A high-stiffness parallel adjustment platform with variable configuration

Abstract

This invention relates to the field of precision machinery technology, and more particularly to a high-rigidity parallel adjustment platform with 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, and each leg is telescopically connected via a planetary roller screw assembly. 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 in particular relates to a high-rigidity 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.

[0004] In addition, in existing parallel adjustment platforms, the extension and retraction of the outriggers is usually achieved based on ball screws. However, such transmission methods have disadvantages such as weak load-bearing capacity, low stiffness, short lifespan, and sensitivity to impact loads. Summary of the Invention

[0005] In view of this, the present invention aims to provide a high-rigidity parallel adjustment platform with variable configuration, which changes the workspace through configuration reconstruction, at least which helps to improve the adaptability of the parallel adjustment platform to different usage scenarios. The use of planetary roller screw assembly to realize the extension and retraction of the outriggers helps to improve the rigidity of the parallel adjustment platform.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0007] This invention provides a high-rigidity 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. The N legs are spaced apart between the upper and lower platforms, and each leg is telescopically connected via a planetary roller screw assembly. Each first sliding component 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 second sliding component 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 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] Furthermore, the outrigger includes a first hinge fixing seat, a motor fixing cover, a motor fixing seat, a harmonic reducer fixing seat, a connecting cylinder, a planetary roller screw assembly, a second hinge fixing seat, a transmission component, a harmonic reducer, and a stepper motor; wherein, 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 outrigger and is connected to the first offset hinge. The stepper motor is disposed within the motor fixing seat, and the harmonic reducer is disposed within the harmonic reducer fixing seat. The stepper motor and the first end of the harmonic reducer are connected via a key drive. The second end of the harmonic reducer is connected to the first end of the planetary roller screw assembly via the transmission component. The planetary roller screw assembly extends from the connecting cylinder. The second hinge fixing seat is disposed at the second end of the planetary roller screw assembly and serves as the second end of the outrigger, connected to the corresponding second offset hinge. The planetary roller screw assembly is telescopic.

[0012] Furthermore, the outrigger also includes a first rotating shaft and a second rotating shaft. The first rotating shaft is disposed between the harmonic reducer mounting base and the connecting cylinder, and its outer ring is fixed between the harmonic reducer mounting base and the connecting cylinder. The second rotating shaft is disposed on the side of the connecting cylinder away from the first rotating shaft, and its outer ring is fixed to the end of the connecting cylinder away from the first rotating shaft. The planetary roller screw assembly includes a first screw, a first screw nut, a first cage, multiple rollers, and a second cage. The first screw nut is disposed inside the connecting cylinder, and its first end serves as the planetary roller screw. The first end of the lead screw assembly is connected to the transmission component, and the first end of the first lead screw nut abuts against the inner ring of the first rotating shaft, and the second end of the first lead screw nut abuts against the inner ring of the second rotating shaft. The inner ring of the first lead screw nut has a multi-start thread. The first lead screw includes a threaded portion and an extension portion connected together. The threaded portion has a multi-start thread, and multiple rollers are arranged around the threaded portion. The ends of the multiple rollers away from the extension portion are mounted on the threaded portion through a first retainer, and the ends of the multiple rollers facing the extension portion are mounted on the threaded portion through a second retainer. The outer side of the rollers engages with the inner ring of the first lead screw nut, and the inner side of the rollers engages with the threaded portion.

[0013] Furthermore, the threaded portion includes a first mounting portion, a first gear portion, a first threaded body, a second gear portion, and a second mounting portion arranged in sequence; each roller includes a third mounting portion, a third gear portion, a second threaded body, a fourth gear portion, and a fourth mounting portion arranged in sequence; the third mounting portion is embedded in a first retainer, the fourth mounting portion is embedded in a second retainer, the first retainer is sleeved on the first mounting portion, the second retainer is sleeved on the second mounting portion, the inner side of the third gear portion meshes with the first gear portion, the inner side of the second threaded body meshes with the first threaded body, and the inner side of the fourth gear portion meshes with the second gear portion.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] Compared with the prior art, the present invention can achieve the following beneficial effects: The high-rigidity 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.

