A configuration variable parallel adjustment platform

Abstract

This invention relates to the field of precision machinery technology, and more particularly to a parallel adjustment platform with a variable configuration, comprising: a lower platform, an upper platform, N legs, N first sliding components, and N second sliding components. The N legs are arranged at intervals between the upper and lower platforms. Each first sliding component includes a first moving part and a first fixed part, with the first fixed part disposed on the lower platform and the first moving part movable relative to the first fixed part. Each second sliding component includes a second moving part and a second fixed part, with the second fixed part disposed on the upper platform and the second moving part movable relative to the second fixed part. The first end of each leg is connected to the corresponding first moving part via a corresponding first offset hinge, and the second end of each leg is connected to the corresponding second moving part via a corresponding second offset hinge. This invention at least improves the adaptability of the parallel adjustment platform to different usage scenarios.

Description

Technical Field

[0001] This invention belongs to the field of precision machinery technology, and particularly relates to a parallel adjustment platform with variable configuration. Background Technology

[0002] A multi-degree-of-freedom parallel adjustment platform is a spatial mechanism consisting of an upper platform, a lower platform, and multiple independent retractable legs connecting the two platforms. It can perform translational movements along the x, y, and z axes and rotations around the x, y, and z axes in space. The multi-degree-of-freedom parallel adjustment platform has advantages such as compact structure, high rigidity, high load-bearing capacity, high precision, high stability, fast dynamic response, and convenient self-calibration and error compensation. It is widely used in flight simulators, ship stabilization platforms, automotive test benches, precision machining centers, medical robots, and space docking mechanisms.

[0003] Existing parallel adjustment platforms, after being designed according to required parameters, typically use a fixed connection method to fix the legs between the upper and lower platforms. This design results in a relatively fixed configuration and workspace for the parallel platform. If you want to change the configuration or workspace of a multi-degree-of-freedom parallel platform, you can only replace the corresponding components or redesign it to achieve the desired result. This will increase manufacturing costs and the workload of researchers. Summary of the Invention

[0004] In view of this, the present invention aims to provide a parallel adjustment platform with a variable configuration, which changes the workspace through configuration reconfiguration, thereby improving the adaptability of the parallel adjustment platform to different usage scenarios.

[0005] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0006] This invention provides a parallel adjustment platform with a variable configuration, comprising: a lower platform, an upper platform, N legs, N first sliding components, and N second sliding components. Each leg corresponds to one first sliding component and one second sliding component, and the N legs are arranged at intervals between the upper and lower platforms. Each first sliding component includes a first moving part and a first fixed part, with the first fixed part disposed on the lower platform and the first moving part movable relative to the first fixed part. Each second sliding component includes a second moving part and a second fixed part, with the second fixed part disposed on the upper platform and the second moving part movable relative to the second fixed part. The first end of each leg is connected to the corresponding first moving part via a corresponding first offset hinge, and the second end of each leg is connected to the corresponding second moving part via a corresponding second offset hinge.

[0007] Furthermore, the first and second offset hinges have the same structure. The first offset hinge includes a hinge seat, a first hinge shaft, a second hinge shaft, a first bearing, and a hinge top cover. The hinge seat includes a first mounting cavity extending along a first direction and a second mounting cavity extending along a second direction. The first and second mounting cavities are spaced apart and have the same structure. The first direction is perpendicular to the second direction. The first and second hinge shafts have the same structure. The first hinge shaft includes a first part, a middle part, and a second part connected in sequence. The diameter of the middle part is larger than the diameter of the first part, and the diameter of the first part is equal to the diameter of the second part. The first hinge shaft passes through the first mounting cavity. Two first bearings are respectively sleeved on the first part and the second part, and the first hinge shaft and the first bearing are interference-fitted. The hinge top cover is located on the side of the first bearing away from the middle part, and the two sides of the first bearing abut against the hinge top cover and the middle part, respectively.

[0008] Furthermore, the first mounting cavity includes a first chamber, a second chamber, and a third chamber that are sequentially connected and coaxially arranged. The inner diameter of the first chamber is the same as the inner diameter of the third chamber, and the inner diameter of the second chamber is smaller than the inner diameter of the first chamber. Along the first direction, the width of the middle portion is greater than the width of the second chamber, and the middle portion is directly opposite the second chamber.

