Five-degree-of-freedom adjusting mechanism
By designing a five-degree of freedom adjustment mechanism including a composite adjustment platform, a rotating platform and a translation platform, the problems of slow speed, low flexibility and lack of position memory function in the prior art are solved, and fast, high flexibility and accurate adjustments are achieved, meeting the high-precision needs of optical detection equipment.
Patent Information
- Application Number
- CN202422360630.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-06-24
- Estimated Expiration
- 2034-09-26
AI Technical Summary
The five-degree of freedom adjustment mechanism in the existing field of optical detection has slow speed, low flexibility, lack of position memory function, and the accuracy cannot meet the usage requirements.
A five-degree of freedom adjustment mechanism including a composite adjustment platform, a rotating platform and a translation platform is designed. The first driving device drives the screw rotation and the connection block movement to achieve translation adjustment, the second driving device drives the worm and worm gear to achieve rotation adjustment, the servo cylinder drives the composite adjustment table height adjustment, and adopts a detachable assembly structure and limit bracket limiting parts combination to increase flexibility and accuracy.
It realizes fast, high flexibility and accurate five-degree of freedom adjustment, has position memory function, and meets the high requirements for accuracy and flexibility of optical detection equipment.
Smart Images
Figure CN223019876U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of optical detection, and particularly relates to a five-degree-of-freedom adjustment mechanism. Background Art
[0002] In the field of optical detection, a multi-degree-of-freedom adjustment mechanism is used to place a device to be detected and adjust it. A five-degree-of-freedom adjustment mechanism is used to place devices such as a measured optical instrument or an aerospace payload, etc., in front of a detection device such as a collimator, etc., to facilitate aligning the light passing aperture of the measured system with the detection device and switching the field of view during the testing and calibration processes. Most of the existing products adopt a manual adjustment method, which has a slow adjustment speed, low flexibility of the device, no position memory function for adjustment, and the accuracy cannot meet the use requirements. Content of the Utility Model
[0003] Therefore, the technical problem to be solved by the utility model is to overcome the defects in the prior art, so as to provide a five-degree-of-freedom adjustment mechanism.
[0004] A five-degree-of-freedom adjustment mechanism includes: a composite adjustment platform, a rotary platform, and a translation platform which are arranged longitudinally in sequence. The translation platform includes a translation adjustment tabletop and a translation adjustment pedestal which are arranged longitudinally in sequence. Guide rails are arranged in pairs on the translation adjustment pedestal. The translation adjustment tabletop is slidably connected to the guide rails. A first driving device and a lead screw are further arranged on the translation adjustment pedestal. The power output end of the first driving device is connected to the lead screw. A connecting block is slidably connected to the lead screw. The connecting block is connected to the translation adjustment tabletop. The rotary platform includes a rotary adjustment tabletop and a rotary adjustment pedestal which are arranged longitudinally in sequence. A worm and a worm gear which mesh with each other are arranged on the rotary adjustment pedestal. Any end of the worm is connected to the power output end of a second driving device. The worm gear is connected to the rotary adjustment tabletop. The composite adjustment platform includes a composite adjustment tabletop and a composite adjustment pedestal which are arranged longitudinally in sequence. A plurality of servo electric cylinders are arranged on the composite adjustment pedestal. The fixed installation end of the servo electric cylinder is hinged to the composite adjustment pedestal. The telescopic working end of the servo electric cylinder is hinged to the composite adjustment tabletop. The translation adjustment tabletop is connected to the rotary adjustment pedestal. The rotary adjustment tabletop is connected to the composite adjustment pedestal.
[0005] Further, a limiting bracket is further arranged on the translation adjustment pedestal. A limiting chute is opened on the limiting bracket. A limiting member corresponding to the limiting chute is arranged on the translation adjustment tabletop. The limiting member is slidably arranged in the limiting chute.
[0006] Further, the adjustment mechanism further includes a bearing and a support. The bearing is connected to the end of the worm away from the second driving device, and the bearing is installed on the support. The support is arranged on the rotary adjustment pedestal.
[0007] Further, the adjustment mechanism further includes a lead screw support assembly. The paired lead screw support assemblies are installed at both ends of the lead screw.
