6-dof attitude adjustment system and method based on series-parallel structure

Abstract

The application relates to the technical field of aircraft assembly, and discloses a 6-degree-of-freedom attitude adjustment system and method based on a series-parallel structure, which comprises a moving seat, a mounting frame, multi-axis driving assemblies and a mounting platform, each driving assembly is provided with a servo motor and a hand wheel dual power source, a lead screw module is connected through a bevel gear transmission mechanism, and an elastic deflection mechanism is arranged between the power source and the bevel gear for realizing auxiliary torque supply; the multi-axis driving assembly can realize the adjustment of six attitudes, i.e. front and back, left and right, up and down, pitch, roll and rotation in a horizontal plane when a large power component of an airplane is assembled. The 6-degree-of-freedom attitude adjustment system can realize the high-precision, high-reliability, low-labor-intensity and strong adaptability of high-precision assembly and installation of large-weight components such as an aero-engine through the innovative design of series-parallel mechanism fusion, dual power source redundant driving and electric cooperative control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft assembly pose adjustment, in particular to a 6-DOF pose adjustment system and method based on a series-parallel structure. BACKGROUND

[0002] An aircraft engine is the core mechanical device that provides power to an aircraft. Depending on its working principle and fuel type, it is mainly divided into two categories: turbine engines and piston engines. Turbine engines, including turbojet engines and turboprop engines, are widely used in commercial and military aircraft. A turbojet engine generates high-temperature and high-pressure gas by compressing air, mixing fuel, and igniting it, which pushes the nozzle backward to generate thrust. In contrast, a piston engine is similar to a car engine and is mainly used in small aircraft. It generates power by burning fuel to move the piston.

[0003] Therefore, the design and manufacture of an aircraft engine is a cross-disciplinary field involving aerodynamics, thermodynamics, materials science, and other fields. Key performance indicators include thrust, efficiency, weight, and reliability. Due to the relatively large weight of an aircraft engine, especially large turbine engines, a lifting structure is usually used to complete the installation and disassembly of the engine during installation and disassembly. Using a lifting structure not only safely carries the weight of the engine, reducing the risk of manual handling, but also makes it easier to fine-tune, ensuring that the engine is installed correctly and that the interface structure of the engine and the fuselage is accurately aligned.

[0004] During the assembly process of large power components such as engines, precise pose adjustment along the X, Y, and Z axes is required, and the component itself must be carried. This puts high demands on the stiffness, carrying capacity, and control accuracy of the pose adjustment system. The current mainstream aircraft engine pose adjustment technology mainly relies on hydraulic drive pose adjustment systems and pure electric drive series mechanisms (such as multi-axis robot arms) or parallel mechanisms, but both have significant technical limitations.

[0005] With the transformation of aircraft manufacturing towards digitization, flexibility, and high reliability, there is an urgent need for a pose adjustment system that combines high precision and large carrying capacity, multi-power source redundant drive, pollution-free reliability, and other characteristics. SUMMARY

[0006] To address the problems and deficiencies of the prior art, the present application proposes a 6-DOF pose adjustment system and method based on a series-parallel structure.

[0007] To achieve the above-mentioned application purposes, the technical solutions of the present application are as follows:

[0008] The application discloses a 6-DOF (Degree of Freedom) attitude adjustment system based on a series-parallel structure.

[0009] The lifting driving assembly, the Z-axis driving assembly, the Y-axis driving assembly and the X-axis driving assembly each comprise a first power source, a second power source and a lead screw transmission module, and the two power sources are connected with the lead screw transmission module through a transmission mechanism.

[0010] The transmission mechanism comprises an outer shell, a first bevel gear, a second bevel gear and a third bevel gear rotatably arranged in the outer shell, and the first bevel gear and the second bevel gear are respectively engaged with the third bevel gear.

[0011] The output end of the first power source is connected with the first bevel gear through a first elastic deflection mechanism, so that the output end of the first power source can be deflected relative to the first bevel gear by a certain amount, and the torque on the first bevel gear is gradually increased during the deflection process.

[0012] The output end of the second power source is connected with the second bevel gear through a second elastic deflection mechanism, so that the output end of the second power source can be deflected relative to the second bevel gear by a certain amount, and the torque on the second bevel gear is gradually increased during the deflection process, and the first elastic deflection mechanism is used to assist the torque supply.

[0013] The input end of the transmission lead screw of the lead screw transmission module is connected with the third bevel gear, and the transmission nut is hinged with the bearing structure through a ball joint or a knuckle joint.

[0014] Preferably, the first elastic deflection mechanism comprises a first outer cylinder fixedly arranged in the first bevel gear, a first rotating disc rotatably arranged in the first outer cylinder and a first limiting deflection assembly for limiting the quantitative deflection of the first rotating disc, and the output end of the first power source is fixedly connected with the first rotating disc.

[0015] The second elastic deflection mechanism comprises a second outer cylinder fixedly arranged in the second bevel gear, a second rotating disc rotatably arranged in the second outer cylinder and a second limiting deflection assembly for limiting the quantitative deflection of the second rotating disc, and the output end of the second power source is connected with the second rotating disc.

[0016] Preferably, the first limiting deflection assembly comprises a first circular-arc-shaped shell, a first limiting ring structure and a first elastic limiting structure, wherein

[0017] The first arc-shaped shell is coaxial with the first outer cylinder and is fixedly installed on the inner wall of the first outer cylinder, and a first arc-shaped groove is formed through the end of the first arc-shaped shell close to the first rotating disc;

[0018] The first limiting ring structure comprises a first limiting ring and a first limiting block, the first limiting ring is coaxially fixedly installed on the side of the first rotating disc close to the first arc-shaped shell, and the first limiting block is slidingly fitted in the first arc-shaped groove and fixedly connected with the first limiting ring;

[0019] The first elastic limiting structure comprises a first abutting block, a first abutting rod, a first pre-tightening spring and an auxiliary infrared distance measuring sensor, the first abutting block is slidingly installed in the first cavity of the first arc-shaped shell and can only slide in the axial direction of the first outer cylinder, the side of the first abutting block close to the first limiting block is provided with a first V-shaped groove, the first abutting rod is fixedly installed on the first limiting block, and the end of the first abutting rod away from the first limiting block is embedded with a first ball, the first pre-tightening spring is assembled at the end of the first abutting block away from the first limiting block and is used for keeping the first ball of the first abutting rod always close to the V-shaped surface of the first V-shaped groove, and the auxiliary infrared distance measuring sensor is installed in the first cavity and at the end away from the first rotating disc, and is used for detecting the moving distance of the first abutting block.