[0009] Furthermore, each outrigger is retractable, and each outrigger includes a first hinge mounting base, a motor mounting cover, a motor mounting base, a harmonic reducer mounting base, a connecting cylinder, a second hinge mounting base, a moving component, a first lead screw, a first lead screw nut, a harmonic reducer, a second bearing, and a stepper motor; wherein, the first hinge mounting base, the motor mounting cover, the motor mounting base, the harmonic reducer mounting base, and the connecting cylinder are connected sequentially, the first hinge mounting base serves as the first end of the outrigger and is connected to the first offset hinge, the stepper motor is disposed within the motor mounting base, and the harmonic reducer is disposed within the harmonic reducer. Inside the harmonic reducer mounting base, the stepper motor is connected to the first end of the harmonic reducer via a key drive, and the second end of the harmonic reducer is connected to the first lead screw via a key drive. The first lead screw extends from the harmonic reducer mounting base into the connecting cylinder, and is fixed to the harmonic reducer mounting base via a second bearing. The first lead screw nut is sleeved on the outer ring of the portion of the first lead screw located inside the connecting cylinder, and is connected to the first end of the moving part. The outer ring of the moving part is sleeved on the inner ring of the connecting cylinder. The end of the first lead screw away from the harmonic reducer has a limiting plate.

[0010] Furthermore, the first sliding component and the second sliding component have the same structure, and the first sliding component is embedded in the lower platform, while the second sliding component is embedded in the upper platform.

[0011] Furthermore, the first sliding assembly includes a slider, a slide rail, a platform connecting seat, a second lead screw nut, a second lead screw, a motor base assembly, a motor fixing plate, a servo motor, a coupling assembly, a moving platform, a third hinge fixing seat, and a bearing seat assembly. The second lead screw nut serves as the first moving part, and the second lead screw serves as the first fixed part. The motor base assembly is fixed on the lower platform, the servo motor is fixed to the motor base assembly via the motor fixing plate, the output shaft of the servo motor is connected to the first end of the coupling assembly via a key, the second end of the coupling assembly is connected to the first end of the second lead screw, the second end of the second lead screw is mounted on the lower platform via the bearing seat assembly, the second lead screw nut is sleeved on the second lead screw, the platform connecting seat is connected to the second lead screw nut, and both the slider and the platform connecting seat are located on the lower surface of the moving platform. The side of the slider away from the moving platform is slidably connected to the slide rail, which is located on the lower platform. The third hinge fixing seat is located on the upper surface of the moving platform and is used to connect with the first offset hinge.

[0012] Furthermore, in each of the first sliding components, the sliding direction of the first moving part relative to the first fixed part is radial to the first preset circle, and the first end of each of the first fixed parts is located on the first preset circle, and the second end of each of the first fixed parts is located on the second preset circle. The radius of the second preset circle is smaller than the radius of the first preset circle, and the second preset circle and the first preset circle are concentric. In each of the second sliding components, the sliding direction of the second moving part relative to the second fixed part is radial to the third preset circle, and the second end of each of the second fixed parts is located on the third preset circle. The first end of each of the second fixed parts is located on the fourth preset circle, and the radius of the fourth preset circle is smaller than the radius of the third preset circle, and the fourth preset circle and the third preset circle are concentric.

[0013] Furthermore, the radius of the first preset circle is greater than the radius of the third preset circle, and the radius of the second preset circle is greater than the radius of the fourth preset circle.

