High-rigidity six-legged motion platform with self-locking function

Abstract

This invention relates to the field of six-legged motion platform technology, specifically to a high-rigidity six-legged motion platform with a self-locking function. It includes a positioning chassis, with a transmission mechanism symmetrically fixedly mounted on the top of the chassis in a ring-shaped arrangement. A motion platform is mounted on the top of the transmission mechanism. The transmission mechanism includes a locking component and an alignment device. The locking component is fixedly mounted on both sides of the alignment device, and includes a synchronization device and a limiting device. The synchronization device is fixedly mounted on the top of the limiting device. The synchronization device includes a support base frame, a positioning rack, a rack back frame, a guide rod, a connecting plate, a first spring, a contact base plate, a support frame, a guide rod, a second spring, a storage hole, a connecting wing plate, an extension partition, and an anti-detachment plate. The rack back frame is slidably inserted into the support base frame, and the positioning rack is fixedly mounted on the side end of the rack back frame. Through the transmission mechanism, the six-legged motion platform achieves auxiliary support and positioning locking.

Description

Technical Field

[0001] This invention relates to the field of hexapod motion platform technology, specifically a high-rigidity hexapod motion platform with self-locking function. Background Technology

[0002] A hexapod motion table typically refers to a parallel motion mechanism based on the Stuart platform principle, consisting of six independently extendable linear actuators connected in parallel to support an upper platform. By coordinating the length changes of each actuator, the upper platform can achieve precise posture adjustment and motion simulation in six degrees of freedom. Its core characteristics are high rigidity, strong load-bearing capacity, fast dynamic response, and positioning accuracy down to the micrometer level. It is widely used in high-end engineering and scientific research fields such as flight, vehicle driving simulation, precision vibration isolation, optical alignment, CNC machine tool attitude compensation, and earthquake simulation.

[0003] Currently, existing six-legged motion tables utilize movable support rods for adjustment. When positioning heavier workpieces, insufficient support may occur. Furthermore, the lack of a self-locking function on the six-legged motion table may cause the support to sag after long-term operation, rendering the existing six-legged motion table unable to provide auxiliary support and positioning locking functions. Therefore, an improved device is needed to address these issues. Summary of the Invention

[0004] To address the problems in the prior art, the present invention provides a high-rigidity six-legged motion platform with a self-locking function.

[0005] The technical solution adopted by this invention to solve its technical problem is: a high-rigidity six-legged motion platform with self-locking function, including a positioning chassis. A transmission mechanism is symmetrically fixedly installed on the top of the positioning chassis, and the transmission mechanism is arranged in a ring. A motion platform is installed on the top of the transmission mechanism. The transmission mechanism includes a locking component and an alignment device. The locking component is fixedly installed on both sides of the alignment device. The locking component includes a synchronization device and a limiting device. The synchronization device is fixedly installed on the top of the limiting device. The synchronization device includes a support base frame, a positioning rack, a rack back frame, a guide rod, a connecting plate, a first spring, a contact base plate, a support frame, a guide rod, a second spring, a storage hole, a connecting wing plate, an extension partition, and an anti-detachment plate. The rack back frame is slidably inserted into the inside of the support base frame, and the positioning rack is fixedly installed on the rack back frame. On the side end of the rack back frame, the connecting plate is symmetrically fixedly installed on both sides away from the positioning rack. The first spring is symmetrically fixedly installed between the connecting plate and the side end of the support base frame near the connecting plate. The guide rod is symmetrically fixedly installed on the side end of the support base frame near the connecting plate, and the guide rod is located inside the first spring. The contact base plate is fixedly installed on the top and bottom ends of both sides of the rack back frame. The guide round rod is symmetrically fixedly installed on the top and bottom ends inside the support base frame. The connecting wing plate is slidably sleeved on the outer ring of the guide round rod. The second spring is fixedly installed between the support base frame and the connecting wing plate. The anti-detachment piece is fixedly installed on the top end of the guide round rod. The support frame is fixedly installed between the two connecting wing plates. The extension partition is symmetrically fixedly installed on the bottom end of the support frame. The storage hole is symmetrically opened on the top and bottom ends inside the support base frame.

