second ball is embedded at the end away from the second limit block (8122). The second preload spring (8133) is assembled at the end of the second contact block (8131) away from the second limit block (8122) and is used to keep the second ball of the second contact rod (8132) always in close contact with the V-shaped surface of the second V-groove (81311). The main infrared ranging sensor (8134) is installed in the second chamber (8111) at the end away from the second rotating disk (83) and is used to detect the distance moved by the second contact block (8131).

5. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 2, characterized in that, The output end of the second power source (42) is slidably connected to the second rotating disk (83) through a telescopic elastic component; a through hole (831) is provided at the center of the second rotating disk (83), and a protrusion (832) is provided on the inner wall of the through hole (831) along the circumferential direction.

6. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 5, characterized in that, The telescopic connection assembly includes a spline post (92) adapted to the through hole (831) and a connector (94) axially slidably connected to the spline post (92) via an elastic structure (93), the connector (94) being fixedly connected to the output end of the second power source (42).

7. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 2, characterized in that, A hydraulic transmission component is also provided between the first outer cylinder (72) and the second outer cylinder (82), the hydraulic transmission component including a first telescopic cylinder (911) and a second telescopic cylinder (912); wherein, The first telescopic cylinder (911) is located on the side of the first contact block (7131) away from the first limiting block (7122), and the telescopic end of the first telescopic cylinder (911) is fixedly connected to the first contact block (7131), and the fixed end of the first telescopic cylinder (911) is fixedly connected to one side wall of the first chamber (7111). The second telescopic cylinder (912) is fixed inside the second outer cylinder (82) along the axial direction of the second outer cylinder (82) by a fastener, and the output end of the second telescopic cylinder (912) abuts against one end of the splined post (92) through a third ball.

8. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 7, characterized in that, The hydraulic transmission component further includes an oil passage connecting the first telescopic cylinder (911) and the second telescopic cylinder (912); the oil passage includes a first pipe (9131) connected to the cylinder of the first telescopic cylinder (911), a second pipe (9132) connected to the cylinder of the second telescopic cylinder (912), and a rotary joint (9133). The first pipe (9131) has a first connecting section coaxial with the first outer cylinder (72), and the second pipe (9132) has a second connecting section coaxial with the second outer cylinder (82). The ends of the first connecting section and the second connecting section respectively extend out of the first outer cylinder (72) and the second outer cylinder (82) and are connected through the rotary joint (9133).

9. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The lifting assembly also includes a scissor lift seat (21), which is configured to open and close when the lifting drive assembly (22) drives the mounting frame (11) to lift, so as to assist in supporting the mounting frame (11) to complete the lifting action.

10. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The mounting frame (11) includes lateral support bars (111) symmetrically arranged on both sides of the top of the movable seat (1). Each end of the lateral support bar (111) is provided with a telescopic cylinder (112) between the movable seat (1) and each telescopic cylinder (112) is equipped with a lifting drive assembly (22). The scissor lift seat (21) is symmetrically arranged at the center between the two lateral support bars (111) and the movable seat (1).

11. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The Z-axis moving frame (12) is provided with a first slide rail (121) along the Y-axis direction at both ends. The Y-axis transverse frame (13) is slidably installed on the two first slide rails (121). The Y-axis drive assembly (32) is installed on the first slide rails (121).

12. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The top of the Y-axis transverse frame (13) is provided with a second slide rail (131) along the X-axis direction on both sides. The X-axis transverse frame (14) is slidably mounted on the two second slide rails (131). The Y-axis transverse frame (13) is also provided with an X-axis drive assembly (33).

13. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The bottom of the mobile seat (1) is equipped with a walking drive mechanism (6). The walking drive mechanism 6 includes a walking wheel (62) mounted on a rotating support (61), a first motor (63) for driving the walking wheel (62) to rotate so as to realize the walking movement of the mobile seat (1), and a second motor (64) for driving the rotating support (61) to rotate so as to change the direction of the walking wheel (62).