[0014] Furthermore, N is 6.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: The parallel adjustment platform with variable configuration provided by the present invention has legs whose ends are not fixed to the upper and lower platforms, but are slidably connected through the first and second sliding components. This makes the connection position of each leg to the lower platform and the connection position of each leg to the upper platform variable. Thus, the configuration of the parallel adjustment platform is variable, and the workspace can be changed by reconfiguration. This is beneficial to improving the adaptability of the parallel adjustment platform to different usage scenarios, thereby reducing manufacturing costs and the workload of researchers. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A schematic diagram of the variable configuration parallel adjustment platform described in the embodiment of the present invention;

[0018] Figure 2 A schematic diagram illustrating the configuration adjustment of the variable parallel adjustment platform described in the embodiments of the present invention;

[0019] Figure 3 A schematic diagram of the structure of the first bias hinge described in the embodiment of the present invention;

[0020] Figure 4 Front view and sectional view of the first offset hinge as described in the embodiment of the present invention;

[0021] Figure 5 Front view and sectional view of the support leg described in the embodiment of the present invention;

[0022] Figure 6 for Figure 5 Enlarged view of part of the structure in center circle A;

[0023] Figure 7 for Figure 5 Enlarged view of part of the structure in center circle B;

[0024] Figure 8 A schematic diagram of the structure of the N first sliding components described in the embodiment of the present invention;

[0025] Figure 9 A schematic diagram of the structure of the first sliding component described in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] refer to Figures 1 to 9 This invention provides a parallel adjustment platform with a variable configuration, comprising: a lower platform 1, an upper platform 4, N legs 3, N first sliding components 5, and N second sliding components (not shown). Each leg 3 corresponds to one first sliding component 5 and one second sliding component, and the N legs 3 are arranged at intervals between the upper platform 4 and the lower platform 1. Each first sliding component 5 includes a first moving part and a first fixed part. The first fixed part is disposed on the lower platform 1, and the first moving part is movable relative to the first fixed part. Each second sliding component includes a second moving part and a second fixed part. The second fixed part is disposed on the upper platform 4, and the second moving part is movable relative to the second fixed part. The first end of each leg 3 is connected to the corresponding first moving part through a corresponding first offset hinge 2, and the second end of each leg 3 is connected to the corresponding second moving part through a corresponding second offset hinge 6.

[0032] In some embodiments, N is 6.

[0033] In some embodiments, in each first sliding component 5, the sliding direction of the first moving part relative to the first fixed part is radial to the first preset circle, and the first end of each first fixed part is located on the first preset circle, the second end of each first fixed part is located on the second preset circle, the radius of the second preset circle is smaller than the radius of the first preset circle, and the second preset circle and the first preset circle are concentric; in each second sliding component, the sliding direction of the second moving part relative to the second fixed part is radial to the third preset circle, and the second end of each second fixed part is located on the third preset circle, the first end of each second fixed part is located on the fourth preset circle, the radius of the fourth preset circle is smaller than the radius of the third preset circle, and the fourth preset circle and the third preset circle are concentric.

[0034] refer to Figure 2 In other words, the first sliding component 5 in this invention is used to change the radius R of the hinge distribution circle of the fixed platform, and the second sliding component is used to change the radius r of the hinge distribution circle of the moving platform, thereby changing the distance H between the upper hinge point distribution circle and the lower hinge point distribution circle, so that the parallel adjustment platform has higher applicability.

[0035] In some embodiments, the radius of the first preset circle is greater than the radius of the third preset circle, and the radius of the second preset circle is greater than the radius of the fourth preset circle.

[0036] In some embodiments, the first bias hinge 2 and the second bias hinge 6 have the same structure. The first bias hinge 2 includes a hinge seat 21, a first hinge shaft 24, a second hinge shaft 23, a first bearing 25, and a hinge top cover 22. The hinge seat 21 includes a first mounting cavity extending along a first direction and a second mounting cavity extending along a second direction. The first mounting cavity and the second mounting cavity are spaced apart and have the same structure. The first direction is perpendicular to the second direction. The first hinge shaft 24 and the second hinge shaft 23 have the same structure. The first hinge shaft 24 includes a first part, a middle part, and a second part connected in sequence. The diameter of the middle part is larger than the diameter of the first part, and the diameter of the first part is equal to the diameter of the second part. The first hinge shaft 24 passes through the first mounting cavity. Two first bearings 25 are respectively sleeved on the first part and the second part, and the first hinge shaft 24 and the first bearings 25 are interference-fitted. The hinge top cover 22 is disposed on the side of the first bearing 25 away from the middle part. The two sides of the first bearing 25 abut against the hinge top cover 22 and the middle part, respectively.