[0020] As a preferred, the second limiting deflection assembly comprises a second arc-shaped shell, a second limiting ring structure and a second elastic limiting structure; wherein,

[0021] The second arc-shaped shell is coaxial with the second outer cylinder and is fixedly installed on the inner wall of the second outer cylinder, and a second arc-shaped groove is formed through the end of the second arc-shaped shell close to the second rotating disc;

[0022] The second limiting ring structure comprises a second limiting ring and a second limiting block, the second limiting ring is coaxially fixedly installed on the side of the second rotating disc close to the second arc-shaped shell, and the second limiting block is slidingly fitted in the second arc-shaped groove and fixedly connected with the second limiting ring;

[0023] The second elastic limiting structure comprises a second contact block, a second contact rod, a second pre-tightening spring and a main infrared distance sensor, the second contact block is slidingly installed in a second cavity of the second arc-shaped shell and can only slide in the axial direction of the second outer cylinder, a second V-shaped groove is arranged on the side of the second contact block close to the second limiting block, the second contact rod is fixedly installed on the second limiting block, and a second ball is embedded at the end of the second contact rod away from the second limiting block, the second pre-tightening spring is assembled at the end of the second contact block away from the second limiting block and is used for keeping the second ball of the second contact rod in close contact with the V-shaped surface of the second V-shaped groove, and the main infrared distance sensor is installed at the end of the second cavity away from the second rotating disc and is used for detecting the moving distance of the second contact block

[0024] Preferably, the output end of the second power source is slidingly connected with the second rotating disc through a telescopic elastic assembly; and a through hole is formed through the center position of the second rotating disc, and a protrusion is arranged on the inner wall of the through hole in the circumferential direction.

[0025] Preferably, the telescopic connecting assembly comprises a spline clamping column fitted in the through hole, and a connecting piece axially slidingly connected with the spline clamping column through an elastic structure, and the connecting piece is fixedly connected with the output end of the second power source.

[0026] Preferably, a hydraulic transmission component is further arranged between the first outer cylinder and the second outer cylinder, and the hydraulic transmission component comprises a first telescopic cylinder and a second telescopic cylinder; wherein,

[0027] The first telescopic cylinder is arranged at the side of the first contact block away from the first limiting block, the telescopic end of the first telescopic cylinder is fixedly connected with the first contact block, and the fixed end of the first telescopic cylinder is fixedly connected with the side wall of one end of the first cavity;

[0028] The second telescopic cylinder is fixedly arranged in the second outer cylinder through a fixing piece in the axial direction of the second outer cylinder, and the output end of the second telescopic cylinder abuts against one end of the spline clamping column through a third ball.

[0029] Preferably, the hydraulic transmission component further comprises an oil channel pipeline communicating the first telescopic cylinder and the second telescopic cylinder; the oil channel pipeline comprises a first pipeline in communication with the oil cylinder of the first telescopic cylinder, a second pipeline in communication with the oil cylinder of the second telescopic cylinder and a rotary joint, the first pipeline has a first connecting section coaxial with the first outer cylinder, the second pipeline has a second connecting section coaxial with the second outer cylinder, and the opposite ends of the first connecting section and the second connecting section respectively extend out of the first outer cylinder and the second outer cylinder and are connected through the rotary joint.

[0030] Preferably, the lifting assembly further comprises a scissor fork lifting seat, and the lifting driving assembly drives the scissor fork lifting seat to open and close to drive the mounting frame to complete the lifting action.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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:

[0037] 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;

[0038] 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.

[0039] 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.

[0040] Step S4. Adjust the pose of the pose adjustment system according to the output trajectory count, and after the adjustment is completed, feed back the output pose to the current attitude; wherein the 6-DOF pose adjustment system pose adjustment includes forward and backward translation pose adjustment, horizontal transverse movement pose adjustment, horizontal rotation pose adjustment, pitch pose adjustment, roll pose adjustment and lifting pose adjustment.

[0041] As preferably, the forward and backward translation pose adjustment is specifically that the transmission lead screws of the two parallel X-axis drive assemblies are synchronously rotated respectively, the transmission nuts sleeved on the transmission lead screws move on the lead screws, drive the X-axis transverse frame and the mounting platform fixedly installed on the X-axis transverse frame to move horizontally along the X-axis direction.

[0042] As preferably, the horizontal transverse movement pose adjustment is specifically that the transmission lead screws of the two parallel Y-axis drive assemblies are synchronously rotated respectively, the transmission nuts sleeved on the transmission lead screws move on the lead screws, drive the Y-axis transverse frame to move horizontally along the Y-axis direction.

[0043] As preferably, the horizontal rotation pose adjustment is specifically that the lead screw transmission modules of the two parallel Y-axis drive assemblies are differentially moved respectively, drive the Y-axis transverse frame to rotate in the horizontal plane.

[0044] As preferably, the pitch pose adjustment is specifically that the two Z-axis drive assemblies located in the short side direction of the Z-axis moving frame constitute a pair of pitch pose adjustment mechanisms, and the four Z-axis drive assemblies at the four corners of the Z-axis moving frame form two pairs of pitch pose adjustment mechanisms; the two pairs of pitch pose adjustment mechanisms are differentially moved, drive one side of the Z-axis moving frame to rise and the other side to descend.

[0045] As preferably, the roll pose adjustment is specifically that the two Z-axis drive assemblies located in the long side direction of the Z-axis moving frame constitute a pair of roll pose adjustment mechanisms, and the four Z-axis drive assemblies at the four corners of the Z-axis moving frame form two pairs of roll pose adjustment mechanisms; the two pairs of roll pose adjustment mechanisms are differentially moved, drive one side of the Z-axis moving frame to rise and the other side to descend.

[0046] As preferably, the lifting pose adjustment includes lifting coarse pose adjustment and lifting fine pose adjustment; wherein the lifting coarse pose adjustment is that the lifting drive assemblies at the four corners of the mounting frame are synchronously moved, drive the mounting frame as a whole to rise or descend; the lifting fine pose adjustment is that the four Z-axis drive assemblies at the four corners of the Z-axis moving frame are synchronously moved, drive the Z-axis moving frame as a whole to rise or descend.

[0047] The beneficial effects of the present application are as follows:

[0048] 1. The 6-DOF pose adjustment system of the present application can realize high-precision, high-reliability, low-labor-intensity and strong adaptability of high-precision assembly and installation of large and heavy components such as aircraft engines through the innovative design of series-parallel mechanism fusion, dual power source redundant drive and electric collaborative control.

[0049] 2、The application adopts the series-parallel structure of the lifting assembly and the Z-axis / Y-axis / X-axis driving assembly, the lifting assembly is combined with the lead screw transmission through the scissor fork lifting seat, high-precision adjustment of the displacement in the Z-axis direction is realized, the X / Y-axis driving assembly is connected with the lead screw module through the slide, the adjustment precision is far higher than that of the hydraulic system and the pure series system, the docking demand of the aero-engine and the fuselage can be accurately matched. The posture adjusting system can accurately adjust the position of the mounting platform in a very small range, so that the accurate docking of the engine and the body is ensured.

[0050] 3、The application forms the series-parallel structure of the servo motor, the hand wheel and the lead screw module through the transmission mechanism, so that the driving source for driving the rotation of the lead screw can be the servo motor or the hand wheel, the manual or semi-automatic mounting mode in the prior art is solved, the stability and redundancy of the whole device under the manual condition or the full-automatic condition are limited, so that efficient and accurate posture adjustment is realized, and the stability of the whole device and the operability under the emergency condition are ensured.

[0051] 4、The application realizes the flexible connection of the power source and the transmission mechanism through the first / second elastic deflection mechanism, when the hand wheel is driven, the limiting block of the second elastic deflection mechanism slides along the circular arc groove, drives the abutting block to compress the pre-tightening spring, after the deflection amount is detected by the main infrared distance measuring sensor, the servo motor outputs the auxiliary torque through the first elastic deflection mechanism, so that the manual driving force of the operator is significantly reduced.