[0006] Specifically, the limiting device includes a supporting shell, a displacement vertical plate, a gear bracket, a first gear, a second gear, an extension shell, a permanent magnet, a transmission rack, an electromagnet, and a positioning cam. The extension shell is fixedly installed on the side end of the supporting shell, the electromagnet is fixedly installed inside the supporting shell, the displacement vertical plate is symmetrically slidably inserted into the top end of the extension shell, the permanent magnet is fixedly installed at the bottom end of the displacement vertical plate, the transmission rack is fixedly installed on both top ends of the permanent magnet, the gear bracket is symmetrically fixedly installed on the top end inside the extension shell, and the gear bracket is located on both sides of the displacement vertical plate. The first gear and the second gear are rotatably installed on the side end of the gear bracket away from the displacement vertical plate, and the first gear is located above the second gear. The positioning cam is fixedly installed on the side end of the first gear away from the gear bracket.

[0007] Specifically, the alignment device includes a first connecting joint, a second connecting joint, a piston cylinder, a piston rod, teeth, a connecting side plate, movable locking keys, a hollow cavity, and a connecting ring. The piston rod is installed inside the bottom end of the piston cylinder. The second connecting joint is fixedly installed at the bottom end of the piston rod and the top end of the piston cylinder. The first connecting joint is rotatably installed inside the second connecting joint. The connecting ring is fixedly installed at the bottom of the outer ring of the piston cylinder. The hollow cavity is fixedly installed on both sides of the connecting ring. The movable locking keys are symmetrically slidably inserted into the side end of the hollow cavity opposite to the connecting ring. The connecting side plate is fixedly installed between the two movable locking keys. The teeth are equidistantly fixedly installed on the side end of the connecting side plate opposite to the connecting ring.

[0008] Specifically, the first connecting joint is rotatably installed inside the positioning chassis and the motion platform, the supporting shell is fixedly installed on the bottom ends of both sides of the piston rod, the top end of the displacement vertical plate is connected to the rack back frame, the supporting base frame is fixedly installed on the top end of the extension shell, the first gear meshes with the second gear, and the transmission rack meshes with the second gear.

[0009] Specifically, the positioning rack and the teeth are both arc-shaped at opposite ends, and an arc groove is provided at the center of the bottom end of the support frame. The support frame is vertically aligned with the positioning cam.

[0010] Specifically, the transmission rack and the permanent magnet are connected by an extension arm, the hollow cavity is hollow inside, and the hollow cavity has symmetrical through slots on the side end near the connecting side plate. The support frame is vertically aligned with the contact base plate, and the positioning rack is horizontally aligned with the teeth.

[0011] Specifically, the transmission ratio between the second gear and the first gear is 1:5. The displacement vertical plate slides through the extended outer shell and the support base frame and is connected to the rack back frame. The top and bottom ends of the support base frame and the top end of the extended outer shell are both provided with guide grooves.

[0012] Specifically, there is an electrical connection between the electromagnet, the piston rod, and the piston cylinder, and the top of the extended outer shell is symmetrically provided with storage holes.

[0013] Specifically, the support base has a square hole inside, and the outer surface of the rack back frame is in contact with the inner wall of the square hole.

[0014] The beneficial effects of this invention are:

[0015] First, this invention allows the piston cylinder to move along the teeth on the positioning rack during displacement. When the piston cylinder moves to the designated area, it can slide within the hollow cavity via a movable latch, facilitating the alignment and insertion of the teeth with the positioning rack. This allows the teeth to be adapted to the positioning rack, providing auxiliary support for the piston cylinder. Furthermore, by using the same drive control for the electromagnet, piston cylinder, and piston rod, the energization of the electromagnet can be controlled. When the electromagnet is energized, it repels the like pole of the permanent magnet, causing the positioning rack and teeth to misalign, facilitating the normal displacement of the piston cylinder and completing the piston cylinder positioning and locking function.