[0008] Further, a moving slider corresponding to the guide rail is provided at the bottom of the translation adjustment table top, and the moving slider is slidably connected to the guide rail.
[0009] Further, the first driving device is a first motor, the power output end of the first motor is connected to the lead screw, the second driving device is a second motor, and the power output end of the second motor is connected to the worm.
[0010] Further, the adjustment mechanism further includes a displacement sensor, and the displacement sensor is fixedly installed on the translation adjustment pedestal.
[0011] Further, the adjustment mechanism further includes an angle sensor, and the angle sensor is arranged at the center of rotation of the worm gear.
[0012] Further, the adjustment mechanism further includes a pose sensor, and the pose sensor is arranged on the composite adjustment table top.
[0013] Further, a plurality of universal wheels and a plurality of telescopic support bases are arranged on the translation adjustment pedestal.
[0014] The technical solution of the present utility model has the following advantages:
[0015] 1. A five-degree-of-freedom adjustment mechanism provided by the present utility model drives the rotation of the lead screw and the reciprocating movement of the connecting block through the drive of the first driving device, so as to realize the reciprocating translation of the translation adjustment table top along the X axis. Through the drive of the second driving device, the rotation of the worm and the worm gear is driven, and then the rotation adjustment of the rotation adjustment table top with the Z axis as the rotation axis is realized. Through the telescopic movement of the servo electric cylinder, the height adjustment of the composite adjustment table top along the Z axis is driven. At the same time, a detachable building block structure form is adopted between the translation platform, the rotation platform and the composite adjustment platform. When different adjustment dimensions are required in different scenarios, the translation platform, the rotation platform and the composite adjustment platform can be independently disassembled and used, increasing the flexibility and practicality of the mechanism.
[0016] 2. In the technical solution provided by the present utility model, through the combined use of the limit bracket and the limiting member, when the mechanism performs the translation adjustment along the X axis, a limiting effect is achieved. The moving slider arranged at the bottom of the translation adjustment table top provides accurate guidance for the moving adjustment of the translation adjustment table top, increasing the stability of the structure. The displacement sensor can real-time feedback the position information of the mechanism during the translation adjustment along the X axis, the angle sensor is used to detect the angle information of the worm gear driving the rotation adjustment of the rotation adjustment table top, and the pose sensor is used to feedback the pose information of the composite adjustment table top. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0018] Figure 1 Schematic diagram of the overall structure of the present invention;
[0019] Figure 2 Schematic diagram of the lead screw and the first motor structure of the present invention;
[0020] Figure 3 Schematic diagram of the rotary adjustment pedestal and the rotary adjustment tabletop structure of the present invention;
[0021] Figure 4 Schematic diagram of the translation adjustment pedestal, the second motor, the worm and the servo cylinder structure of the present invention;
[0022] Figure 5 Schematic diagram of the lead screw, the lead screw support assembly, the rotary adjustment tabletop and the worm gear structure of the present invention;
[0023] Figure 6 Schematic diagram of the worm gear structure of the present invention.