14. A 6-DOF attitude adjustment system based on a series-parallel structure according to claim 1, characterized in that, The bottom of the movable seat 1 is equipped with an auxiliary support mechanism (10). The auxiliary support mechanism (10) includes a support plate (101) and a support drive assembly (102) for driving the support plate (101) to move along the Z-axis. The support drive assembly (102) is fixed to the bottom of the movable seat (1), and the support plate (101) is installed at the movable end of the support drive assembly (102).

15. A 6-DOF attitude adjustment method based on a series-parallel structure, wherein the attitude adjustment method is implemented based on a 6-DOF attitude adjustment system based on a series-parallel structure as described in any one of claims 1-14, characterized in that, Includes the following steps: Step S1. After the system is powered on, the status of the lifting drive assembly (22), Z-axis drive assembly (31), Y-axis drive assembly (32) and X-axis drive assembly (33) is monitored in real time; Step S2. Obtain the current attitude of the 6-DOF attitude adjustment system by combining control reference with kinematic calculation, and set the target pose. After setting, determine the feasibility of the trajectory. If it is feasible, proceed to the next process; if it is not feasible, return to the current attitude. Step S3. Set process parameters, including control reference, motion trajectory and discrete interval. After setting, determine whether the trajectory has changed. If it has changed, generate a new trajectory, refresh the trajectory count and output it. If the trajectory has not changed, keep the original trajectory and output the trajectory count. Step S4. Adjust the pose of the attitude adjustment system according to the output trajectory count. After the adjustment is completed, feed back the output pose to the current attitude. The pose adjustment of the 6-DOF attitude adjustment system includes forward and backward translation, horizontal lateral translation, horizontal rotation, pitch, roll and rise.

16. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The specific back-and-forth translation adjustment is as follows: the transmission screws of the two parallel X-axis drive components (33) rotate synchronously, the transmission nut fitted on the transmission screw moves on the screw, and drives the X-axis transverse frame (14) and the mounting platform (15) fixedly installed on the X-axis transverse frame (14) to move horizontally back and forth along the X-axis direction.

17. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The horizontal lateral movement adjustment is specifically as follows: the transmission screws of the two parallel Y-axis drive components (32) rotate synchronously, and the transmission nut fitted on the transmission screw moves on the screw, driving the Y-axis lateral movement frame (13) to move horizontally along the Y-axis direction.

18. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The horizontal rotation adjustment specifically involves the lead screw transmission modules of two parallel Y-axis drive components (32) performing differential motion, which drives the Y-axis transverse frame (13) to rotate in the horizontal plane.

19. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The pitch adjustment mechanism is as follows: two Z-axis drive components (31) located in the short side direction of the Z-axis moving frame (12) form a pair of pitch adjustment mechanisms, and four Z-axis drive components (31) at the four corners of the Z-axis moving frame (12) form two pairs of pitch adjustment mechanisms; the two pairs of pitch adjustment mechanisms perform differential motion, causing one side of the Z-axis moving frame (12) to rise and the other side to fall.

20. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The specific rolling attitude adjustment is as follows: two Z-axis drive components (31) located in the long side direction of the Z-axis moving frame (12) form a pair of rolling attitude adjustment mechanisms, and four Z-axis drive components (31) at the four corners of the Z-axis moving frame (12) form two pairs of rolling attitude adjustment mechanisms; the two pairs of rolling attitude adjustment mechanisms perform differential motion, driving one side of the Z-axis moving frame (12) to rise and the other side to fall.

21. A 6-DOF attitude adjustment method based on a series-parallel structure according to claim 15, characterized in that, The lifting and adjusting posture includes coarse lifting and fine lifting and adjusting posture; wherein, the coarse lifting and adjusting posture is the synchronous movement of the lifting drive components (22) at the four corners of the mounting frame (11), which drives the mounting frame (11) to rise or fall as a whole; the fine lifting and adjusting posture is the synchronous movement of the four Z-axis drive components (31) at the four corners of the Z-axis moving frame (12), which drives the Z-axis moving frame (12) to rise or fall as a whole.

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