[0016] Second, this invention uses a permanent magnet to drive the transmission rack to move along the bottom end of the second gear when it is displaced, so that the second gear and the first gear can rotate simultaneously. This causes the positioning cam to press the support frame upward, and the support frame can contact the contact base plate to support the rack back frame. When the support frame and the protruding part of the positioning cam are misaligned, the second spring can drive the support frame to disengage from the contact base plate, which facilitates the normal movement and displacement of the rack back frame inside the support base frame, improves the smoothness of the rack back frame's movement, and completes the auxiliary support work at the rear end of the positioning rack. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a three-dimensional structural diagram of the main body from a frontal perspective in this invention;

[0019] Figure 2 This is a three-dimensional structural diagram of the transmission mechanism in this invention from a frontal perspective;

[0020] Figure 3 This is a three-dimensional structural diagram of the locking component from a frontal view in this invention;

[0021] Figure 4 This is a partial cross-sectional schematic diagram of the synchronization device in this invention;

[0022] Figure 5 This is a three-dimensional structural diagram of the synchronization device from the rear view in this invention;

[0023] Figure 6 In this invention Figure 5 A magnified view of part A;

[0024] Figure 7 This is a partial cross-sectional schematic diagram of the limiting device in this invention;

[0025] Figure 8 This is a three-dimensional structural diagram of the limiting device from a side view in this invention;

[0026] Figure 9This is a partial cross-sectional schematic diagram of the alignment device in this invention;

[0027] Figure 10 In this invention Figure 9 A magnified view of part B.

[0028] In the diagram: 1-Transmission mechanism, 2-Positioning chassis, 3-Motion platform, 4-Locking component, 5-Alignment device, 6-Synchronization device, 7-Limiting device, 8-Supporting base frame, 9-Positioning rack, 10-Rack back frame, 11-Guide base rod, 12-Connecting plate, 13-First spring, 14-Contact base plate, 15-Support frame, 16-Guide round rod, 17-Second spring, 18-Storage hole, 19-Connecting wing plate, 20-Extension partition, 21 - Anti-detachment plate, 22 - Support shell, 23 - Displacement vertical plate, 24 - Gear bracket, 25 - First gear, 26 - Second gear, 27 - Extension shell, 28 - Permanent magnet, 29 - Transmission rack, 30 - Electromagnet, 31 - Positioning cam, 32 - First connecting joint, 33 - Second connecting joint, 34 - Piston cylinder, 35 - Piston rod, 36 - Tooth, 37 - Connecting side plate, 38 - Movable locking key, 39 - Hollow cavity, 40 - Connecting ring. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] The invention will be further described below with reference to the accompanying drawings.

[0031] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the high-rigidity six-legged motion platform with self-locking function of the present invention includes a positioning base 2. A transmission mechanism 1 is symmetrically fixedly installed on the top of the positioning base 2, and the transmission mechanism 1 is arranged in a ring. A motion platform 3 is installed on the top of the transmission mechanism 1. The transmission mechanism 1 includes a locking component 4 and an alignment device 5. The locking component 4 is fixedly installed on both sides of the alignment device 5. The locking component 4 includes a synchronization device 6 and a limiting device 7. The synchronization device 6 is fixedly installed on the top of the limiting device 7. The synchronization device 6 includes a support base 8, a positioning rack 9, a rack back frame 10, a guide base rod 11, a connecting plate 12, a first spring 13, a contact base plate 14, a support frame 15, a guide round rod 16, a second spring 17, a storage hole 18, a connecting wing plate 19, an extension partition 20, and an anti-detachment plate 21. The rack back frame 10 is slidably inserted into the inside of the support base 8. The positioning rack 9 is fixedly installed on the side end of the rack back frame 10. The connecting plate 12 is symmetrically fixedly installed on both sides of the rack back frame 10 away from the positioning rack 9. On one side, the first spring 13 is symmetrically fixedly installed between the connecting plate 12 and the side end of the support base 8 near the connecting plate 12. The guide rod 11 is symmetrically fixedly installed on the side end of the support base 8 near the connecting plate 12, and the guide rod 11 is located inside the first spring 13. The contact base plate 14 is fixedly installed on the top and bottom ends of both sides of the rack back frame 10. The guide round rod 16 is symmetrically fixedly installed on the top and bottom ends inside the support base 8. The connecting wing plate 19 is slidably sleeved on the outer ring of the guide round rod 16. The second spring 17 is fixedly installed between the support base 8 and the connecting wing plate 19. The anti-detachment plate 21 is fixedly installed on the top end of the guide round rod 16. The support frame 15 is fixedly installed between the two connecting wing plates 19. The extension partition 20 is symmetrically fixedly installed on the bottom end of the support frame 15. The storage hole 18 is symmetrically opened on the top and bottom ends inside the support base 8. The tooth surfaces on the opposite sides of the positioning rack 9 and the tooth 36 are all arc-shaped, so that the teeth on the positioning rack 9 and the tooth 36 can be prevented from pushing against each other.