[0052] 5、When the servo motor is driven, the abutting block of the first elastic deflection mechanism extrudes the first telescopic cylinder, the oil pushes the second telescopic cylinder to extend through the oil path pipeline, so that the spline clamping column is separated from the through hole of the second rotating disc, the connection between the hand wheel and the second bevel gear is automatically released, and the collision risk caused by the high-speed rotation of the hand wheel with the motor is avoided.

[0053] 6、The application adopts the design of the pure electric lead screw transmission as the main part and the hydraulic auxiliary protection, a small amount of hydraulic oil is used only in the power release link of the elastic deflection mechanism, the oil path pipeline adopts the rotary joint and the sealed oil cylinder, there is no leakage risk, the pollution of the hydraulic system to the precise parts of the aero-engine is avoided, and the cleanliness requirement of the aircraft manufacturing is met. BRIEF DESCRIPTION OF DRAWINGS

[0054] The foregoing and subsequent specific description of the application becomes clearer when read in conjunction with the following drawings, in which:

[0055] Figure 1 is a first perspective structure schematic view of the 6-degree-of-freedom posture adjusting system of the application;

[0056] Figure 2 is a second perspective structure schematic view of the 6-degree-of-freedom posture adjusting system of the application;

[0057] Figure 3 is a third perspective view of the 6-DOF attitude adjustment system of the present application;

[0058] Figure 4 is a partial view of A of Figure 3 ;

[0059] Figure 5 is a schematic view of the driving assembly of the present application;

[0060] Figure 6 is a schematic view of the transmission mechanism of the present application;

[0061] Figure 7 is a top view of Figure 6 ;

[0062] Figure 8 is a schematic view of A-A direction of Figure 7 ;

[0063] Figure 9 is a schematic view of the first elastic deflection mechanism of the present application;

[0064] Figure 10 is a schematic view of the second elastic deflection mechanism of the present application;

[0065] Figure 11 is a schematic view of the first bevel gear and the second bevel gear of the present application;

[0066] Figure 12 is a top view of Figure 11 ;

[0067] Figure 13 is a schematic view of the second rotating disc of the present application;

[0068] Figure 14 is a schematic view of the first elastic deflection mechanism and the second elastic deflection mechanism of the present application;

[0069] Figure 15 is a schematic view of Figure 14 after the first outer cylinder and the second outer cylinder are removed.

[0070] In the figure:

[0071] 1, moving seat; 11, mounting frame; 111, lateral support bar; 112, telescopic cylinder; 12, Z-axis moving frame; 121, first slide; 13, Y-axis transverse moving frame; 131, second slide; 14, X-axis transverse moving frame; 15, mounting platform; 10, auxiliary support mechanism; 101, support disc; 102, support driving assembly;

[0072] 21, scissor fork lifting seat; 22, lifting driving assembly; 31, Z-axis driving assembly; 32, Y-axis driving assembly; 33, X-axis driving assembly; 41, first power source; 42, second power source;

[0073] 5, transmission mechanism; 51, outer shell; 52, first bevel gear; 53, second bevel gear; 54, third bevel gear;

[0074] 6, walking driving mechanism; 61, rotating support; 62, walking wheel; 63, first motor; 64, second motor; 65, first gear; 66, second gear;

[0075] 7, first elastic deflection mechanism; 71, first limiting deflection assembly; 711, first arc-shaped shell; 7111, first cavity; 7112, first arc-shaped groove; 712, first limiting ring structure; 7121, first limiting ring; 7122, first limiting block; 7131, first abutting block; 71311, first V-shaped groove; 7132, first abutting rod; 7133, first pre-tightening spring; 7134, auxiliary infrared distance measuring sensor; 72, first outer cylinder; 73, first rotating disc;

[0076] 8, second elastic deflection mechanism; 81, second limiting deflection assembly; 811, second arc-shaped shell; 8111, second cavity; 8112, second arc-shaped groove; 812, second limiting ring structure; 8121, second limiting ring; 8122, second limiting block; 8131, second abutting block; 81311, second V-shaped groove; 8132, second abutting rod; 8133, second pre-tightening spring; 8134, main infrared distance measuring sensor; 82, second outer cylinder; 83, second rotating disc; 831, through hole; 832, protrusion;

[0077] 911, first telescopic cylinder; 912, second telescopic cylinder; 9131, first pipeline; 9132, second pipeline; 9133, rotating joint; 92, spline clamping column; 93, elastic structure; 94, connecting piece. DETAILED DESCRIPTION

[0078] In order to make the skilled in the art better understand the technical solutions in the present application, the following will further illustrate the technical solutions for achieving the purposes of the present application through specific embodiments. It should be noted that the technical solutions claimed by the present application include but are not limited to the following embodiments. Based on the embodiments in the present application, all other embodiments obtained by the skilled in the art without making creative efforts should belong to the scope of protection of the present application.

[0079] The embodiment of the application discloses a 6-DOF attitude adjustment system based on a series-parallel structure, which is mainly used for automatic assembly of large power components such as airplane engines. Figures 1-2 As shown in the accompanying drawings, the 6-DOF attitude adjustment system mainly comprises the following components and structures: a moving seat 1, an installation frame 11 movably installed on the top of the moving seat 1 through a lifting assembly, a Z-axis moving frame 12 movably installed on the inner side of the installation frame 11 through a Z-axis driving assembly 31, a Y-axis transverse moving frame 13 movably installed on the top of the Z-axis moving frame 12 through a Y-axis driving assembly 32, an X-axis transverse moving frame 14 movably installed on the top of the Y-axis transverse moving frame 13 through an X-axis driving assembly 33, and an installation platform 15 fixedly installed on the X-axis transverse moving frame 14.

[0080] When the 6-DOF attitude adjustment system is used, after an on-site operator transfers an aero-engine to be installed onto the installation platform 15 through a mechanical device, the height of the installation frame 11 can be preliminarily and coarsely adjusted through the lifting assembly, so that the aero-engine on the installation platform 15 can be lifted to a suitable position (i.e., the aero-engine is close to the aircraft body), to facilitate subsequent accurate adjustment of the position of the aero-engine by a technician.

[0081] During the accurate adjustment of the position of the aero-engine, the technician can drive the installation platform 15 to move in any direction in a certain space (forward and backward, left and right, up and down, pitch, roll and rotation in the horizontal plane) by operating the Z-axis driving assembly 31, the X-axis driving assembly 33 and the Y-axis driving assembly 32, to change the position of the installation platform 15, so as to realize accurate docking of the aero-engine and the aircraft body.

[0082] The components and structures of the 6-DOF attitude adjustment system will be described in detail below.

[0083] As shown in the accompanying drawings, the lifting assembly comprises a lifting driving assembly 22 and a scissor fork lifting seat 21. Figure 2 The lifting driving assembly 22 directly drives the installation frame 11 connected thereto to rise or fall, to realize lifting of the installation platform 15; during the lifting of the installation frame 11, the scissor fork lifting seat 21 is configured to open and close with the lifting of the installation frame 11, to achieve the effect of assisting in supporting the installation frame 11 to complete the lifting action, that is, the scissor fork lifting seat 21 can make the lifting of the installation frame more stable, and has a good supporting effect.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] Furthermore, such as Figure 1 and Figure 2 As 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.