[0019] In addition, the extension and retraction of the outriggers are achieved by using a planetary roller screw assembly. Compared with ball screws, the planetary roller screw has more gear meshing pairs and thread meshing pairs working together between the first screw, rollers and the first screw nut. Therefore, it can withstand greater loads, has higher rigidity, is conducive to achieving a larger transmission ratio, and also has a longer service life. Attached Figure Description

[0020] 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:

[0021] Figure 1 A schematic diagram of the structure of the high-rigidity parallel adjustment platform with variable configuration described in the embodiment of the present invention;

[0022] Figure 2 A schematic diagram illustrating the configuration adjustment of the high-rigidity parallel adjustment platform with variable configuration as described in the embodiments of the present invention;

[0023] Figure 3 A schematic diagram of the structure of the first bias hinge described in the embodiment of the present invention;

[0024] Figure 4 Front view and sectional view of the first offset hinge as described in the embodiment of the present invention;

[0025] Figure 5 Front view and sectional view of the support leg described in the embodiment of the present invention;

[0026] Figure 6 for Figure 5 Enlarged view of a portion of the sectional view;

[0027] Figure 7 This is a schematic diagram of the planetary roller screw assembly described in an embodiment of the present invention, excluding the first screw nut.

[0028] Figure 8 A schematic diagram of the threaded portion of the first lead screw as described in an embodiment of the present invention;

[0029] Figure 9 A partial structural schematic diagram of the planetary roller screw assembly described in an embodiment of the present invention;

[0030] Figure 10 A schematic diagram of the structure of the N first sliding components described in the embodiment of the present invention;

[0031] Figure 11 A schematic diagram of the structure of the first sliding component described in an embodiment of the present invention. Detailed Implementation

[0032] 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.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0034] 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.

[0035] 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.

[0036] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] refer to Figures 1 to 11This invention provides a high-rigidity 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. The N legs 3 are spaced apart between the upper platform 4 and the lower platform 1, and each leg is telescopically connected via a planetary roller screw assembly. 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 via a corresponding first offset hinge 2, and the second end of each leg 3 is connected to the corresponding second moving part via a corresponding second offset hinge 6.

[0038] In some embodiments, N is 6.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In some cases, screws can be used to secure the hinge top cover 22 to the hinge base 21.

[0046] It should be noted that, Figure 4 (a) is the main view. Figure 4 (b) in the figure is a sectional view.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] In some embodiments, the 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 36, a planetary roller screw assembly, a second hinge fixing seat 353, a transmission component 312, a harmonic reducer 313, and a stepper motor 315; wherein, the first hinge fixing seat 31, the motor fixing cover 32, the motor fixing seat 33, the harmonic reducer fixing seat 34, and the connecting cylinder 36 are connected in sequence, the first hinge fixing seat 31 serves as the first end of the support leg 3 and is connected to the first offset hinge 2, and the stepper motor 315 is provided with... The harmonic reducer 313 is placed inside the motor mounting base 33 and the harmonic reducer mounting base 34. The stepper motor 315 is connected to the first end of the harmonic reducer 313 via a key 314. The second end of the harmonic reducer 313 is connected to the first end of the planetary roller screw assembly via a transmission component 312. The planetary roller screw assembly extends out from the connecting cylinder 36. The second hinge mounting base 353 is located at the second end of the planetary roller screw assembly. The second hinge mounting base 353 serves as the second end of the support leg 3 and is connected to the corresponding second offset hinge 6. The planetary roller screw assembly is telescopic.

[0051] In some embodiments, the support leg 3 further includes a first rotating shaft 351 and a second rotating shaft 352. The first rotating shaft 351 is disposed between the harmonic reducer mounting base 34 and the connecting cylinder 36, and the outer ring of the first rotating shaft 351 is fixed between the harmonic reducer mounting base 34 and the connecting cylinder 36. The second rotating shaft 352 is disposed on the side of the connecting cylinder 36 away from the first rotating shaft 351, and the outer ring of the second rotating shaft 352 is fixed to the end of the connecting cylinder 36 away from the first rotating shaft 351. The planetary roller screw assembly includes a first screw 37, a first screw nut 38, a first cage 317, a plurality of rollers 310, and a second cage 316. The first screw nut 38 is disposed inside the connecting cylinder 36, and the first end of the first screw nut 38 serves as the first end of the planetary roller screw assembly and is connected to the transmission member 312. The first screw nut 38 is connected to the second screw nut 352. The first end of the first screw nut 38 abuts against the inner ring of the first rotating shaft 351, and the second end of the first screw nut 38 abuts against the inner ring of the second rotating shaft 352. This not only makes the axial position stability of the first screw nut 38 higher, but also ensures that the rotation of the first screw nut 38 is smoother. The inner ring of the first screw nut 38 has a multi-start thread. The first screw 37 includes a threaded part and an extension part connected together. The threaded part has a multi-start thread. Multiple rollers 310 are arranged around the threaded part. The ends of the multiple rollers 310 away from the extension part are mounted on the threaded part through the first retainer 317. The ends of the multiple rollers 310 facing the extension part are mounted on the threaded part through the second retainer 316. The outer side of the rollers 310 meshes with the inner ring of the first screw nut 38, and the inner side of the rollers 310 meshes with the threaded part.