[0032] like Figure 7 and Figure 8The limiting device 7 includes a supporting housing 22, a displacement vertical plate 23, a gear bracket 24, a first gear 25, a second gear 26, an extension housing 27, a permanent magnet 28, a transmission rack 29, an electromagnet 30, and a positioning cam 31. The extension housing 27 is fixedly installed on the side of the supporting housing 22, the electromagnet 30 is fixedly installed inside the supporting housing 22, the displacement vertical plate 23 is symmetrically slidably inserted into the top of the extension housing 27, the permanent magnet 28 is fixedly installed at the bottom of the displacement vertical plate 23, the transmission rack 29 is fixedly installed on both top ends of the permanent magnet 28, and the gear bracket 24 is symmetrically fixedly installed inside the top of the extension housing 27. 24 is located on both sides of the displacement vertical plate 23. The first gear 25 and the second gear 26 are rotatably mounted on the side of the gear bracket 24 away from the displacement vertical plate 23, and the first gear 25 is located above the second gear 26. The positioning cam 31 is fixedly mounted on the side of the first gear 25 away from the gear bracket 24. The bottom end of the support frame 15 is provided with an arc groove, so that the positioning cam 31 can push the support frame 15 to move upward when rotating. Because the transmission ratio of the first gear 25 to the second gear 26 is different, when the second gear 26 rotates at a small angle, it can drive the first gear 25 to rotate one revolution, so that the positioning cam 31 can push the support frame 15 to move upward.

[0033] like Figure 9 and Figure 10 The alignment device 5 includes a first connecting joint 32, a second connecting joint 33, a piston cylinder 34, a piston rod 35, teeth 36, a connecting side plate 37, a movable locking key 38, a hollow cavity 39, and a connecting ring 40. The piston rod 35 is installed inside the bottom end of the piston cylinder 34. The second connecting joint 33 is fixedly installed at the bottom end of the piston rod 35 and the top end of the piston cylinder 34. The first connecting joint 32 is rotatably installed inside the second connecting joint 33. The connecting ring 40 is fixedly installed at the bottom of the outer ring of the piston cylinder 34. The cavity 39 is fixedly installed on both sides of the connecting ring 40. The movable locking keys 38 are symmetrically slidably inserted into the side end of the hollow cavity 39 away from the connecting ring 40. The connecting side plate 37 is fixedly installed between the two movable locking keys 38. The teeth 36 are fixedly installed at equal intervals on the side end of the connecting side plate 37 away from the connecting ring 40. The movable locking keys 38 can be adjusted slightly up and down inside the hollow cavity 39, so that the teeth 36 can be smoothly connected and assembled with the positioning rack 9 to complete the locking of the piston cylinder 34 at the specified height.