[0088] The scissor fork lifting seat 21 has two pairs of X-shaped scissors arms symmetrically arranged at the central position between the two lateral support strips 111 and the moving seat 1, and the two ends of the X-shaped scissors arms are respectively hinged with the moving seat 1 and the lateral support strip 111. Moreover, a plurality of support rods are rotationally connected between the X-shaped scissors arms of the two pairs of scissor fork lifting seats. Through the internally arranged scissor fork lifting seat and the additionally arranged plurality of groups of support rods, the lateral overturning force and the tensile torsional force borne by the platform can be effectively counteracted as the mounting frame 11 is lifted.

[0089] Specifically, the two ends of the top of the two lateral support strips 111 are provided with a Z-axis driving assembly 31, wherein the transmission screw of the Z-axis driving assembly 31 vertically penetrates the lateral support strip 111, the input end is connected with the third bevel gear 54 of the corresponding transmission mechanism 5, and the transmission nut of each Z-axis driving assembly 31 is respectively assembled at the corresponding corner position of the Z-axis moving frame 12 and is movably connected with the Z-axis moving frame 12 through a ball head hinge or a knuckle bearing. The Z-axis driving assembly 31 of the present application has four groups in total, which are respectively located at the four corners of the Z-axis moving frame 12, and since the transmission nut is hinged with the Z-axis moving frame 12, the vertical lifting adjustment, the pitch adjustment and the roll adjustment of the Z-axis moving frame 12 can be realized through the cooperation between the four groups of Z-axis driving assemblies 31, and finally the mounting platform 15 mounted thereon is driven to move synchronously to realize the lifting, pitch and roll pose adjustment.

[0090] The two ends of the Z-axis moving frame 12 are provided with a first sliding channel 121 in the Y-axis direction, the Y-axis transverse moving frame 13 is slidingly installed on the two first sliding channels 121, and a Y-axis driving assembly 32 is installed on each first sliding channel 121, wherein the transmission screw of the Y-axis driving assembly 32 is arranged in the direction of the first sliding channel 121, and the transmission nut of the Y-axis driving assembly 32 is connected with the bottom of the Y-axis transverse moving frame 13. The present application has two Y-axis driving assemblies 32 in total, and the transmission screws of the two Y-axis driving assemblies 32 are parallel to each other. Similarly, the input ends of the transmission screws of the two Y-axis driving assemblies 32 are connected with the third bevel gear 54 of the corresponding transmission mechanism 5, and the transmission nut of each Y-axis driving assembly 32 is movably connected with the Y-axis transverse moving frame 13 through a ball head hinge or a knuckle bearing. Based on the above movable connection relationship, the horizontal transverse movement and the rotation adjustment in the horizontal plane of the Y-axis transverse moving frame 13 can be realized through the cooperation between the two pairs of Y-axis driving assemblies 32, and finally the mounting platform 15 mounted thereon is driven to move synchronously to realize the left-right horizontal pose and the angle pose adjustment in the horizontal plane.

[0091] The second slide 131 in the X-axis direction is arranged on both sides of the top of the Y-axis transverse frame 13, the X-axis transverse frame 14 is slidingly assembled on the two second slides 131, wherein the X-axis driving assembly 33 is further arranged on the Y-axis transverse frame 13 between the two second slides 131, the transmission screw of the X-axis driving assembly 33 is arranged in the X-axis direction, and the transmission nut of the X-axis driving assembly 33 is connected with the bottom of the X-axis transverse frame 14. The input end of the transmission screw of the X-axis driving assembly 33 is connected with the third bevel gear 54 of the corresponding transmission mechanism 5, and the transmission nut of the X-axis driving assembly 33 is fixedly connected with the bottom of the X-axis transverse frame 14, without the need for movable connection. The X-axis driving assembly 33 drives the X-axis transverse frame 14 to move horizontally forward and backward, and finally drives the mounting platform 15 mounted thereon to move synchronously, so as to realize forward and backward pose adjustment.

[0092] As shown in Figure 3 and Figure 4 In the embodiment, the walking driving mechanism 6 is arranged at each of the four corner positions of the bottom of the mobile seat 1, the walking driving mechanism 6 comprises a rotating support 61 rotatably arranged on the bottom of the mobile seat 1 through a rotating shaft, a walking wheel 62 rotatably arranged on the rotating support 61, a first motor 63 for driving the walking wheel 62 to rotate, and a second motor 64 in transmission connection with the rotating shaft through a second transmission structure; the second transmission structure comprises a first gear 65 fixedly assembled on the rotating shaft and a second gear 66 fixedly assembled on the output end of the second motor 64 and in meshing connection with the first gear 65.

[0093] Based on the above arrangement, in use, the second motor 64 drives the second gear 66 on the output end thereof to rotate, the second gear 66 drives the first gear 65 in meshing connection therewith to rotate, and further drives the rotating shaft to rotate, so that the rotating support 61 rotates around the rotating shaft, to realize angle adjustment of the walking wheel 62 (to realize the effect of reversing the walking wheel 62), and the output end of the first motor 63 is connected with the walking wheel 62, and after being started, can drive the walking wheel 62 to rotate by itself, to realize walking movement of the mobile seat 1.

[0094] As shown in Figure 4 In the embodiment, the auxiliary support mechanism 10 is arranged on the side of the bottom of the mobile seat 1 close to the walking driving mechanism 6, the auxiliary support mechanism 10 comprises a support disc 101 and a support driving assembly 102 for driving the support disc to move in the Z-axis direction, the structure of the support driving assembly 102 is the same as that of the lifting driving assembly 22, the support driving assembly 102 is fixedly arranged on the bottom of the mobile seat 1, and the support disc 101 is arranged on the movable end of the support driving assembly.

[0095] The embodiment is based on the above setting. When the moving base 1 is moved, the support driving assembly 102 drives the support disc 101 to move upwards, so that the support disc 101 is separated from the ground, and the moving base 1 is moved. When the moving base 1 moves to a predetermined position, the support driving assembly 102 drives the support disc 101 to move downwards, so that the support disc 101 is in contact with the ground, and the position of the moving base 1 is fixed, so that the moving base 1 is prevented from moving.

[0096] Embodiment 2

[0097] On the basis of embodiment 1, when a hand wheel is used as a power input component, in order to reduce the labor intensity of the operator, that is, to reduce the driving hand wheel rotation torque (because the weight of the aircraft generator is large, the torque for driving the rotation of the lead screw is large), as shown in Figures 6-8 and Figure 14 The output end of the servo motor is connected with the first bevel gear 52 through a first elastic deflection mechanism 7. The first elastic deflection mechanism 7 includes a first outer cylinder 72 fixedly assembled in the inside of the first bevel gear 52, a first rotating disc 73 rotatably assembled at one end in the inside of the first outer cylinder 72, and a first limiting deflection assembly 71 for limiting the quantitative deflection of the first rotating disc 73.

[0098] Further, as shown in Figure 9 , Figure 11 , Figure 12 and Figure 15 The first limiting deflection assembly 71 includes a first arc-shaped shell 711, a first limiting ring structure 712, and a first elastic limiting structure.

[0099] The first arc-shaped shell 711 is coaxial with the first outer cylinder 72 and is fixedly installed on the inner wall of the first outer cylinder 72. A first cavity 7111 is formed in the first arc-shaped shell 711. A first arc-shaped groove 7112 is formed in one end of the first arc-shaped shell 711 close to the first rotating disc 73.