[0024] Explanation of reference numerals:
[0025] 1 - Composite adjustment platform; 2 - Rotary platform; 3 - Translation platform; 4 - Translation adjustment pedestal; 5 - Translation adjustment tabletop; 6 - Lead screw; 7 - Lead screw support assembly; 8 - First motor; 9 - Guide rail; 10 - Displacement sensor; 11 - Rotary adjustment pedestal; 12 - Rotary adjustment tabletop; 13 - Bearing; 14 - Second motor; 15 - Worm; 16 - Angle sensor; 17 - Servo cylinder; 18 - Composite adjustment platform base; 19 - Composite adjustment tabletop; 20 - Pose sensor; 21 - Worm gear; 22 - Limit bracket; 23 - Limiting member. Specific embodiments
[0026] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0027] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0028] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0029] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0030] Such as Figures 1 to 6A five-degree-of-freedom adjustment mechanism shown includes: a composite adjustment platform 1, a rotary platform 2, and a translation platform 3 arranged longitudinally in sequence. The translation platform 3 includes a translation adjustment tabletop 5 and a translation adjustment pedestal 4 arranged longitudinally in sequence. On the translation adjustment pedestal 4, guide rails 9 are arranged in pairs. The translation adjustment tabletop 5 is slidably connected to the guide rails 9. On the translation adjustment pedestal 4, a first driving device and a lead screw 6 are also arranged. The power output end of the first driving device is connected to the lead screw 6. A connecting block is slidably connected to the lead screw 6, and the connecting block is connected to the translation adjustment tabletop 5. The rotary platform 2 includes a rotary adjustment tabletop 12 and a rotary adjustment pedestal 11 arranged longitudinally in sequence. On the rotary adjustment pedestal 11, a worm 15 and a worm gear 21 that mesh with each other are arranged. Any end of the worm 15 is connected to the power output end of a second driving device, and the worm gear 21 is connected to the rotary adjustment tabletop 12. The composite adjustment platform 1 includes a composite adjustment tabletop 19 and a composite adjustment platform pedestal 18 arranged longitudinally in sequence. On the composite adjustment platform pedestal 18, a plurality of servo electric cylinders 17 are arranged. The fixed installation end of the servo electric cylinder 17 is hinged to the composite adjustment platform pedestal 18, and the telescopic working end of the servo electric cylinder 17 is hinged to the composite adjustment tabletop 19. The translation adjustment tabletop 5 and the rotary adjustment pedestal 11 are connected by bolts, and the rotary adjustment tabletop 12 and the composite adjustment platform pedestal 18 are connected by bolts. By controlling the stroke of the first driving device, the displacement adjustment range of the translation adjustment tabletop 5 is limited, and the purpose of limiting the displacement of the translation adjustment tabletop 5 in the X-axis direction is achieved.
[0031] For the above five-degree-of-freedom adjustment mechanism, the rotation of the lead screw 6 and the reciprocating movement of the connecting block are driven by the first driving device, so as to realize the reciprocating translation of the translation adjustment tabletop 5 along the X-axis direction. The rotation of the worm 15 and the worm gear 21 is driven by the second driving device, and then the angular rotation adjustment of the rotary adjustment tabletop 12 with the Z-axis as the rotation axis is realized. The height adjustment of the composite adjustment tabletop 19 along the Z-axis is driven by the telescopic movement of the servo electric cylinder 17. At the same time, a detachable stacking structure form is adopted among the translation platform 3, the rotary platform 2, and the composite adjustment platform 1. When different adjustment dimensions are required in different scenarios, the translation platform 3, the rotary platform 2, and the composite adjustment platform 1 can be independently disassembled and used, increasing the flexibility and practicability of the mechanism.
[0032] Such as Figure 5As shown in the figure, in this embodiment, a limit bracket 22 is further provided on the translation adjustment pedestal 4. A limit chute is provided on the limit bracket 22, and a limiting member 23 corresponding to the limit chute is provided on the translation adjustment tabletop 5. The limiting member 23 is slidably arranged in the limit chute; the limit bracket 22 is fixedly installed on the side surface of the translation adjustment pedestal 4 by screws. When the translation adjustment tabletop 5 reciprocates along the X-axis, the limiting member 23 reciprocates inside the limit chute. Since the size of the limit chute is limited, the limiting member 23 and the translation adjustment tabletop 5 are thus limited within a certain distance range, achieving the purpose of limiting the adjustment displacement of the translation adjustment tabletop 5.
[0033] As Figure 3 shown in the figure, in this embodiment, the adjustment mechanism further includes a bearing 13 and a support. The bearing 13 is connected to the end of the worm 15 away from the second driving device, and the bearing 13 is installed on the support; the support is fixedly installed on the rotary adjustment pedestal 11. The support provides support for the bearing 13. The inner ring of the bearing 13 is connected in cooperation with the worm 15. When the worm 15 rotates, the inner ring of the bearing 13 also rotates accordingly. The bearing 13 provides support for the worm 15 to ensure the normal operation of the worm 15.
[0034] As Figure 5 shown in the figure, in this embodiment, the adjustment mechanism further includes a lead screw support assembly 7. The paired lead screw support assemblies 7 are installed at both ends of the lead screw 6; the lead screw support assembly 7 is fixedly installed on the translation adjustment pedestal 4. The lead screw support assembly 7 provides a stable supporting effect for the lead screw 6 to ensure the stable operation of the lead screw 6.