[0034] The first connecting joint 32 is rotatably mounted inside the positioning chassis 2 and the motion platform 3. The support housing 22 is fixedly mounted on the bottom ends of both sides of the piston rod 35. The top end of the displacement vertical plate 23 is connected to the rack back frame 10. The support base frame 8 is fixedly mounted on the top end of the extension housing 27. The first gear 25 meshes with the second gear 26, and the transmission rack 29 meshes with the second gear 26. The opposite ends of the positioning rack 9 and the teeth 36 are both arc-shaped. An arc groove is opened at the center of the bottom end of the support frame 15. The support frame 15 is vertically aligned with the positioning cam 31. The transmission rack 29 is connected to the permanent magnet 28 by an extension arm. The interior of the hollow cavity 39 is hollow. The cavity 39 has symmetrical through slots on the side end near the connecting side plate 37. The support frame 15 is vertically aligned with the contact base plate 14. The positioning rack 9 is horizontally aligned with the teeth 36. The transmission ratio of the second gear 26 to the first gear 25 is 1:5. The displacement vertical plate 23 slides through the extended outer shell 27 and the support base 8 and is connected to the rack back frame 10. The top and bottom ends of the support base 8 and the top end of the extended outer shell 27 are both provided with guide slots. There is an electrical connection between the electromagnet 30, the piston rod 35 and the piston cylinder 34. The top end of the extended outer shell 27 has symmetrical storage holes 18. The inside of the support base 8 has a square hole, and the outer surface of the rack back frame 10 is in contact with the inner wall of the square hole.