[0037] In this configuration, the inner ring of the first bearing 25 abuts against the middle portion, and the hinge top cover 22 abuts against the outer ring of the first bearing 25.

[0038] In some embodiments, the first mounting cavity includes a first chamber, a second chamber, and a third chamber that are sequentially connected and coaxially arranged. The inner diameter of the first chamber is the same as that of the third chamber, and the inner diameter of the second chamber is smaller than that of the first chamber. Along the first direction, the width of the middle portion is greater than the width of the second chamber, and the middle portion is directly opposite the second chamber. Thus, the stepped structure on the side of the first bearing 25 facing the middle portion is spaced apart from the edge of the second chamber, which helps to absorb the internal stress caused by the difference in thermal expansion coefficients and expansion amounts, avoids component deformation, bending, or even damage, and helps to reduce unnecessary friction, wear, and vibration.

[0039] In some cases, screws can be used to secure the hinge top cover 22 to the hinge base 21.

[0040] It should be noted that, Figure 4 (a) is the main view. Figure 4 (b) in the figure is a sectional view.

[0041] Since the first offset hinge 2 and the second offset hinge 6 have the same structure, the specific structure of the second offset hinge 6 can be referred to the specific structure of the first offset hinge 2 mentioned above, and will not be repeated here.

[0042] It should be noted that the first end of the support leg 3 needs to be connected to the first hinge axis 24 of the first offset hinge 2, and the first moving part needs to be connected to the second hinge axis 23 of the first offset hinge 2. Since the first hinge axis 24 can rotate axially within the hinge seat 21, and the second hinge axis 23 can rotate axially within the hinge seat 21, the first end of the support leg 3 can rotate axially relative to the hinge seat 21 along the first hinge axis 24, and the first moving part can rotate axially relative to the hinge seat 21 along the second hinge axis 23. Similarly, the second end of the support leg 3 needs to be connected to one of the two hinge axes of the second offset hinge 6, and the second moving part needs to be connected to the other hinge axis of the second offset hinge 6.

[0043] The first offset hinge 2 and the second offset hinge 6 provided by the present invention have a compact structure, strong load capacity, and strong error compensation capability, and can meet the requirements of high rigidity, high stability and large working space.

[0044] In some embodiments, each support leg 3 is retractable. Each support leg 3 includes a first hinge fixing seat 31, a motor fixing cover 32, a motor fixing seat 33, a harmonic reducer fixing seat 34, a connecting cylinder 35, a second hinge fixing seat 319, a moving component 36, a first lead screw 38, a first lead screw nut 318, a harmonic reducer 315, a second bearing 310, and a stepper motor 317. The first hinge fixing seat 31, motor fixing cover 32, motor fixing seat 33, harmonic reducer fixing seat 34, and connecting cylinder 35 are sequentially connected. The first hinge fixing seat 31 serves as the first end of the support leg 3 and is connected to the corresponding first offset hinge 2. The stepper motor 317 is disposed within the motor fixing seat 33, and the harmonic reducer 315 is disposed within the harmonic reducer fixing seat 34. The stepper motor 317 and the harmonic reducer... The first end of the harmonic reducer 315 is connected by a key drive, and the second end of the harmonic reducer 315 is connected to the first lead screw 38 by a key drive. The first lead screw 38 extends from the harmonic reducer mounting base 34 into the connecting cylinder 35, and the first lead screw 38 is fixed to the harmonic reducer mounting base 34 by the second bearing 310. The first lead screw nut 318 is sleeved on the outer ring of the portion of the first lead screw 38 located inside the connecting cylinder 35, and the first lead screw nut 318 is connected to the first end of the moving part 36. The second hinge mounting base 319 is provided at the second end of the moving part 36. The second hinge mounting base 319 serves as the second end of the support leg 3 and is connected to the corresponding second offset hinge 6. The outer ring of the moving part 36 is sleeved on the inner ring of the connecting cylinder 35. The end of the first lead screw 38 away from the harmonic reducer 315 has a limiting plate 37.

