Multi-degree-of-freedom pose adjusting device for space irradiation test

Abstract

The invention relates to the field of space irradiation tests, and provides a multi-degree-of-freedom pose adjusting device for a space irradiation test. The device is formed by sequentially connecting a supporting base, a shear type lifting mechanism, a linear translation mechanism and a pitching mechanism, and can realize accurate translation of a test sample in X, Y and Z axis directions and pitching turnover around a horizontal axis in a vacuum environment. The device provided by the invention is compact in structure and high in adjustment precision, is especially suitable for performing multi-dimensional attitude control on a test sample in a vacuum irradiation environment, and remarkably improves the flexibility and stability of sample positioning and attitude adjustment in a space irradiation test; the problems of motion coupling, precision loss, large occupied space and the like existing in a traditional single-shaft or double-shaft mechanism are solved, high-precision multi-degree-of-freedom motion control under the complex vacuum environment is achieved, and the high-precision multi-degree-of-freedom motion control mechanism has the remarkable advantages of being high in structural integration degree, high in adaptability, high in repeated positioning precision and the like.

Description

Technical Field

[0001] This application belongs to the field of space irradiation testing technology, specifically relating to a multi-degree-of-freedom pose adjustment device for space irradiation testing. Background Technology

[0002] Against the backdrop of rapid development in space science and engineering technology, space irradiation experiments have become one of the core methods for studying the performance reliability of spacecraft and their key components under cosmic radiation environments. High-energy particles, ultraviolet radiation, electron beams, and ion streams in the space environment have a significant impact on the performance stability of aerospace materials and electronic components. Therefore, establishing experimental facilities on the ground capable of simulating real space radiation conditions is particularly important. Typically, to achieve precise irradiation of materials or components, the sample to be tested needs to be placed in a high-vacuum chamber, and directional irradiation is performed at different spatial positions and angles by a mechanical adjustment system to ensure that the particle stream or beam is incident on the sample surface at a predetermined angle.

[0003] Existing space irradiation experimental devices mostly employ fixed or low-degree-of-freedom attitude adjustment structures, such as translation and tilt adjustments via a single electric platform or a dual-axis turntable. While these structures can meet some basic experimental requirements, they have significant limitations in multi-dimensional attitude adjustment. Since the direction of the irradiation beam within the vacuum chamber is typically fixed, when irradiation tests are required in multiple directions or angles, existing devices often necessitate frequent sample disassembly and reassembly or chamber repositioning, a complex process with significant repeatability errors. Furthermore, existing linear or rotary drive mechanisms are often limited by lubrication and heat dissipation conditions in a vacuum environment, making it difficult to guarantee the efficiency and accuracy of traditional mechanical transmission systems. In addition, in high vacuum environments, the movement of any mechanical component must balance low gas outflow rate, low friction, and structural rigidity. Traditional attitude adjustment systems achieved through multi-stage turntables or guide rails are bulky and suffer from severe motion coupling, not only occupying limited chamber space but also easily introducing vibration and error accumulation problems. As space irradiation experiments evolve towards higher precision, higher repeatability, and multi-dimensional testing, existing single-axis or dual-axis mechanisms are no longer sufficient to meet the demands of complex experiments. Especially in scenarios where precise three-dimensional spatial positioning and continuous pitch angle adjustment of samples are required, the problems of slow response speed, insufficient positioning accuracy, and high control complexity of traditional devices become more prominent. Summary of the Invention

[0004] One objective of this application is to provide a multi-degree-of-freedom posture adjustment device that is compact in structure, has good motion coordination, and can reliably operate under high vacuum conditions. By modularly combining the support base, scissor lifting mechanism, linear translation mechanism, and pitch mechanism, high-precision position adjustment and attitude control of the test sample in three-dimensional space can be achieved. This allows for flexible changes in the incident angle and position of the sample during space irradiation tests to meet the needs of multi-angle and multi-position irradiation testing.

[0005] To achieve the above objectives, the first aspect of this application provides a multi-degree-of-freedom pose adjustment device for space irradiation experiments, comprising:

[0006] A support base that provides structural support to the apartment within a vacuum container;

[0007] A scissor lifting mechanism is mounted on the support base and is used to drive the sample to move up and down in the Z-axis direction;

[0008] A linear translation mechanism is provided on the scissor lifting mechanism. The linear translation mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, which are used to drive the sample to move along the X-axis and Y-axis directions in the horizontal plane.

[0009] A pitch mechanism, which is mounted on the linear translation mechanism, is used to drive the sample to rotate ±90° around the horizontal axis.