[0100] 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 and fixedly installed on the side of the first rotating disc 73 close to the first arc-shaped shell 711. The first limiting block 7122 is slidingly fitted in the first arc-shaped groove 7112 and is fixedly connected with the first limiting ring 7121.

[0101] The first elastic limiting structure comprises a first abutting block 7131, a first abutting rod 7132, a first pre-tightening spring 7133 and an auxiliary infrared distance measuring sensor 7134. The first abutting block 7131 is slidingly installed in the first cavity 7111 and can only slide in the axial direction of the first outer cylinder 72. A first V-shaped groove 71311 is arranged on the side of the first abutting block 7131 close to the first limiting block 7122. The first abutting rod 7132 is fixedly installed on the first limiting block 7122, and a first ball is embedded at the end of the first abutting rod 7132 away from the first limiting block 7122. The first pre-tightening spring 7133 is assembled at the end of the first abutting block 7131 away from the first limiting block 7122 and is used to make the first ball of the first abutting rod 7132 always tightly adhere to the V-shaped surface of the first V-shaped groove 71311. The auxiliary infrared distance measuring sensor 7134 is installed at the end of the first cavity 7111 away from the first rotating disc 73 and is used to detect the distance moved by the first abutting block 7131.

[0102] Further, as shown in Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 15 , in the embodiment, the output end of the hand wheel is connected with the second bevel gear 53 through a second elastic deflection mechanism 8. The second elastic deflection mechanism 8 comprises a second outer cylinder 82 fixedly assembled in the inside of the second bevel gear 53, a second rotating disc 83 rotatingly assembled at one end inside the second outer cylinder 82, and a second limiting deflection assembly 81 for limiting the quantitative deflection of the second rotating disc 83.

[0103] The second limiting deflection assembly 81 comprises a second arc-shaped shell 811, a second limiting ring structure 812 and a second elastic limiting structure.

[0104] 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 cavity 8111 is formed in the second arc-shaped shell 811. A second arc-shaped groove 8112 is formed through the end of the second arc-shaped shell 811 close to the second rotating disc 83.

[0105] The second limiting ring structure 812 comprises 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 disc 83 close to the second arc-shaped shell 811. The second limiting block 8122 is slidingly fitted in the second arc-shaped groove 8112 and is fixedly connected with the second limiting ring 8121.

[0106] The second elastic limiting structure comprises a second abutting block 8131, a second abutting rod 8132, a second pre-tightening spring 8133 and a main infrared distance sensor 8134. The second abutting block 8131 is slidingly installed in the second cavity 8111 and can only slide in the axial direction of the second outer cylinder 82. A second V-shaped groove 81311 is arranged on one side of the second abutting block 8131 close to the second limiting block 8122. The second abutting rod 8132 is fixedly installed on the second limiting block 8122, and a second ball is embedded at an end of the second abutting rod 8132 away from the second limiting block 8122. The second pre-tightening spring 8133 is assembled at an end of the second abutting block 8131 away from the second limiting block 8122 and is used to make the second ball of the second abutting rod 8132 always tightly adhere to the V-shaped surface of the second V-shaped groove 81311. The main infrared distance sensor 8134 is installed at an end of the second cavity 8111 away from the second rotating disc 83 and is used to detect the distance moved by the second abutting block 8131.

[0107] Based on the above arrangement, in the process of driving the transmission screw to rotate, the output end of the hand wheel 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 in the process of the 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 in the process of the deflection.

[0108] In this way, when the hand wheel 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 hand wheel relative to the second bevel gear 53, so that the output end of the servo motor can deflect relative to the first bevel gear 52. Therefore, the servo motor can provide an auxiliary torque to drive the third bevel gear 54, thereby reducing the torque of the operator manually driving the hand wheel to rotate the third bevel gear 54, and ultimately reducing the labor intensity of the operator.

[0109] Specifically, initially, under the action of the first pre-tightening spring 7133, the ball at the end of the first abutting rod 7132 is located at the center position of the first V-shaped groove 71311, and the first limiting block 7122 is located at the center of the first circular arc groove 7112. Similarly, under the action of the second pre-tightening spring 8133, the ball at the end of the second abutting rod 8132 is located at the center position of the second V-shaped groove 81311.

[0110] When the hand wheel is used as the power input component, the torque required for the rotation of the transmission screw is large, at this time, the output end of the hand wheel (i.e. the second rotating disc 83) will be deflected relative to the second outer cylinder 82 (i.e. the second bevel gear 53), in the process of deflection, the second limiting block 8122 will drive the second contact rod 8132 to move, and then the second contact block 8131 moves away from the second rotating disc 83, at this time, the second pre-tightening spring 8133 is compressed, the main infrared distance sensor 8134 can detect the distance of the movement of the second contact block 8131, and drive the output end of the servo motor to rotate correspondingly, so that the auxiliary infrared distance sensor 7134 can detect a value equal to the value detected by the main infrared distance sensor 8134, and the servo motor provides an auxiliary torque to drive the third bevel gear 54, thereby reducing the torque of the technician manually driving the hand wheel to rotate the third bevel gear 54, and reducing the labor intensity of the technician. The rotation direction of the hand wheel and the rotation direction of the servo motor can be identified by means of the sensors in the prior art, such as a steering angle sensor.

[0111] When the servo motor is used as the power input component, the servo motor does not need to consider the output torque problem, at this time, the output end of the servo motor rotates, drives the third bevel gear 54 to rotate through the first bevel gear 52, and then drives the transmission screw to rotate.

[0112] It is worth mentioning that in the process of rotation of the third bevel gear 54, the second bevel gear 53 will also rotate correspondingly, and the hand wheel will be passively rotated, since the hand wheel is light in weight, at this time, under the action of the second pre-tightening spring 8133, the ball at the end of the second contact rod 8132 is located at the center position of the second V-shaped groove 81311, the value detected by the main infrared distance sensor 8134 is 0, and it will not affect the normal rotation of the servo motor.

[0113] Further, the output end of the servo motor is fixedly connected with the first rotating disc 73, and the output end of the hand wheel is slidably connected with the second rotating disc 83 through a telescopic elastic assembly; a through hole 831 is formed through the center position of the second rotating disc 83, and a protrusion 832 is arranged on the inner side of the through hole 831 in the circumferential direction;

[0114] The telescopic connecting assembly comprises a spline clamping column 92 fitted in the through hole 831, and a connecting piece 94 axially slidably connected with the spline clamping column 92 through an elastic structure 93, and the connecting piece 94 is fixedly connected with the output end of the hand wheel.

[0115] The hydraulic transmission component is further arranged between the first outer cylinder 72 and the second outer cylinder 82, and the hydraulic transmission component comprises a first telescopic cylinder 911, a second telescopic cylinder 912, and an oil line pipeline connecting the first telescopic cylinder 911 and the second telescopic cylinder 912;

[0116] The first telescopic cylinder 911 is arranged on the side of the first abutting block 7131 away from the first limiting block 7122, and the telescopic end of the first telescopic cylinder 911 is fixedly connected with the first abutting block 7131, and the fixed end of the first telescopic cylinder 911 is fixedly connected with the side wall of one end of the first chamber 7111.