[0045] The harmonic reducer 315 reduces output speed and increases output torque, achieving high reduction ratio, high precision, and high efficiency power transmission. The stepper motor 317 drives the first lead screw 38 to rotate, which in turn causes the first lead screw nut 318 to move along the first lead screw 38. The first lead screw nut 318 drives the moving part 36 to move along the extension direction of the first lead screw 38, thereby realizing the extension and retraction of the support leg 3. At the same time, the inner ring of the connecting cylinder 35 also restricts the movement direction of the moving part 36, making the movement of the moving part 36 relative to the connecting cylinder 35 more stable. The limiting plate 37 is used to prevent the first lead screw nut 318 from sliding out from the end of the first lead screw 38 away from the harmonic reducer 315.

[0046] In some examples, the first hinge mounting base 31 is connected to the first hinge axis 24 of the first offset hinge 2, so that the entire support leg 3 can move around the two hinge axes of the first offset hinge 2; the stepper motor 317 can be fixed to the motor mounting base 33 by screws, and the stepper motor 317 and the harmonic reducer 315 are connected by the first flat key 316; the motor mounting cover 32 can be fixed to the motor mounting base 33 by screws, the motor mounting base 33 is fixed to the harmonic reducer mounting base 34 by screws, the harmonic reducer 315 is fixed to the harmonic reducer mounting base 34 by screws, the harmonic reducer 315 and the first lead screw 38 are connected by the second flat key 312, the harmonic reducer mounting base 34 can be connected to the connecting cylinder 35 by screws, and the first lead screw nut 318 can be connected to the moving part 36 by screws.

[0047] In some examples, the first lead screw 38 is fixed to the harmonic reducer 315 using the lead screw connecting plate 313 and the lead screw fixing plate 314, and the second bearing 310 is fixed to the first lead screw 38 using the bearing locking nuts 311 and the bearing fixing plate 39 located at both ends of the second bearing 310. The second bearing 310 and the first lead screw 38 are then fixed together to the harmonic reducer mounting base 34.

[0048] In some examples, the second bearing 310 is composed of two bearings in a pair.

[0049] In some embodiments, the first sliding component 5 and the second sliding component have the same structure, and the first sliding component 5 is embedded in the lower platform 1, while the second sliding component is embedded in the upper platform 4.

[0050] In some embodiments, the first sliding assembly 5 includes a slider 51, a slide rail 52, a platform connecting seat 53, a second lead screw nut 54, a second lead screw 55, a motor base assembly 56, a motor fixing plate 57, a servo motor 58, a coupling assembly 59, a moving platform 510, a third hinge fixing seat 511, and a bearing seat assembly 512. The second lead screw nut 54 serves as a first moving part, and the second lead screw 55 serves as a first fixing part. The end of the second lead screw 55 away from the servo motor 58 is the second end of the first fixing part, and the end of the second lead screw 55 facing the servo motor 58 is the first end of the first fixing part. The motor base assembly 56 is fixed to the lower platform 1, and the servo motor 58 is fixed to the motor base assembly 5 via the motor fixing plate 57. On platform 6, the output shaft of servo motor 58 is connected to the first end of coupling assembly 59 via a flat key. The second end of coupling assembly 59 is connected to the first end of second lead screw 55. The second end of second lead screw 55 is mounted on lower platform 1 via bearing seat assembly 512. Second lead screw nut 54 is sleeved on second lead screw 55. Platform connecting seat 53 is connected to second lead screw nut 54. Slider 51 and platform connecting seat 53 are both mounted on the lower surface of moving platform 510. The side of slider 51 away from moving platform 510 is slidably connected to slide rail 52. Slide rail 52 is mounted on lower platform 1. Third hinge fixing seat 511 is mounted on the upper surface of moving platform 510. Third hinge fixing seat 511 is used to connect with first offset hinge 2.

[0051] The third hinge fixing seat 511 is used to connect with the second hinge shaft 23 of the first offset hinge 2. The servo motor 58 is used to drive the second lead screw 55 to rotate. The rotation of the second lead screw 55 causes the second lead screw nut 54 to move along the second lead screw 55, which in turn drives the moving platform 510 to move along the second lead screw 55 through the platform connecting seat 53. The slider 51 and the slide rail 52 are used to guide the movement of the moving platform 510 so that the movement of the moving platform 510 is more stable and more directional.