[0035] As Figure 6 shown in the figure, in this embodiment, a moving slider corresponding to the guide rail 9 is provided at the bottom of the translation adjustment tabletop 5. A plurality of moving sliders are slidably connected to the guide rail 9; the moving sliders are fixedly connected to the translation adjustment tabletop 5. When the translation adjustment tabletop 5 moves along the X-axis direction, the moving sliders provide guidance and support for the movement of the translation adjustment tabletop 5, increasing the accuracy of the movement process.
[0036] As Figure 4 shown in the figure, in this embodiment, the first driving device is a first motor 8, and the power output end of the first motor 8 is connected to the lead screw 6. The second driving device is a second motor 14, and the power output end of the second motor 14 is connected to the worm 15; driven by the first motor 8 and the second motor 14, the adjustment mechanism has a rapid response and a fast adjustment speed, increasing the working efficiency of the adjustment process, and is beneficial to controlling the adjustment accuracy and increasing the adjustment accuracy of the mechanism.
[0037] As Figure 3As shown, in this embodiment, the adjustment mechanism further includes a displacement sensor 10. The displacement sensor 10 is fixedly installed on the translation adjustment pedestal 4 through a mounting bracket. A measuring slide is provided on the translation adjustment tabletop 5 corresponding to the displacement sensor 10. The measuring slide is fixedly installed on the translation adjustment tabletop 5 by bolts. A measuring slideway corresponding to the detection working end of the displacement sensor 10 is provided on the measuring slide. The detection working end of the displacement sensor 10 is arranged in the measuring slideway. When the translation adjustment tabletop 5 moves along the X-axis, the detection working end of the displacement sensor 10 will record and feedback its position displacement information in real time, and at the same time, it also has the function of position memory, solving the problem that the multi-degree-of-freedom adjustment mechanism in the prior art does not have the position memory function, and increasing the practicability of the adjustment mechanism.
[0038] As Figure 2 shown, in this embodiment, the adjustment mechanism further includes an angle sensor 16. The angle sensor 16 is arranged at the center of rotation of the worm wheel 21. A rotating shaft is provided at the center of rotation of the worm wheel 21. The angle sensor 16 is installed on the rotating shaft. The rotating shaft is connected to the rotating adjustment tabletop 12. At the same time, the worm wheel 21 is also connected to the rotating adjustment tabletop 12. When the rotating adjustment tabletop 12 rotates, the angle sensor 16 records and detects the rotation angle information. The setting of the angle sensor 16 is beneficial to more accurately adjust the angle rotation and increase the accuracy of the adjustment mechanism.
[0039] As Figure 3 shown, in this embodiment, the adjustment mechanism further includes a pose sensor 20. The pose sensor 20 is arranged below the composite adjustment tabletop 19. The pose sensor 20 can feedback the pose information of the composite adjustment tabletop 19 and has the function of pose memory.
[0040] As Figure 5 shown, in this embodiment, a plurality of universal wheels and a plurality of telescopic support bases are provided on the translation adjustment pedestal 4. The universal wheels and the telescopic support bases are both fixedly installed below the translation adjustment pedestal 4. The universal wheels can make the movement of the adjustment mechanism more convenient. After the adjustment mechanism moves to the designated working position, the telescopic support bases start to extend to completely support the adjustment mechanism, so as to fix the position of the adjustment mechanism and avoid the situation of movement or instability during the detection process. In addition, as Figure 5 shown, universal wheels are also detachably installed below the rotating adjustment tabletop 12. When the adjustment platform 1, the rotating platform 2 and the translation platform 3 are assembled into a whole, the universal wheels can be removed so that the adjustment mechanism can work normally. When the adjustment platform 1, the rotating platform 2 and the translation platform 3 are separated and disassembled, installing the universal wheels can make the rotating adjustment tabletop 12 drive the translation platform 3 to move and increase the mobility.