[0010] According to a specific embodiment of this application, the support base includes a fixed plate and a bearing plate, both of which are annular. The lower surface of the fixed plate is fixedly connected to the bottom base of the vacuum container by bolts or flanges, and a central bearing seat is provided on the upper surface of the fixed plate. The lower surface of the bearing plate is connected to the central bearing seat of the fixed plate by a rotating shaft, thereby enabling the bearing plate to rotate smoothly on the fixed plate in a vacuum environment. Two sets of mounting bases are provided on the bearing plate, and the two sets of mounting bases are respectively located on both sides of the bearing plate for connecting to the base of the scissor lifting mechanism.

[0011] According to a specific embodiment of this application, the scissor lifting mechanism includes a scissor arm assembly and a scissor drive assembly; the scissor arm assembly includes two scissor arm components, the lower ends of which are fixedly connected to the bearing plate via a mounting base; the scissor drive assembly drives the scissor arm assembly to move up and down, thereby realizing the lifting and lowering of the sample.

[0012] According to a specific embodiment of this application, the scissor arm component includes two intersecting and vertically arranged scissor arms, the upper end of which is fixedly connected to the lower surface of the linear translation mechanism.

[0013] According to a specific embodiment of this application, the X-axis translation mechanism is disposed at the upper end of the scissor lifting mechanism, and the Y-axis translation mechanism is disposed above the X-axis translation mechanism; the X-axis and Y-axis movement mechanisms are orthogonally distributed to each other, respectively realizing the linear movement of the sample along the X-axis and Y-axis directions.

[0014] According to a specific embodiment of this application, the X-axis translation mechanism includes an X-axis moving stage arranged along the X-axis and an X-axis driving component for driving the X-axis moving stage to move along the X-axis, wherein an X-axis guide rail is provided on the X-axis moving stage.

[0015] According to a specific embodiment of this application, the Y-axis translation mechanism includes a Y-axis moving stage arranged along the Y-axis and a Y-axis driving component for driving the Y-axis moving stage to move along the Y-axis.

[0016] According to a specific embodiment of this application, the lower surface of the Y-axis moving stage is provided with a mounting buckle, which cooperates with the X-axis guide rail to realize the Y-axis translation mechanism moving in the X direction above the X-axis translation mechanism.

[0017] According to a specific embodiment of this application, the upper surface of the Y-axis moving stage is provided with a Y-axis guide rail along the Y-axis direction, and the lower surface of the pitch mechanism is provided with a Y-axis buckle that cooperates with the Y-axis guide rail, thereby enabling the pitch mechanism to move in the Y-axis direction under the drive of the Y-axis moving mechanism.

[0018] According to a specific embodiment of this application, the pitch mechanism includes a fixed base, a rotating frame, a pitch drive assembly, and a sample tray; the fixed base is connected to the Y-axis moving stage via a Y-axis buckle; the rotating frame passes through the center of the sample tray and is located at the center of the fixed base, and is rotatably connected to the fixed base via bearings on both sides.

[0019] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects:

[0020] (1) This application achieves precise position and attitude adjustment of the test sample in three-dimensional space by setting a multi-stage composite structure of scissor lifting mechanism, linear translation mechanism and pitch mechanism on the support base. Compared with traditional single-axis or dual-axis adjustment platforms, this structure can achieve independent linear movement in the X, Y and Z axes, and has a ±90° rotation function around the horizontal axis, thus enabling high-precision multi-dimensional attitude control of the sample in space irradiation experiments. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0022] Figure 1 This is an overall diagram of a multi-degree-of-freedom pose adjustment device for space irradiation experiments according to this application;

[0023] Figure 2 This is a schematic diagram of the structure of a multi-degree-of-freedom pose adjustment device for space irradiation experiments in the retracted state according to this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Support base; 2. Fixed plate; 3. Bearing plate; 4. Mounting base; 5. Scissor arm; 6. Scissor arm component; 7. X-axis moving stage; 8. Mounting buckle; 9. Y-axis buckle; 10. X-axis guide rail; 11. Y-axis guide rail; 12. Y-axis moving stage; 13. Fixed base; 14. Sample tray; 15. Rotating frame. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0028] The multi-degree-of-freedom pose adjustment device for space irradiation experiments proposed in this application addresses several technical deficiencies in sample positioning and attitude adjustment of existing space irradiation experiment equipment, and proposes a comprehensive solution that is compact, highly free, highly accurate in motion, and adaptable to the vacuum environment.