[0052] In some embodiments, a moving platform 510 has four sliders 51 on its lower surface. Two sliders 51 are grouped together. A moving platform 510 is provided with two parallel slide rails 52. Each slide rail 52 is slidably connected to the two sliders 51 in the same group.

[0053] In some examples, the motor mount assembly 56 can be fixed to the lower platform 1 with screws, the moving platform 510 and the slider 51 can be fixed with screws, the moving platform 510 and the platform connecting seat 53 can be fixed with screws, and the second lead screw nut 54 can be fixed to the platform connecting seat 53 with screws.

[0054] Since the first sliding component 5 and the second sliding component have the same structure, the specific structure of the second sliding component can be referred to the specific structure of the first sliding component 5 described above, and will not be repeated here.

[0055] It should be noted that for the first sliding assembly, the motor mount assembly is near the edge of the lower platform, and the bearing mount assembly is near the center of the lower platform. However, the second sliding assembly is set in the opposite direction to the first sliding assembly. For the second sliding assembly, the motor mount assembly is near the center of the upper platform, and the bearing mount assembly is near the edge of the upper platform. In this way, the servo motor of the upper platform and its supporting mounting components are close to the center, which can prevent the outriggers from interfering with the servo motor and other components of the upper platform during movement.

[0056] It should be noted that during the design process, the second lead screw nut 54 is designed to have a large stroke on the second lead screw 55, so as to allow for a large variation range of the radius R of the hinge distribution circle on the fixed platform, and the same applies to the radius r of the hinge distribution circle on the moving platform. Additionally, the first lead screw nut 318 in the support leg 3 is designed to have a large stroke on the first lead screw 38, ensuring that the length L of the support leg 3 has a large variation range.

[0057] In use, the required R, r, and L can be calculated according to the working conditions, and the three parameters can be controlled to change to the target values ​​by the servo motor 58 and the stepper motor 317. When it is necessary to change the configuration of the parallel adjustment platform, the above operation can avoid redesigning the parallel adjustment platform, reduce the workload of researchers, and reduce manufacturing costs.

[0058] In summary, this invention reconfigures the parallel adjustment platform by adjusting the three parameters R, r, and L, making it more versatile and helping to reduce manufacturing costs and the workload of researchers.

[0059] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0060] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A parallel adjustment platform with variable configuration, characterized in that, include: The platform consists of a lower platform, an upper platform, N legs, N first sliding components, and N second sliding components. Each leg corresponds to one first sliding component and one second sliding component. The N legs are arranged at intervals between the upper platform and the lower platform. Each of the first sliding components includes a first moving part and a first fixed part, the first fixed part is disposed on the lower platform, and the first moving part is movable relative to the first fixed part; Each of the second sliding components includes a second moving part and a second fixed part, the second fixed part is disposed on the upper platform, and the second moving part is movable relative to the second fixed part; The first end of each of the legs is connected to the corresponding first moving part through a corresponding first offset hinge, and the second end of each leg is connected to the corresponding second moving part through a corresponding second offset hinge. Each of the aforementioned outriggers is telescopic, and each outrigger includes a first hinge fixing seat, a motor fixing cover, a motor fixing seat, a harmonic reducer fixing seat, a connecting cylinder, a second hinge fixing seat, a moving part, a first lead screw, a first lead screw nut, a harmonic reducer, a second bearing, and a stepper motor; The first hinge fixing seat, the motor fixing cover, the motor fixing seat, the harmonic reducer fixing seat, and the connecting cylinder are connected in sequence. The first hinge fixing seat serves as the first end of the support leg and is connected to the first offset hinge. The stepper motor is disposed in the motor fixing seat, and the harmonic reducer is disposed in the harmonic reducer fixing seat. The stepper motor and the first end of the harmonic reducer are connected by a key drive. The second end of the harmonic reducer is connected to the first lead screw by a key drive. The first lead screw extends from the harmonic reducer fixing seat to the connecting cylinder and is fixed to the harmonic reducer fixing seat by a second bearing. The first lead screw nut is sleeved on the outer ring of the portion of the first lead screw located in the connecting cylinder and is connected to the first end of the moving part. The second hinge fixing seat is disposed on the second end of the moving part and serves as the second end of the support leg, connected to the corresponding second offset hinge. The outer ring of the moving part is sleeved on the inner ring of the connecting cylinder. The end of the first lead screw away from the harmonic reducer has a limiting plate.