[0117] The second telescopic cylinder 912 is fixed in the second outer cylinder 82 along the axial direction of the second outer cylinder 82 through a fixing member, and the output end of the second telescopic cylinder 912 is abutted on one end of the spline clamping column 92 through the third ball.

[0118] The oil circuit pipeline comprises a first pipeline 9131 in communication with the oil cylinder of the first telescopic cylinder 911, a second pipeline 9132 in communication with the oil cylinder of the second telescopic cylinder 912, and a rotary joint 9133, the first pipeline 9131 has a first connecting section coaxial with the first outer cylinder 72, the second pipeline 9132 has a second connecting section coaxial with the second outer cylinder 82, and the opposite ends of the first connecting section and the second connecting section extend out of the first outer cylinder 72 and the second outer cylinder 82 respectively and are connected through the rotary joint 9133.

[0119] In this embodiment, when a servo motor is used as a power input component, it can be known from the foregoing that the output end of the servo motor (i.e., the first rotating disc 73) will be deflected relative to the first outer cylinder 72 (the first bevel gear 52), and in this process, the first abutting block 7131 will press the first telescopic cylinder 911 to make the oil in the first telescopic cylinder 911 enter the second telescopic cylinder 912 through the oil circuit pipeline, so that the second telescopic cylinder 912 is elongated, and the elongation of the second telescopic cylinder 912 pushes the spline clamping column 92 to move out of the through hole 831, so as to automatically release the connection relationship between the output end of the hand wheel and the second bevel gear 53, so as to avoid the rotation of the hand wheel and the safety hazard caused thereby (because in order to facilitate the rotation of the hand wheel by the technical personnel, the hand wheel is generally arranged on the outside of the moving seat 1, and when the servo motor drives the third bevel gear 54 to rotate through the first bevel gear 52, the hand wheel will rotate rapidly, and once it collides with the nearby technical personnel, it will cause injury).

[0120] In this embodiment, the two sides of the protrusion 832 near one end of the hand wheel are symmetrically provided with first inclined surfaces, and one end of the spline clamping column 92 away from the hand wheel is provided with second inclined surfaces corresponding to the first inclined surfaces. When the servo motor stops rotating, the spline clamping column 92 can be smoothly clamped into the through hole 831 through the cooperation of the second inclined surfaces and the second inclined surfaces under the elastic force of the elastic structure 93.

[0121] Embodiment 3

[0122] Based on the same inventive concept, the application further discloses a 6-DOF attitude adjustment method based on a series-parallel structure, which is realized based on the 6-DOF attitude adjustment system and the specific attitude adjustment process is as follows.

[0123] Step S1. After the system is powered on, the states of the four lifting drive assemblies 22, the four Z-axis drive assemblies 31, the two Y-axis drive assemblies 32 and the X-axis drive assembly 33 are 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 then the state of each drive assembly can be obtained.

[0124] Step S2. The current attitude of the 6-DOF attitude adjustment system is obtained by controlling the reference combined with kinematic calculation, and the target pose is set. After the setting is completed, the feasibility of the trajectory is judged. If it is feasible, the next process is entered. If it is not feasible, it returns to the current attitude.

[0125] Step S3. Process parameters are set, including control reference, motion trajectory and discrete interval. After the setting is completed, it is judged whether the trajectory changes. If it changes, a new trajectory is generated, the trajectory count is refreshed and output. If the trajectory does not change, the original trajectory is maintained, and the trajectory count is output.

[0126] Step S4. The pose of the attitude adjustment system is adjusted according to the output trajectory count. After the adjustment is completed, the output pose is fed back to the current attitude. The 6-DOF attitude adjustment system pose adjustment includes forward and backward translation attitude adjustment, horizontal transverse movement attitude adjustment, horizontal rotation attitude adjustment, pitch attitude adjustment, roll attitude adjustment and lifting attitude adjustment.

[0127] In the embodiments described in the application, the kinematic calculation and trajectory calculation are well known in the art, and will not be described in detail here.

[0128] For the above forward and backward translation attitude adjustment, horizontal transverse movement attitude adjustment, horizontal rotation attitude adjustment, pitch attitude adjustment, roll attitude adjustment and lifting attitude adjustment, the specific adjustment process is as follows:

[0129] (1) Forward and backward translation attitude adjustment

[0130] The transmission screw of the X-axis drive assembly 33 on the Y-axis transverse frame 13 rotates under the driving action of the servo motor or hand wheel, the transmission nut sleeved on the transmission screw moves horizontally on the screw, thereby driving the X-axis transverse frame 14 connected thereto and the mounting platform 15 fixedly installed on the X-axis transverse frame 14 to move horizontally along the X-axis direction, realizing the adjustment of the overall forward and backward position.

[0131] (2) Horizontal transverse movement attitude adjustment

[0132] The transmission screw rods of the two parallel Y-axis drive assemblies 32 on the Z-axis moving frame 12 rotate synchronously, the transmission nuts sleeved on the transmission screw rods move on the screw rods, drive the Y-axis transverse frame 13 connected therewith to move horizontally along the Y-axis direction, and finally realize the position adjustment of the mounting platform 15 in the Y-axis direction.

[0133] (3) Horizontal rotation attitude adjustment

[0134] The horizontal rotation attitude adjustment is still realized by the Y-axis drive assemblies 32, specifically, the screw transmission modules of the two parallel Y-axis drive assemblies 32 are controlled to make differential motion, for example, one screw rod moves faster and the other screw rod moves slower, or the rotating directions of the two screw rods are opposite, so that the transmission nuts sleeved on the screw rods are not consistent in the Y-axis direction, that is, the two transmission nuts have a distance difference in the Y-axis direction, and since the Y-axis transverse frame 13 is connected with the transmission nuts through a spherical hinge or a joint bearing, the Y-axis transverse frame 13 will rotate in the horizontal plane, drive the mounting platform 15 to rotate as a whole, and finally realize the attitude adjustment of the mounting platform 15 in the horizontal plane.

[0135] (4) Pitch attitude adjustment

[0136] The Z-axis drive assemblies 31 are arranged at four corners of the Z-axis moving frame 12, two Z-axis drive assemblies 31 located in the short side direction of the Z-axis moving frame 12 constitute a pair of pitch attitude adjustment mechanisms, and the four Z-axis drive assemblies 31 at the four corners of the Z-axis moving frame 12 form two pairs of pitch attitude adjustment mechanisms; the system controls the two pairs of pitch attitude adjustment mechanisms to make differential motion (the differential motion mode is the same as that of the horizontal rotation attitude adjustment, which will not be described in detail here), so that one side of the short side of the Z-axis moving frame 12 rises and the other side of the short side of the Z-axis moving frame 12 descends, the mounting platform 15 moves synchronously with the Z-axis moving frame 12, and thus the pitch attitude adjustment of the mounting platform 15 is realized.

[0137] (5) Roll attitude adjustment

[0138] Similarly, the roll attitude adjustment is also realized by the four Z-axis drive assemblies 31, specifically, when the roll angle adjustment is performed, two Z-axis drive assemblies 31 located in the long side direction of the Z-axis moving frame 12 constitute a pair of roll attitude adjustment mechanisms, and the four Z-axis drive assemblies 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 make differential motion (the differential motion mode is the same as that of the horizontal rotation attitude adjustment, which will not be described in detail here), so that one side of the long side of the Z-axis moving frame 12 rises and the other side of the long side of the Z-axis moving frame 12 descends, the mounting platform 15 moves synchronously with the Z-axis moving frame 12, and thus the roll attitude adjustment of the mounting platform 15 is realized.