[0029] In existing technologies, space irradiation testing devices typically employ single-axis turntables or dual-axis translation mechanisms to adjust sample positions. These structures generally suffer from limited degrees of freedom, a single adjustment method, large space occupation, and severe motion coupling. Especially in vacuum irradiation environments, the inability to use traditional liquid lubrication increases the mechanical resistance, making friction and wear unavoidable, leading to decreased motion accuracy and shortened service life. Furthermore, traditional structures often require manual disassembly or repeated positioning when adjusting sample angles, resulting in complex operations and large repeatability errors, failing to meet the needs of irradiation testing under multi-angle and multi-energy conditions. This application addresses this by sequentially installing a scissor-type lifting mechanism, a linear translation mechanism, and a pitching mechanism on a support base, forming a complete multi-degree-of-freedom motion system from Z-axis lifting, X / Y-axis translation, to pitching around a horizontal axis. This significantly improves the spatial adjustment capability and control accuracy of samples in a vacuum environment.

[0030] In the technical solution of this application, the support base comprises two parts: a fixed disk and a bearing disk. The fixed disk is rigidly connected to the vacuum container base via flanges or bolts, providing stable mechanical support for the entire device. The bearing disk, through a central rotating shaft, engages with the bearing seat of the fixed disk, enabling smooth rotation under vacuum conditions. This effectively solves the problems of unstable operation and coaxiality deviation of rotating components in traditional devices. This double-disc structure ensures the stability of rotational motion and provides a reliable installation platform for the upper mechanism. Traditional vacuum regulating devices often employ a single-layer support structure, which is prone to deformation due to uneven stress, thus affecting the accuracy of the upper mechanism. However, this application, through the design of a double-disc coaxial structure, achieves a more uniform load distribution, significantly improves mechanical rigidity, and is less prone to deformation and sway during long-term operation.

[0031] Regarding the lifting function, this application achieves high-precision adjustment in the Z-axis direction by setting a scissor-type lifting mechanism. The scissor arm assembly consists of two sets of intersecting scissor arm components, forming a stable parallelogram mechanism through a hinged structure. The scissor drive assembly drives the scissor arms to open and close, completing the lifting motion. The advantage of this scissor mechanism is that it can achieve smooth lifting with a large stroke within a limited space, while maintaining the vertical symmetry of the structural center, avoiding the swaying phenomenon that occurs in traditional screw-type or push-rod lifting devices during movement. The scissor mechanism transforms a small drive input into a smooth height adjustment through a geometric amplification effect. Its structure has high rigidity, high load-bearing capacity, and good stability, making it very suitable for use in vacuum environments.

[0032] In terms of achieving horizontal translational motion, the linear translation mechanism designed in this application includes an X-axis translation mechanism and a Y-axis translation mechanism, which are orthogonally distributed. The X-axis translation mechanism consists of an X-axis moving stage, an X-axis guide rail, and an X-axis drive assembly. The X-axis moving stage achieves precise displacement along the X-axis direction by sliding along the guide rail. The Y-axis translation mechanism is located above the X-axis translation mechanism and consists of a Y-axis moving stage, a Y-axis guide rail, a mounting clip, and a Y-axis drive assembly. Through the cooperation of the Y-axis guide rail and the mounting clip, the Y-axis moving stage can slide freely above the X-axis platform along the Y-axis direction, thereby achieving two-dimensional translation of the sample in the horizontal plane. Compared with the existing superimposed slide rail structure, this design is more compact, has less motion coupling, and higher guide rail sliding accuracy, especially maintaining good repeatability even after long-term operation. Traditional multi-axis sliding platforms often suffer from problems such as long drive chains and cumulative transmission errors, leading to a decrease in positioning accuracy over time. However, this application, through an orthogonal guide rail structure and independent drive control, allows independent adjustment in each direction of motion, greatly reducing the risk of error accumulation.

[0033] Regarding attitude adjustment, this application incorporates a pitch mechanism, which is an integrated structure comprised of a fixed base, a rotating frame, a pitch drive assembly, and a sample tray. The fixed base is connected to the Y-axis moving stage via a Y-axis latch, ensuring the stability of the pitch mechanism during horizontal movement. The rotating frame is rotatably connected to the fixed base via bearings on both sides, forming a pitch motion unit that rotates around a horizontal axis. The pitch drive assembly uses a servo motor in conjunction with a worm gear mechanism or a synchronous belt drive to drive the rotating frame and sample tray to achieve continuous and controllable rotation within a ±90° range. Compared to existing devices that can only achieve limited angles or segmented rotation, the pitch mechanism of this application offers advantages such as smooth rotation, precise angle control, and low repeatability. By setting a limit and angle detection device between the rotating frame and the fixed base, closed-loop angle control can be achieved, ensuring a stable incident direction for the sample under different attitudes, thereby improving irradiation uniformity and experimental repeatability.