2. The variable configuration parallel adjustment platform according to claim 1, characterized in that, The first offset hinge and the second offset hinge have the same structure. The first offset hinge includes a hinge seat, a first hinge shaft, a second hinge shaft, a first bearing, and a hinge top cover. The hinge seat includes a first mounting cavity extending along a first direction and a second mounting cavity extending along a second direction. The first mounting cavity and the second mounting cavity are spaced apart and have the same structure. The first direction is perpendicular to the second direction. The first hinge shaft and the second hinge shaft have the same structure. The first hinge shaft includes a first part, a middle part, and a second part connected in sequence. The diameter of the middle part is greater than the diameter of the first part, and the diameter of the first part is equal to the diameter of the second part. The first hinge shaft passes through the first mounting cavity, and two first bearings are respectively sleeved on the first part and the second part, and the first hinge shaft is interference-fitted with the first bearing. The hinge top cover is disposed on the side of the first bearing away from the middle part, and the two sides of the first bearing abut against the hinge top cover and the middle part respectively.

3. The variable configuration parallel adjustment platform according to claim 2, characterized in that, The first mounting cavity includes a first chamber, a second chamber, and a third chamber that are connected in sequence and coaxially arranged. The inner diameter of the first chamber is the same as the inner diameter of the third chamber, and the inner diameter of the second chamber is smaller than the inner diameter of the first chamber. Along the first direction, the width of the middle portion is greater than the width of the second chamber, and the middle portion is directly opposite the second chamber.

4. The variable configuration parallel adjustment platform according to claim 1, characterized in that, The first sliding component and the second sliding component have the same structure, and the first sliding component is embedded in the lower platform, while the second sliding component is embedded in the upper platform.

5. The variable configuration parallel adjustment platform according to claim 4, characterized in that, The first sliding assembly includes a slider, a slide rail, a platform connecting seat, a second lead screw nut, a second lead screw, a motor base assembly, a motor fixing plate, a servo motor, a coupling assembly, a moving platform, a third hinge fixing seat, and a bearing seat assembly. The second lead screw nut serves as the first moving part, and the second lead screw serves as the first fixing part. The motor mount assembly is fixed to the lower platform. The servo motor is fixed to the motor mount assembly via the motor mounting plate. The output shaft of the servo motor is connected to the first end of the coupling assembly via a flat key. The second end of the coupling assembly is connected to the first end of the second lead screw. The second end of the second lead screw is mounted on the lower platform via the bearing seat assembly. The second lead screw nut is sleeved on the second lead screw. The platform connecting seat is connected to the second lead screw nut. Both the slider and the platform connecting seat are located on the lower surface of the moving platform. The side of the slider away from the moving platform is slidably connected to the slide rail. The slide rail is located on the lower platform. The third hinge fixing seat is located on the upper surface of the moving platform and is used to connect with the first offset hinge.

6. The variable configuration parallel adjustment platform according to claim 1, characterized in that, In each of the first sliding components, the sliding direction of the first moving part relative to the first fixed part is radial to the first preset circle, and the first end of each of the first fixed parts is located on the first preset circle, and the second end of each of the first fixed parts is located on the second preset circle. The radius of the second preset circle is smaller than the radius of the first preset circle, and the second preset circle and the first preset circle are concentric. In each of the second sliding components, the sliding direction of the second moving part relative to the second fixed part is radial to the third preset circle, and the second end of each of the second fixed parts is located on the third preset circle, and the first end of each of the second fixed parts is located on the fourth preset circle. The radius of the fourth preset circle is smaller than the radius of the third preset circle, and the fourth preset circle and the third preset circle are concentric.

7. The variable configuration parallel adjustment platform according to claim 6, characterized in that, The radius of the first preset circle is greater than the radius of the third preset circle, and the radius of the second preset circle is greater than the radius of the fourth preset circle.

8. The variable configuration parallel adjustment platform according to claim 1, characterized in that, N is 6.

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