[0052] Among them, the harmonic reducer 313 can reduce the output speed and increase the output torque, so as to achieve high reduction ratio, high precision and high efficiency power transmission. The stepper motor 315 drives the first lead screw nut 38 to rotate through the harmonic reducer 313 and the transmission component 312, which in turn causes multiple rollers 310 in the first lead screw nut 38 to reciprocate along the axial direction of the first lead screw nut 38. The multiple rollers 310 drive the first lead screw 37 to rotate and drive the first lead screw 37 to reciprocate along the axial direction of the first lead screw nut 38, thereby realizing the extension and retraction of the support leg 3.

[0053] In some examples, the first hinge fixing seat 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.

[0054] In some examples, the stepper motor 315 can be fixed to the motor mounting base 33 with screws, and the stepper motor 315 and the harmonic reducer 313 are connected by a key 314. The motor mounting cover 32 can be fixed to the motor mounting base 33 with screws, the motor mounting base 33 is fixed to the harmonic reducer mounting base 34 with screws, the harmonic reducer 313 is fixed to the harmonic reducer mounting base 34 with screws, and the first lead screw nut 38 can be connected to the transmission component 312 with screws.

[0055] In some embodiments, the threaded portion includes a first mounting portion 374, a first gear portion 372, a first threaded body 371, a second gear portion 373, and a second mounting portion 375 arranged sequentially; each roller 310 includes a third mounting portion, a third gear portion 3102, a second threaded body 3101, a fourth gear portion 3103, and a fourth mounting portion arranged sequentially; the third mounting portion is embedded in a first retainer 317, and the fourth mounting portion is embedded in a second retainer 316; the first retainer 317 is sleeved on the first mounting portion 374, and the second retainer 316 is sleeved on the second mounting portion 375; the inner side of the third gear portion 3102 meshes with the first gear portion 372; the inner side of the second threaded body 3101 meshes with the first threaded body 371; and the inner side of the fourth gear portion 3103 meshes with the second gear portion 373.

[0056] In some embodiments, the planetary roller screw assembly further includes a first retaining ring 311 and a second retaining ring 39, and the threaded portion further includes a first annular groove 376 and a second annular groove 377. The first annular groove 376 is located on the side of the first mounting portion 374 away from the first gear portion 372, and the second annular groove 377 is located on the side of the second mounting portion 375 away from the second gear portion 373. The first retaining ring 311 is disposed in the first annular groove 376, and the second retaining ring 39 is disposed in the second annular groove 377. The first retaining ring 311 and the second retaining ring 39 are used to prevent the assembly consisting of multiple rollers 310, the second cage 316 and the first cage 317 from moving axially.

[0057] Compared to ball screws, the planetary roller screw assembly provided by this invention has more gear meshing pairs and threaded meshing pairs between the roller 310 and the first screw 37, and between the roller 310 and the first screw nut 38. The more gear meshing pairs and threaded meshing pairs work together, enabling the planetary roller screw assembly to withstand greater loads, have higher rigidity, achieve a larger transmission ratio, and have a longer service life.