[0034] The following is in conjunction with the appendix Figure 1-2 Detailed description of optional embodiments of this application.

[0035] like Figure 1 As shown in the specific embodiments of this application, this application provides a multi-degree-of-freedom pose adjustment device for space irradiation experiments. This device is used to achieve multi-dimensional position and attitude control of test samples in a vacuum environment. It can move precisely in the X, Y, and Z axes and can achieve pitch and roll around the horizontal axis by ±90°, thereby meeting the requirements for multi-angle incident and high-precision positioning of samples in space irradiation experiments.

[0036] like Figure 1As shown, as an optional implementation, the device as a whole includes a support base 1, a fixed plate 2, a bearing plate 3, a mounting base 4, a scissor arm 5, a scissor arm component 6, an X-axis moving stage 7, a mounting buckle 8, a Y-axis buckle 9, an X-axis guide rail 10, a Y-axis guide rail 11, a Y-axis moving stage 12, a fixed base 13, a sample tray 14, and a rotating frame 15, etc. The components are arranged in sequence in space to form a stable and reliable multi-degree-of-freedom transmission structure.

[0037] As an optional implementation, the support base 1 is the bottom bearing unit of the device. Its structure is stable and can be fixedly connected to the bottom of the vacuum test chamber by means of bolts, flanges, etc., thereby providing overall structural support in a vacuum environment.

[0038] As an optional implementation, a fixed plate 2 and a bearing plate 3 are provided above the support base 1. Both the fixed plate 2 and the bearing plate 3 are annular structures. The lower surface of the fixed plate 2 is tightly connected to the bottom of the vacuum container by bolts or flanges to form a rigid support interface.

[0039] As an optional implementation, the upper surface of the fixed disk 2 is provided with a central bearing seat for supporting the rotation axis of the carrier disk 3, and the lower surface of the carrier disk 3 is provided with a rotating shaft, which cooperates with the central bearing seat of the fixed disk 2 so that the carrier disk 3 can rotate smoothly relative to the fixed disk 2 under vacuum conditions.

[0040] As an optional implementation, to ensure smooth rotation and reduced friction, a vacuum-grade low-friction bearing assembly is installed in the bearing housing to ensure high-precision coaxiality and rotational stability during long-term operation.

[0041] As an optional implementation, mounting bases 4 are respectively provided on both sides of the upper surface of the bearing plate 3. The two sets of mounting bases 4 are used to fix and support the bottom end of the scissor lift mechanism, thereby providing a stable mounting foundation for the scissor arm 5.

[0042] As an optional implementation, the scissor lift mechanism, as the Z-axis lifting adjustment unit of this device, mainly consists of a scissor arm assembly and a scissor drive assembly.

[0043] As an optional implementation, the scissor arm assembly includes two sets of scissor arms 5 arranged in a cross configuration. Each set of scissor arms 5 consists of two symmetrical scissor arm components 6, which are cross-connected by a hinge point in the middle to form a stable parallelogram mechanism structure.

[0044] As an optional implementation, the lower end of each scissor arm component 6 is connected to the mounting base 4 via a hinge shaft, and the upper end is fixed to the lower plate of the linear translation mechanism via a connector, thereby forming a lifting support structure with controllable vertical extension and retraction.

[0045] As an optional implementation, the scissor drive assembly linearly drives the scissor arm 5 to open and close, thereby achieving the lifting and lowering movement of the platform. When the scissor drive assembly extends, the scissor arm 5 gradually opens, and the entire linear translation mechanism rises; when the drive assembly retracts, the scissor arm 5 closes, and the platform descends. By precisely controlling the extension and retraction of the scissor drive assembly, continuous, stable, and high-precision displacement adjustment in the Z-axis direction can be achieved.

[0046] As an optional implementation, a linear translation mechanism is provided above the scissor lift mechanism. The linear translation mechanism consists of an X-axis moving mechanism and a Y-axis moving mechanism arranged orthogonally to each other, which is used to realize the movement of the test sample in the horizontal plane along the X-axis and Y-axis directions.