[0035] The working principle is as follows: During use, when the motion platform 3 needs adjustment, the piston rod 35 and piston cylinder 34 can be activated, allowing the piston cylinder 34 to slide on the piston rod 35. Simultaneously, the piston rod 35 and electromagnet 30 are driven by the same control, ensuring that the electromagnet 30 is energized at the same time as the piston rod 35. By pre-testing and adjusting the current direction inside the electromagnet 30, the magnetic poles of the electromagnet 30 and the permanent magnet 28 can be aligned, causing a repulsive reaction between the like poles. This causes the permanent magnet 28 to move away from the electromagnet 30. At this time, the displacement vertical plate 23, passing through the support frame 8 and connected to the rack and pinion frame 10, allows the permanent magnet 28 to move further away from the electromagnet 30 during displacement. The rack back bracket 10 can be moved away from the piston cylinder 34, so that the positioning rack 9 can be moved until it disengages from the teeth 36. At this time, the piston cylinder 34 can move up and down at the top of the piston rod 35 until the motion platform 3 is adjusted to the specified angle. Then the power supply to the piston rod 35 and the electromagnet 30 is cut off. At this time, the electromagnet 30 loses its magnetism when the electrical energy disappears, and the electromagnet 30 becomes an ordinary iron block. As a result, the permanent magnet 28 and the electromagnet 30 lose their repulsive reaction. Furthermore, the elasticity of the first spring 13 will drive the connecting plate 12 and the rack back bracket 10 to move closer to the piston cylinder 34, so that the rack back bracket 10 can drive the positioning rack 9 to contact the teeth 36. Since the ends of the teeth on the teeth 36 and the positioning rack 9 are both arc-shaped, the rack back bracket 10 can drive the positioning rack 9 to contact the teeth 36. The arrangement of the teeth on the toothed gear 36 and the positioning rack 9 avoids relative squeezing. Simultaneously, the movable locking key 38 slides within the through groove of the hollow cavity 39, allowing the connecting side plate 37 to move slightly up and down. This facilitates the toothed gear 36 engaging with the positioning rack 9, locking the piston cylinder 34 onto the piston rod 35. Simultaneously, the displacement of the permanent magnet 28 causes the transmission rack 29 to move along the bottom end of the second gear 26, rotating it. When the second gear 26 rotates, it synchronously rotates the first gear 25, causing the protruding part of the positioning cam 31 to rotate vertically upwards. At this point, the positioning cam 31 pushes the support frame 15 upwards. When the support frame 15 reaches its limit position, its top end can fit against the bottom end of the contact base plate 14, allowing the support frame 15 to form auxiliary support at the bottom end of the contact base plate 14. This enhances the support strength of the rack back frame 10 and prevents the rack back frame 10 from collapsing at the side end away from the positioning rack 9. Furthermore, when the permanent magnet 28 moves in the opposite direction, it can drive the second gear 26 and the first gear 25 to rotate in the opposite direction simultaneously. This allows the first gear 25 to drive the positioning cam 31 to rotate, so that the protruding part of the positioning cam 31 can rotate to a vertical downward position. This allows the support frame 15 to lose the compression of the positioning cam 31. The elasticity of the second spring 17 will pull the connecting wing plate 19 downward, so that when the connecting wing plate 19 resets, it can pull the support frame 15 downward to reset as well.Thus, the support frame 15 can disengage from the contact base plate 14, facilitating the smooth displacement of the rack back frame 10. During use, the displacement vertical plate 23 can slide within the extended outer shell 27 and the support base frame 8, allowing the displacement vertical plate 23 to drive the positioning rack 9 to move along a straight line. During vertical displacement, the piston cylinder 34 can drive the teeth 36 to engage with positioning racks 9 at different heights. Simultaneously, the movable latch 38 can slide vertically within the hollow cavity 39, allowing for slight vertical displacement of the teeth 36. This improves the smoothness of the insertion between the teeth 36 and the positioning rack 9. Furthermore, when the electromagnet 30 is energized, the permanent magnet 28 repels the electromagnet 30, causing the positioning rack 9 to disengage from the teeth 36. At this time, the piston cylinder 34 can be adjusted up and down. When the electromagnet 30 is de-energized, the elasticity of the first spring 13 pulls the rack back frame 10 to move and reset, facilitating the re-attraction of the permanent magnet 28 and the electromagnet 30. Simultaneously, the positioning rack 9 can re-engage with the teeth 36, allowing the piston cylinder 34 to lock again.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-rigidity six-legged motion platform with self-locking function, comprising a positioning chassis (2), wherein a transmission mechanism (1) is symmetrically fixedly installed on the top of the positioning chassis (2), and the transmission mechanism (1) is arranged in a ring, and a motion platform (3) is installed on the top of the transmission mechanism (1), characterized in that: The transmission mechanism (1) includes a locking component (4) and a positioning device (5). The locking component (4) is fixedly installed on both sides of the positioning device (5). The locking component (4) includes a synchronizing device (6) and a limiting device (7). The synchronizing device (6) is fixedly installed on the top of the limiting device (7). The synchronizing device (6) includes a support base frame (8), a positioning rack (9), a rack back frame (10), a guide base rod (11), a connecting plate (12), a first spring (13), and a contact. The base plate (14), support frame (15), guide rod (16), second spring (17), storage hole (18), connecting wing plate (19), extension partition (20), and anti-detachment plate (21) are included. The rack back frame (10) is slidably inserted into the support base frame (8). The positioning rack (9) is fixedly installed on the side end of the rack back frame (10). The connecting plate (12) is symmetrically fixedly installed on both sides of the rack back frame (10) away from the positioning rack (9). The first spring (13) is positioned opposite to the rack back frame (10). The guide rod (11) is symmetrically fixedly installed between the connecting plate (12) and the support base frame (8) near the side end of the connecting plate (12), and the guide rod (11) is located inside the first spring (13). The contact base plate (14) is fixedly installed at the top and bottom ends of both sides of the rack back frame (10). The guide round rod (16) is symmetrically fixedly installed at the top and bottom ends inside the support base frame (8). The connecting wing plate (19) Sliding sleeve on the outer ring of the guide rod (16), the second spring (17) is fixedly installed between the support base (8) and the connecting wing plate (19), the anti-detachment piece (21) is fixedly installed at the top of the guide rod (16), the support frame (15) is fixedly installed between the two connecting wing plates (19), the extension partition (20) is symmetrically fixedly installed at the bottom of the support frame (15), and the storage hole (18) is symmetrically opened at the top and bottom of the inside of the support base (8).