[0058] It should be noted that the planetary roller screw assembly in the above embodiments adopts the principle of a reverse planetary roller screw, that is, the first screw nut is connected to the stepper motor as the driving element, and the first screw moves linearly through the rollers; in other embodiments, the planetary roller screw assembly can also have the first screw connected to the stepper motor as the driving element, and the first screw nut moves linearly through the rollers; or, the planetary roller screw assembly can also be a cyclic planetary roller screw, that is, the rollers are annular groove structures with a helical helix angle, the first screw is connected to the stepper motor as the driving element, and the first screw nut moves linearly through the rollers. In linear motion, when the roller reaches the unthreaded area of ​​the first screw nut, it contacts the cam ring, completing the roller reset action; alternatively, the planetary roller screw assembly can also be a bearing ring type planetary roller screw. The main component of the bearing ring type planetary roller screw, the nut, is composed of a thrust cylindrical roller bearing, a bearing ring, a housing, and an end cover. Both the nut and the roller adopt a leadless annular groove structure, and the screw adopts a multi-start thread structure. The screw is connected to the motor as the driving component. Through roller transmission, it drives the thrust cylindrical roller bearings installed at both ends of the bearing ring. The rotational motion of the thrust cylindrical roller bearings transmits the axial force to the housing, causing the nut to move linearly.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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 38 in the support leg 3 is designed to have a large stroke on the first lead screw 37, ensuring that the length L of the support leg 3 has a large variation range.

[0067] 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 315. 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.

[0068] 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.

[0069] 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.

[0070] 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 high-rigidity parallel adjustment platform with variable configuration, characterized in that, include: The system comprises 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, and each leg is telescopically extended via a planetary roller screw assembly. 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. The outrigger includes a first hinge fixing seat, a motor fixing cover, a motor fixing seat, a harmonic reducer fixing seat, a connecting cylinder, a planetary roller screw assembly, a second hinge fixing seat, a transmission component, a harmonic reducer, 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 flat key transmission. The second end of the harmonic reducer is connected to the first end of the planetary roller screw assembly through the transmission component. The planetary roller screw assembly extends from the connecting cylinder. The second hinge fixing seat is disposed at the second end of the planetary roller screw assembly and serves as the second end of the support leg, connected to the corresponding second offset hinge. The planetary roller screw assembly is telescopic. The support leg also includes a first rotating shaft and a second rotating shaft. The first rotating shaft is disposed between the harmonic reducer mounting base and the connecting cylinder, and the outer ring of the first rotating shaft is fixed between the harmonic reducer mounting base and the connecting cylinder. The second rotating shaft is disposed on the side of the connecting cylinder away from the first rotating shaft, and the outer ring of the second rotating shaft is fixed to the end of the connecting cylinder away from the first rotating shaft. The planetary roller screw assembly includes a first screw, a first screw nut, a first cage, a plurality of rollers, and a second cage; The first lead screw nut is disposed inside the connecting cylinder. The first end of the first lead screw nut serves as the first end of the planetary roller screw assembly and is connected to the transmission component. The first end of the first lead screw nut abuts against the inner ring of the first rotating shaft, and the second end of the first lead screw nut abuts against the inner ring of the second rotating shaft. The inner ring of the first lead screw nut has multi-start threads. The first lead screw includes a threaded portion and an extension portion connected together. The threaded portion has a multi-start thread. A plurality of rollers are arranged around the threaded portion. The ends of the plurality of rollers away from the extension portion are mounted on the threaded portion by a first retainer. The ends of the plurality of rollers facing the extension portion are mounted on the threaded portion by a second retainer. The outer side of the rollers engages with the inner ring of the first lead screw nut, and the inner side of the rollers engages with the threaded portion. The threaded portion includes a first mounting portion, a first gear portion, a first threaded body, a second gear portion, and a second mounting portion arranged in sequence. Each of the rollers includes a third mounting portion, a third gear portion, a second threaded body, a fourth gear portion, and a fourth mounting portion arranged in sequence; The third mounting part is embedded in the first retainer, the fourth mounting part is embedded in the second retainer, the first retainer is sleeved on the first mounting part, the second retainer is sleeved on the second mounting part, the inner side of the third gear part meshes with the first gear part, the inner side of the second threaded body meshes with the first threaded body, and the inner side of the fourth gear part meshes with the second gear part.

2. The high-rigidity parallel adjustment platform with variable configuration 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 high-rigidity parallel adjustment platform with variable configuration 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 high-rigidity parallel adjustment platform with variable configuration 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 high-rigidity parallel adjustment platform with variable configuration 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 high-rigidity parallel adjustment platform with variable configuration 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 high-rigidity parallel adjustment platform with variable configuration 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.

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