[0047] As an optional implementation, the X-axis moving mechanism consists of an X-axis moving stage 7 and an X-axis driving assembly. The X-axis moving stage 7 is arranged along the X-axis direction, and its bottom is fixedly connected to the upper structure of the scissor arm component 6.

[0048] As an optional implementation, the X-axis drive assembly can adopt a stepper motor drive screw structure to drive the X-axis moving stage 7 to translate in the direction of the guide rail.

[0049] As an optional implementation, to ensure motion accuracy and stability, the upper surface of the X-axis moving stage 7 is provided with an X-axis guide rail 10. This guide rail is a high-precision linear slide rail, which can achieve low-friction sliding with the upper component through a slider.

[0050] As an optional implementation, the Y-axis translation mechanism is installed above the X-axis movement mechanism, and its structure includes components such as the Y-axis moving stage 12, the Y-axis drive assembly, and the mounting buckle 8.

[0051] As an optional implementation, the Y-axis moving stage 12 is arranged along the Y-axis direction, and its lower surface is provided with a mounting buckle 8. The mounting buckle 8 is connected to the X-axis guide rail 10, allowing the Y-axis moving stage 12 to slide linearly along the X-axis direction on the X-axis moving stage 7. When the X-axis drive assembly is activated, the entire Y-axis translation mechanism moves accordingly in the X-axis direction; when the Y-axis drive assembly is working, the Y-axis moving stage 12 moves linearly along its own direction in the Y-axis direction. Through the coordinated control of both, the sample tray 14 can be moved to any position in the horizontal plane, thereby precisely adjusting the spatial position of the sample relative to the irradiation source.

[0052] As an optional implementation, the upper surface of the Y-axis moving stage 12 is provided with a Y-axis guide rail 11 along the Y-axis direction, and the lower surface of the pitch mechanism is equipped with a matching Y-axis buckle 9. The pitch mechanism can move smoothly on the Y-axis guide rail 11 through the buckle structure.

[0053] As an optional implementation, the pitch mechanism is located above the linear translation mechanism and is a key unit for the attitude control of this device. Its structure includes a fixed base 13, a rotating frame 15, a pitch drive assembly, and a sample tray 14.

[0054] As an optional implementation, the lower part of the fixed base 13 is fixedly connected to the Y-axis moving stage 12 via the Y-axis buckle 9 to ensure the overall stability of the pitch mechanism during pitch movement.

[0055] As an optional implementation, the rotating frame 15 is located at the center of the fixed base 13, and its two sides are rotatably connected to the fixed base 13 through vacuum-grade rolling bearings to form a pitching mechanism that can rotate around a horizontal axis.

[0056] As an optional implementation, the sample tray 14 is mounted above the rotating frame 15 and passes through its center via a rotating shaft, thereby ensuring that the tray rotates around the center as the axis of rotation during pitching motion, avoiding torque imbalance caused by eccentricity.

[0057] As an optional implementation, the pitch drive assembly is installed between the fixed base 13 and the rotating frame 15, and the pitch angle of the sample tray 14 can be adjusted by using a servo motor in conjunction with a worm gear mechanism. By controlling the rotation direction and angle range of the drive assembly, the sample tray 14 can be continuously rotated within a range of ±90°, allowing the test sample to receive spatial irradiation at different incident angles.

[0058] As an optional implementation, the operation of the device provided in this application is as follows:

[0059] During the operation of the overall device, the various mechanisms achieve multi-degree-of-freedom coordinated control through reasonable motion coordination.

[0060] When the sample height needs to be adjusted, the scissor lifting mechanism achieves lifting and lowering movement in the Z-axis direction through the extension and retraction of the scissor arm 5. When horizontal translation is required, the X-axis drive assembly and the Y-axis drive assembly respectively drive the X-axis moving stage 7 and the Y-axis moving stage 12 to move in their respective directions. When the sample pitch angle needs to be adjusted, the pitch drive assembly drives the rotating frame 15 to rotate around the horizontal axis, thereby achieving attitude adjustment of the sample tray 14. The entire system can achieve multi-axis linkage control through a centralized control system, enabling the sample to remain stably at any position and angle in the three-dimensional coordinate system to meet the experimental requirements under different angles and energy irradiation conditions.