2. The high-rigidity hexapod motion platform with self-locking function according to claim 1, characterized in that: The limiting device (7) includes a supporting shell (22), a displacement vertical plate (23), a gear bracket (24), a first gear (25), a second gear (26), an extension shell (27), a permanent magnet (28), a transmission rack (29), an electromagnet (30), and a positioning cam (31). The extension shell (27) is fixedly installed on the side of the supporting shell (22), the electromagnet (30) is fixedly installed inside the supporting shell (22), the displacement vertical plate (23) is symmetrically slidably inserted into the top of the extension shell (27), and the permanent magnet (28) is fixedly installed on the displacement vertical plate. At the bottom end of the plate (23), the transmission rack (29) is fixedly installed on both sides of the top end of the permanent magnet (28), the gear bracket (24) is symmetrically fixedly installed on the inner top end of the extended shell (27), and the gear bracket (24) is located on both sides of the displacement vertical plate (23). The first gear (25) and the second gear (26) are rotatably installed on the side end of the gear bracket (24) away from the displacement vertical plate (23), and the first gear (25) is located above the second gear (26). The positioning cam (31) is fixedly installed on the side end of the first gear (25) away from the gear bracket (24).

3. The high-rigidity hexapod motion platform with self-locking function according to claim 2, characterized in that: The alignment device (5) includes a first connecting joint (32), a second connecting joint (33), a piston cylinder (34), a piston rod (35), teeth (36), a connecting side plate (37), a movable locking key (38), a hollow cavity (39), and a connecting ring (40). The piston rod (35) is installed inside the bottom end of the piston cylinder (34). The second connecting joint (33) is fixedly installed at the bottom end of the piston rod (35) and the top end of the piston cylinder (34). The first connecting joint (32) is rotatably mounted on... Inside the second connecting joint (33), the connecting ring (40) is fixedly installed at the bottom of the outer ring of the piston cylinder (34), the hollow cavity (39) is fixedly installed on both sides of the connecting ring (40), the movable key (38) is symmetrically slidably inserted into the side end of the hollow cavity (39) away from the connecting ring (40), the connecting side plate (37) is fixedly installed between the two movable keys (38), and the teeth (36) are fixedly installed at equal intervals on the side end of the connecting side plate (37) away from the connecting ring (40).

4. The high-rigidity six-legged motion platform with self-locking function according to claim 3, characterized in that: The first connecting joint (32) is rotatably installed inside the positioning chassis (2) and the motion platform (3). The supporting shell (22) is fixedly installed on both sides of the bottom end of the piston rod (35). The top end of the displacement vertical plate (23) is connected to the rack back frame (10). The supporting base frame (8) is fixedly installed on the top end of the extension shell (27). The first gear (25) meshes with the second gear (26). The transmission rack (29) meshes with the second gear (26).

5. The high-rigidity six-legged motion platform with self-locking function according to claim 4, characterized in that: The positioning rack (9) and the teeth (36) are both arranged in an arc shape at opposite ends. The bottom center of the support frame (15) is provided with an arc groove. The support frame (15) is vertically aligned with the positioning cam (31).

6. The high-rigidity six-legged motion platform with self-locking function according to claim 5, characterized in that: The transmission rack (29) is connected to the permanent magnet (28) by an extension arm. The hollow cavity (39) is hollow inside, and the hollow cavity (39) has symmetrical through slots on the side end near the connecting side plate (37). The support frame (15) is vertically aligned with the contact base plate (14), and the positioning rack (9) is horizontally aligned with the teeth (36).

7. The high-rigidity six-legged motion platform with self-locking function according to claim 6, characterized in that: The transmission ratio of the second gear (26) to the first gear (25) is 1:

5. The displacement vertical plate (23) slides through the extended shell (27) and the support base (8) and is connected to the rack back frame (10). The top and bottom ends of the support base (8) and the top end of the extended shell (27) are both provided with guide grooves.

8. The high-rigidity six-legged motion platform with self-locking function according to claim 7, characterized in that: There is an electrical connection between the electromagnet (30), the piston rod (35) and the piston cylinder (34), and the top of the extended outer shell (27) is symmetrically provided with storage holes (18).

9. The high-rigidity six-legged motion platform with self-locking function according to claim 8, characterized in that: The support base (8) has a square hole inside, and the outer surface of the rack back frame (10) is in contact with the inner wall of the square hole.

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