[0139] (6) Lifting attitude adjustment

[0140] The lifting coarse adjustment posture and the lifting fine adjustment posture are included; wherein the lifting coarse adjustment posture is that the system controls the synchronous movement of the lifting drive assemblies 22 at the four corners of the mounting frame 11, drives the whole mounting frame 11 to rise or fall, and the mounting platform 15 moves synchronously with the mounting frame 11; the lifting fine adjustment posture is that the system controls the synchronous movement of the four Z-axis drive assemblies 31 at the four corners of the Z-axis moving frame 12, drives the whole Z-axis moving frame 12 to rise or fall, and the mounting platform 15 moves synchronously with the Z-axis moving frame 12.

[0141] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification or equivalent change of the above embodiment according to the technical essence of the present application falls within the protection scope of the present application.

Claims

1. A 6-DOF pose adjustment system based on series-parallel structure, characterized in that, The device comprises a mobile base (1), a mounting frame (11) movably mounted on the top of the mobile base (1) through a lifting assembly, a Z-axis moving frame (12) movably mounted on the inner side of the mounting frame (11) through a Z-axis driving assembly (31), a Y-axis transverse moving frame (13) movably mounted on the top of the Z-axis moving frame (12) through a Y-axis driving assembly (32), an X-axis transverse moving frame (14) movably mounted on the top of the Y-axis transverse moving frame (13) through an X-axis driving assembly (33), and a mounting platform (15) fixedly mounted on the X-axis transverse moving frame (14). The lifting driving assembly (22), the Z-axis driving assembly (31), the Y-axis driving assembly (32) and the X-axis driving assembly (33) each comprise a first power source (41), a second power source (42) and a lead screw transmission module, and the two power sources are connected with the lead screw transmission module through a transmission mechanism (5). The transmission mechanism (5) comprises an outer shell (51), a first bevel gear (52), a second bevel gear (53) and a third bevel gear (54) rotatably mounted in the outer shell (51), the first bevel gear (52) and the second bevel gear (53) are respectively engaged with the third bevel gear (54). The output end of the first power source (41) is connected with the first bevel gear (52) through a first elastic deflection mechanism (7) to allow the output end of the first power source (41) to be deflected relative to the first bevel gear (52) and gradually increase the torque on the first bevel gear (52) during the deflection. The output end of the second power source (42) is connected with the second bevel gear (53) through a second elastic deflection mechanism (8) to allow the output end of the second power source (42) to be deflected relative to the second bevel gear (53) and gradually increase the torque on the second bevel gear (53) during the deflection, and the second elastic deflection mechanism (8) cooperates with the first elastic deflection mechanism (7) to realize auxiliary torque supply. The input end of the transmission lead screw of the lead screw transmission module is connected with the third bevel gear (54), and the transmission nut is hinged with the bearing structure through a ball joint or a joint bearing.

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

3. The 6-DOF pose adjustment system based on series-parallel structure according to claim 2, characterized in that, The first limiting deflection assembly (71) comprises a first circular-arc-shaped shell (711), a first limiting ring structure (712) and a first elastic limiting structure; wherein, The first circular-arc-shaped shell (711) is coaxial with the first outer cylinder (72) and is fixedly installed on the inner wall of the first outer cylinder (72), and a first circular-arc groove (7112) is formed through the end of the first circular-arc-shaped shell (711) close to the first rotating disc (73); The first limiting ring structure (712) comprises 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 disc (73) close to the first circular-arc-shaped shell (711), and the first limiting block (7122) is slidingly installed in the first circular-arc groove (7112) and is fixedly connected with the first limiting ring (7121); The first elastic limiting structure comprises a first abutting block (7131), a first abutting rod (7132), a first pre-tightening spring (7133) and an auxiliary infrared distance measuring sensor (7134), the first abutting block (7131) is slidingly installed in the first cavity (7111) of the first circular-arc-shaped shell (711) and can only slide in the axial direction of the first outer cylinder (72), the side of the first abutting block (7131) close to the first limiting block (7122) is provided with a first V-shaped groove (71311), the first abutting rod (7132) is fixedly installed on the first limiting block (7122), and the end of the first abutting rod (7132) away from the first limiting block (7122) is embedded with a first ball, the first pre-tightening spring (7133) is assembled at the end of the first abutting block (7131) away from the first limiting block (7122) and is used for keeping the first ball of the first abutting rod (7132) in close contact with the V-shaped surface of the first V-shaped groove (71311), and the auxiliary infrared distance measuring sensor (7134) is installed in the first cavity (7111) and at the end away from the first rotating disc (73) and is used for detecting the moving distance of the first abutting block (7131).

4. The 6-DOF pose adjustment system based on series-parallel structure according to claim 2, characterized in that, The second limiting deflection assembly (81) comprises a second circular-arc-shaped shell (811), a second limiting ring structure (812) and a second elastic limiting structure; wherein, The second circular-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), and a second circular-arc groove (8112) is formed through the end of the second circular-arc-shaped shell (811) close to the second rotating disc (83); The second limiting ring structure (812) comprises 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 disc (83) close to the second circular-arc-shaped shell (811), and the second limiting block (8122) is slidingly fitted in the second circular-arc groove (8112) and is fixedly connected with the second limiting ring (8121); The second elastic limiting structure comprises a second abutting block (8131), a second abutting rod (8132), a second pre-tightening spring (8133) and a second infrared distance measuring sensor (8134), the second abutting block (8131) is slidingly installed in the second cavity (8111) of the second circular-arc-shaped shell (811) and can only slide in the axial direction of the second outer cylinder (82), the side of the second abutting block (8131) close to the second limiting block (8122) is provided with a second V-shaped groove (81311), the second abutting rod (8132) is fixedly installed on the second limiting block (8122), and the end of the second abutting rod (8132) away from the second limiting block (8122) is embedded with a second ball, the second pre-tightening spring (8133) is assembled at the end of the second abutting block (8131) away from the second limiting block (8122) and is used for keeping the second ball of the second abutting rod (8132) in close contact with the V-shaped surface of the second V-shaped groove (81311), and the second infrared distance measuring sensor (8134) is installed in the second cavity (8111) and at the end away from the second rotating disc (83) and is used for detecting the moving distance of the second abutting block (8131). The second elastic limiting structure comprises a second contact block (8131), a second contact rod (8132), a second pre-tightening spring (8133) and a main infrared distance sensor (8134), the second contact block (8131) is slidingly installed in the second cavity (8111) of the second arc-shaped shell (811) and can only slide in the axial direction of the second outer cylinder (82), a second V-shaped groove (81311) is arranged on the side of the second contact block (8131) close to the second limiting block (8122), the second contact rod (8132) is fixedly installed on the second limiting block (8122), and a second ball is embedded at the end of the second contact rod (8132) away from the second limiting block (8122), the second pre-tightening spring (8133) is assembled at the end of the second contact block (8131) away from the second limiting block (8122) and is used for keeping the second ball of the second contact rod (8132) in close contact with the V-shaped surface of the second V-shaped groove (81311), and the main infrared distance sensor (8134) is installed at the end of the second cavity (8111) away from the second rotating disc (83) and is used for detecting the moving distance of the second contact block (8131).