[0061] Before operation, the device is rigidly connected to the bottom of the vacuum test chamber via a support base 1. The support base 1 serves as the mechanical foundation of the entire system, bearing and distributing all loads from the upper layers. A fixed plate 2 is fixed above the support base 1, and is tightly connected to the vacuum chamber base via bolts or flanges. A bearing seat is located at the center of the fixed plate 2, which engages with the rotating shaft on the lower surface of the bearing plate 3. The bearing plate 3 sits atop the fixed plate 2 and rotates smoothly via a central rotating shaft. Mounting bases 4 are symmetrically positioned on both sides of its upper surface. Mounting bases 4 serve as the bottom fulcrum of the scissor lift mechanism, and the entire scissor mechanism's movement originates from here.

[0062] Once the device is powered on and in operation, the height adjustment in the Z-axis direction is performed first. The core of the scissor lifting mechanism lies in the parallelogram motion structure formed by the cross connection of the scissor arms 5 and scissor arm components 6. The two sets of scissor arms 5 are arranged crosswise through a central hinge point, with their upper ends connected to the lower plate of the linear translation mechanism and their lower ends fixed to the mounting base 4 via hinge shafts. The power driving the scissor lifting mechanism comes from a scissor drive assembly installed below or in the middle of the scissor arm assembly. This drive assembly can be a screw-nut pair, an electric push rod, or a servo motor linkage structure. When the drive assembly is activated, its screw or push rod extends longitudinally, pushing the cross point of the two sets of scissor arms 5 outward, causing the scissor arm components 6 to open, thereby driving the entire linear translation mechanism to rise and raising the sample platform. Conversely, when the drive assembly retracts, the cross point of the scissor arms 5 gradually closes, the linear translation mechanism slowly descends, and the sample platform is lowered to the predetermined position. By controlling the extension and retraction of the drive assembly, height adjustment with millimeter-level or even higher precision can be achieved. Throughout the lifting process, the support plate 3 provides a rotation reference, and the scissor arm 5 and scissor arm component 6 maintain symmetrical force distribution, ensuring smooth movement without lateral swaying. Due to the use of high-rigidity metal materials and the addition of a vacuum-compatible solid lubricant layer at the hinge points, the scissor lifting mechanism can operate for extended periods in a vacuum environment without jamming or wear failure.

[0063] Once the sample height is adjusted to the predetermined position, the system enters the horizontal translation phase. The linear translation mechanism consists of an X-axis translation mechanism and a Y-axis translation mechanism from bottom to top, which are orthogonal to each other. The main body of the X-axis translation mechanism is the X-axis moving stage 7, which is arranged along the X-axis direction on the support platform at the upper end of the scissor lift mechanism. The lower part of the X-axis moving stage 7 is equipped with a guide rail slider structure, which slides in cooperation with the guide rail base fixedly connected to the upper end of the scissor lift mechanism to ensure the stability of the X-axis linear motion. The X-axis drive component that drives the X-axis moving stage 7 generally adopts a ball screw mechanism driven by a stepper motor. The rotation of the motor is converted into linear displacement through the screw, causing the X-axis moving stage 7 to move along the guide rail direction. The upper surface of the X-axis moving stage 7 is provided with an X-axis guide rail 10 to support the installation of the Y-axis translation mechanism. When the X-axis drive component is activated, the X-axis moving stage 7 drives the Y-axis moving stage 12 above it and the pitch mechanism as a whole to move along the X-axis direction, thereby realizing the X-axis displacement of the sample in the horizontal plane.

[0064] When the sample position needs to be adjusted in the Y-axis direction, the Y-axis translation mechanism is activated. The Y-axis translation mechanism includes a Y-axis moving stage 12, a Y-axis guide rail 11, a mounting buckle 8, a Y-axis buckle 9, and a Y-axis drive assembly. The Y-axis moving stage 12 is slidably connected to the X-axis guide rail 10 via the mounting buckle 8. The mounting buckle 8 is engaged in the guide groove of the X-axis guide rail 10, allowing the Y-axis moving stage 12 to slide smoothly above the X-axis moving stage 12. The bottom of the Y-axis moving stage 12 is rigidly connected to the mounting buckle 8, and the upper surface is provided with the Y-axis guide rail 11 along the Y-axis direction. The Y-axis guide rail 11 cooperates with the Y-axis buckle 9 at the bottom of the pitch mechanism, enabling the pitch mechanism to move with the Y-axis drive. When the Y-axis drive assembly is activated, the lead screw rotates, driving the Y-axis moving stage 12 to move along the Y-axis guide rail 11, and the pitch mechanism moves accordingly along the Y-axis direction. The X-axis drive and Y-axis drive can be controlled independently or combined under the coordination of the control system, thereby enabling the sample tray 14 to be precisely positioned at any position in the horizontal plane. The entire translation process is controlled by a servo system, which uses feedback signals to achieve closed-loop control, ensuring the positioning accuracy and repeatability of each movement.