5. The 6-DOF pose adjustment system based on series-parallel structure according to claim 2, characterized in that, The output end of the second power source (42) is slidingly connected with the second rotating disc (83) through a telescopic elastic assembly, and a through hole (831) is formed in the center of the second rotating disc (83), and the inner wall of the through hole (831) is provided with a protrusion (832) in the circumferential direction.

6. The 6-DOF pose adjustment system based on series-parallel structure according to claim 5, characterized in that, The telescopic elastic assembly comprises a spline clamping column (92) fitted in the through hole (831) and a connecting piece (94) axially slidingly connected with the spline clamping column (92) through an elastic structure (93), and the connecting piece (94) is fixedly connected with the output end of the second power source (42).

7. The 6-DOF pose adjustment system based on series-parallel structure according to claim 3, characterized in that, The first outer cylinder (72) and the second outer cylinder (82) are further provided with a hydraulic transmission component, and the hydraulic transmission component comprises a first telescopic cylinder (911) and a second telescopic cylinder (912), wherein, The first telescopic cylinder (911) is arranged at the side of the first contact block (7131) away from the first limiting block (7122), the telescopic end of the first telescopic cylinder (911) is fixedly connected with the first contact block (7131), and the fixed end of the first telescopic cylinder (911) is fixedly connected with the side wall of one end of the first cavity (7111); The second telescopic cylinder (912) is fixedly arranged in the second outer cylinder (82) in the axial direction of the second outer cylinder (82) through a fixing piece, and the output end of the second telescopic cylinder (912) is in contact with one end of the spline clamping column (92) through a third ball.

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

9. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The lifting assembly further comprises a scissor fork lifting seat (21) configured to open and close to assist in supporting the installation frame (11) to complete the lifting action when the installation frame (11) is lifted by the lifting driving assembly (22).

10. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The installation frame (11) comprises lateral support strips (111) symmetrically arranged on both sides of the top of the moving seat (1), and a telescopic cylinder (112) is arranged between each end of each lateral support strip (111) and the moving seat (1), and a lifting driving assembly (22) is arranged in each telescopic cylinder (112); the scissor fork lifting seat (21) is symmetrically arranged at the center position between the two lateral support strips (111) and the moving seat (1).

11. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The Z-axis moving frame (12) is provided with first sliding tracks (121) in the Y-axis direction at both ends thereof, the Y-axis transverse moving frame (13) is slidingly installed on the two first sliding tracks (121), and the first sliding tracks (121) are provided with Y-axis driving assemblies (32).

12. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The Y-axis transverse moving frame (13) is provided with second sliding tracks (131) in the X-axis direction at both sides of the top thereof, the X-axis transverse moving frame (14) is slidingly installed on the two second sliding tracks (131), and the Y-axis transverse moving frame (13) is further provided with X-axis driving assemblies (33).

13. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The moving seat (1) is provided with a walking driving mechanism (6) at the bottom thereof, the walking driving mechanism (6) comprises walking wheels (62) installed on a rotating support (61), a first motor (63) for driving the walking wheels (62) to rotate to realize the walking movement of the moving seat (1), and a second motor (64) for driving the rotating support (61) to rotate to change the direction of the walking wheels (62).

14. The 6-DOF pose adjustment system based on series-parallel structure according to claim 1, characterized in that, The moving seat (1) is provided with an auxiliary support mechanism (10) at the bottom thereof, the auxiliary support mechanism (10) comprises a support disc (101) and a support driving assembly (102) for driving the support disc (101) to move in the Z-axis direction, the support driving assembly (102) is fixed at the bottom of the moving seat (1), and the support disc (101) is installed on the movable end of the support driving assembly (102).

15. A 6-DOF pose adjustment method based on a series-parallel structure, the pose adjustment method is implemented based on the 6-DOF pose adjustment system based on a series-parallel structure in any one of claims 1-14, characterized in that, The method comprises the following steps: Step S1. After the system is powered on, the states of the lifting driving assembly (22), the Z-axis driving assembly (31), the Y-axis driving assembly (32), and the X-axis driving assembly (33) are monitored in real time. Step S2. Obtain the current attitude of the 6-DOF attitude adjustment system by controlling the reference combination kinematics solution, and set the target position, and judge the feasibility of the trajectory after setting, if feasible, enter the next process, if not, return to the current attitude; Step S3. Set the process parameters, including the control reference, motion trajectory and discrete interval, after setting, judge whether the trajectory changes, if it changes, generate a new trajectory, refresh the trajectory count and output, if the trajectory does not change, keep the original trajectory and output the trajectory count; Step S4. Adjust the position of the attitude adjustment system according to the output trajectory count, and feed back the output position to the current attitude after adjustment; wherein the 6-DOF attitude adjustment system position adjustment includes forward and backward translation attitude adjustment, horizontal lateral movement attitude adjustment, horizontal rotation attitude adjustment, pitch attitude adjustment, roll attitude adjustment and lifting attitude adjustment.

16. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, characterized in that, The forward and backward translation attitude adjustment is that the transmission screws of two parallel X-axis drive assemblies (33) rotate synchronously, the transmission nuts sleeved on the transmission screws move on the screws, and the X-axis lateral frame (14) and the mounting platform (15) fixedly installed on the X-axis lateral frame (14) move horizontally along the X-axis direction.

17. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, characterized in that, The horizontal lateral movement attitude adjustment is that the transmission screws of two parallel Y-axis drive assemblies (32) rotate synchronously, the transmission nuts sleeved on the transmission screws move on the screws, and the Y-axis lateral frame (13) moves horizontally along the Y-axis direction.

18. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, characterized in that, The horizontal rotation attitude adjustment is that the screw transmission modules of two parallel Y-axis drive assemblies (32) make differential motion to drive the Y-axis lateral frame (13) to rotate in the horizontal plane.

19. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, characterized in that, The pitch attitude adjustment is that two Z-axis drive assemblies (31) located in the short side direction of the Z-axis moving frame (12) constitute a pair of pitch attitude adjustment mechanisms, and four Z-axis drive assemblies (31) at the four corners of the Z-axis moving frame (12) form two pairs of pitch attitude adjustment mechanisms; the two pairs of pitch attitude adjustment mechanisms make differential motion to drive one side of the Z-axis moving frame (12) to rise and the other side to descend.

20. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, wherein, The roll attitude adjustment is that two Z-axis drive assemblies (31) located in the long side direction of the Z-axis moving frame (12) constitute a pair of roll attitude adjustment mechanisms, and four Z-axis drive assemblies (31) at the four corners of the Z-axis moving frame (12) form two pairs of roll attitude adjustment mechanisms; the two pairs of roll attitude adjustment mechanisms make differential motion to drive one side of the Z-axis moving frame (12) to rise and the other side to descend.

21. The 6-DOF pose adjustment method based on series-parallel structure according to claim 15, wherein, The lifting attitude adjustment includes lifting coarse adjustment and lifting fine adjustment; wherein the lifting coarse adjustment is that the lifting drive assemblies (22) at the four corners of the mounting frame (11) move synchronously to drive the mounting frame (11) to rise or descend as a whole; the lifting fine adjustment is that the four Z-axis drive assemblies (31) at the four corners of the Z-axis moving frame (12) move synchronously to drive the Z-axis moving frame (12) to rise or descend as a whole.

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