[0065] After completing the Z-axis lifting and X / Y-axis translation, the sample's spatial position has been adjusted to the preset coordinate point, and the system enters the attitude adjustment stage. The pitch mechanism is installed above the Y-axis moving stage 12 and includes a fixed base 13, a rotating frame 15, a pitch drive assembly, and a sample tray 14. The fixed base 13 is connected to the Y-axis guide rail 11 via a Y-axis latch 9, ensuring the pitch mechanism remains stable during horizontal movement. The rotating frame 15 is connected to the fixed base 13 via bearings on both sides, forming a structure that can rotate around a horizontal axis. The sample tray 14 is located above the rotating frame 15, and its center is connected to the rotating frame 15 via a rotating shaft, ensuring that the sample tray 14 always rotates around its central axis during pitch movement, avoiding vibration and torque imbalance caused by eccentricity. The pitch drive assembly is located between the fixed base 13 and the rotating frame 15 and can be a servo motor-driven worm gear structure or a synchronous belt drive system. When the pitch drive assembly is activated, the worm gear drive drives the rotating frame 15 to rotate around the horizontal axis, thereby enabling the sample tray 14 to achieve pitch movement. The control system adjusts the motor speed and direction according to the preset angle signal, which can realize the continuous and controllable flipping of the sample tray 14 within the range of ±90 degrees.

[0066] In actual operation, when the irradiation incident angle needs to be changed, the control system issues a pitch adjustment command. The pitch drive component responds to the signal and starts rotating, causing the rotating frame 15 to rotate slowly, driving the sample tray 14 to pitch at a constant angular velocity to the target angle position. The sample under test on the sample tray 14 thus faces the irradiation source at the corresponding angle, thereby realizing multi-angle incident irradiation experiments. After the pitch angle adjustment is completed, the rotating frame 15 maintains its current attitude through a self-locking structure, ensuring that the sample attitude does not change during irradiation. To ensure precise control, the system can be configured with an angle sensor to monitor the pitch angle in real time and feed the signal back to the control system to form a closed-loop control circuit.

[0067] The entire operation of the multi-degree-of-freedom adjustment device is coordinated by the control system. The sequence of actions between the various mechanisms typically consists of four stages: "lifting, translation, pitching, and fine-tuning." Initially, the support base 1 and fixed plate 2 ensure structural stability; then, the scissor-type lifting mechanism adjusts the height; next, the X-axis moving stage 7 and Y-axis moving stage 12 achieve horizontal positioning; finally, the pitching mechanism adjusts the sample's attitude. Through these continuous movements, the test sample can be accurately placed at any desired spatial position and angle within the vacuum chamber. When the irradiation test is underway, if it is necessary to change the incident angle or position of the sample, simply input the target parameters on the control system interface, and the corresponding action will be completed by motor drive without manual intervention.

[0068] Throughout operation, all structural components work together to maintain system stability and accuracy. Support base 1 provides overall support rigidity; fixed plate 2 and bearing plate 3 ensure rotation and installation reference; mounting base 4 provides a stable foundation for the lifting mechanism; scissor arm 5 and scissor arm components 6 ensure smooth Z-axis lifting; X-axis moving stage 7, mounting buckle 8, Y-axis moving stage 12, X-axis guide rail 10, and Y-axis guide rail 11 constitute a stable two-dimensional translation system; fixed base 13, sample tray 14, and rotating frame 15 achieve attitude control. All mechanisms are precisely connected via bolts, bearings, and slide rails, reducing transmission backlash and vibration errors, ensuring the entire motion system is coordinated. Because all key components are made of low-exhaust-rate metal materials, and solid lubrication or self-lubricating bushings are used at friction pairs, the entire system can operate stably under high vacuum for extended periods without lubrication failure.

[0069] After the entire working process is completed, the system can reset each drive component to its initial position. The scissor arm 5 slowly retracts, returning the linear translation mechanism to its initial height. The X-axis moving stage 7 and Y-axis moving stage 12 return to their zero positions, the rotating frame 15 returns to its horizontal position, and the sample tray 14 returns to its initial plane. This device can maintain the same path and posture accuracy multiple times in repeated tests, with a control accuracy of up to 0.01 mm and an angle control error of less than 0.05 degrees. Different motion paths can be preset through software control, achieving automated posture switching.

[0070] In summary, the working process of this device is a precision mechanical motion system with coordinated operation of multiple layers of mechanisms. From bottom to top, the support base 1 and the fixed plate 2 provide a stable foundation, and the bearing plate 3 achieves rotational adjustment through rotation; the mounting base 4 fixes the scissor lifting mechanism, and the scissor arm 5 and scissor arm component 6 drive the upper mechanism to rise and fall; the X-axis moving stage 7 and the Y-axis moving stage 12 cooperate to install the buckle 8, the Y-axis buckle 9, the X-axis guide rail 10, and the Y-axis guide rail 11 to achieve planar positioning; the fixed seat 13, the rotating frame 15, and the sample tray 14 complete the pitch adjustment. Through the sequential drive and feedback control of these structures, the multi-degree-of-freedom posture adjustment device of this application can achieve high-precision coordinated control of three-axis translation and pitch rotation in a vacuum irradiation environment. The entire motion process is smooth, highly repeatable, and controllable in precision, fully meeting the high requirements of space irradiation experiments for sample posture adjustment.

[0071] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0072] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-degree-of-freedom pose adjustment device for space irradiation experiments, characterized in that, include: A support base that provides structural support to the apartment within a vacuum container; A scissor lifting mechanism is mounted on the support base and is used to drive the sample to move up and down in the Z-axis direction; A linear translation mechanism is provided on the scissor lifting mechanism. The linear translation mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, which are used to drive the sample to move along the X-axis and Y-axis directions in the horizontal plane. A pitch mechanism, which is mounted on the linear translation mechanism, is used to drive the sample to rotate ±90° around the horizontal axis.

2. The multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 1, characterized in that, The support base includes a fixed plate and a bearing plate, both of which are annular. The lower surface of the fixed plate is fixedly connected to the bottom base of the vacuum container by bolts or flanges, and a central bearing seat is provided on the upper surface of the fixed plate. The lower surface of the bearing plate is connected to the central bearing seat of the fixed plate by a rotating shaft, thereby enabling the bearing plate to rotate smoothly on the fixed plate in a vacuum environment. Two sets of mounting bases are provided on the bearing plate, and the two sets of mounting bases are respectively located on both sides of the bearing plate for connecting to the base of the scissor lift mechanism.

3. The multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 2, characterized in that, The scissor lifting mechanism includes a scissor arm assembly and a scissor drive assembly; the scissor arm assembly includes two scissor arm components, the lower ends of which are fixedly connected to the bearing plate via a mounting base; the scissor drive assembly drives the scissor arm assembly to move up and down, thereby realizing the lifting and lowering of the sample.

4. The multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 3, characterized in that, The scissor arm component includes two intersecting scissor arms arranged vertically, with the upper end of each scissor arm fixedly connected to the lower surface of the linear translation mechanism.

5. A multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 4, characterized in that, The X-axis translation mechanism is located at the upper end of the scissor lifting mechanism, and the Y-axis translation mechanism is located above the X-axis translation mechanism; the X-axis and Y-axis movement mechanisms are orthogonally distributed to each other, respectively realizing the linear movement of the sample along the X-axis and Y-axis directions.

6. The multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 5, characterized in that, The X-axis translation mechanism includes an X-axis moving stage arranged along the X-axis and an X-axis driving component for driving the X-axis moving stage to move along the X-axis. An X-axis guide rail is provided on the X-axis moving stage.

7. A multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 6, characterized in that, The Y-axis translation mechanism includes a Y-axis moving stage arranged along the Y-axis and a Y-axis driving component for driving the Y-axis moving stage to move along the Y-axis.

8. A multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 7, characterized in that, The lower surface of the Y-axis moving stage is provided with a mounting buckle, which cooperates with the X-axis guide rail to enable the Y-axis translation mechanism to move in the X direction above the X-axis translation mechanism.

9. A multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 7, characterized in that, The upper surface of the Y-axis moving platform is provided with a Y-axis guide rail along the Y-axis direction, and the lower surface of the pitch mechanism is provided with a Y-axis buckle that cooperates with the Y-axis guide rail, thereby enabling the pitch mechanism to move in the Y-axis direction under the drive of the Y-axis moving mechanism.

10. A multi-degree-of-freedom pose adjustment device for space irradiation experiments according to claim 9, characterized in that, The pitch mechanism includes a fixed base, a rotating frame, a pitch drive assembly, and a sample tray; the fixed base is connected to the Y-axis moving stage via a Y-axis buckle; the rotating frame passes through the center of the sample tray and is located at the center of the fixed base, and is rotatably connected to the fixed base via bearings on both sides.

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