[0041] As Figures 1 to 6As shown, in this embodiment, it is set that the positive direction of the Y-axis is the direction towards the light outlet of detection devices such as collimators. First, the adjustment mechanism is moved to the designated working position through the universal wheels under the translation adjustment pedestal 4, and the telescopic support base is extended to support the entire adjustment mechanism. The first motor 8 is energized to rotate forward, driving the lead screw 6 to rotate clockwise, and the connecting block drives the translation adjustment tabletop 5 to move along the X-axis away from the first motor 8. The first motor 8 is energized to rotate reversely, driving the lead screw 6 to rotate counterclockwise, and the connecting block drives the translation adjustment tabletop 5 to move along the X-axis towards the first motor 8, realizing the adjustment movement on the X-axis. The second motor 14 is energized to rotate forward, driving the worm 15 to rotate clockwise, and the worm gear 21 and the rotation adjustment tabletop 12 then rotate counterclockwise with the Z-axis as the rotation axis. The second motor 14 is energized to rotate reversely, driving the worm 15 to rotate counterclockwise, and the worm gear 21 and the rotation adjustment tabletop 12 then rotate clockwise with the Z-axis as the rotation axis, realizing the adjustment of clockwise and counterclockwise rotation with the Z-axis as the rotation axis. By controlling the telescopic working ends of multiple servo cylinders 17 to extend upward, the upward movement of the composite adjustment tabletop 19 is realized. At the same time, by controlling different extension distances of each servo cylinder 17, the composite adjustment tabletop 19 can also be adjusted to multiple inclination angles. In addition, a plurality of threaded holes are provided on the translation adjustment tabletop 5, the rotation adjustment tabletop 12, and the composite adjustment tabletop 19, which is convenient for quickly connecting with the device to be detected.
[0042] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.
Claims
1. A five-degree-of-freedom adjustment mechanism, comprising: A composite adjustment platform (1), a rotating platform (2) and a translation platform (3) are arranged in sequence longitudinally, characterized in that the translation platform (3) comprises a translation adjustment table (5) and a translation adjustment seat (4) arranged in sequence longitudinally, guide rails (9) are arranged in pairs on the translation adjustment seat (4), the translation adjustment table (5) and the guide rails (9) are slidably connected, the translation adjustment seat (4) is also provided with a first drive device and a lead screw (6), the power output end of the first drive device is connected to the lead screw (6), a connecting block is slidably connected to the lead screw (6), and the connecting block is connected to the translation adjustment table (5), the rotating platform (2) comprises a rotating adjustment table (12) and a rotating adjustment seat (11) arranged in sequence longitudinally, the rotating adjustment seat (1 1) is provided with a worm (15) and a worm wheel (21) meshing with each other, either end of the worm (15) is connected to the power output end of the second driving device, the worm wheel (21) is connected to the rotating adjustment table (12), the composite adjustment platform (1) comprises a composite adjustment table (19) and a composite adjustment platform seat (18) arranged in sequence longitudinally, a plurality of servo electric cylinders (17) are arranged on the composite adjustment platform seat (18), the fixed installation end of the servo electric cylinder (17) is hinged to the composite adjustment platform seat (18), the telescopic working end of the servo electric cylinder (17) is hinged to the composite adjustment table (19), the translation adjustment table (5) is connected to the rotating adjustment table seat (11), and the rotating adjustment table (12) is connected to the composite adjustment platform seat (18).
2. A five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The translation adjustment seat (4) is also provided with a limit bracket (22), a limit slide groove is provided on the limit bracket (22), and a limit piece (23) corresponding to the limit slide groove is provided on the translation adjustment table (5), and the limit piece (23) is slidably arranged in the limit slide groove.
3. A five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The adjustment mechanism further comprises a bearing (13) and a support, wherein the bearing (13) is connected to an end of the worm (15) away from the second drive device, and the bearing (13) is mounted on the support, and the support is arranged on the rotary adjustment platform (11).
4. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The adjustment mechanism further comprises a screw support assembly (7), and the screw support assemblies (7) are arranged in pairs and installed at both ends of the screw (6).
5. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: A movable slider corresponding to the guide rail (9) is arranged at the bottom of the translation adjustment table (5), and the movable slider is slidably connected to the guide rail (9).
6. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The first driving device is a first motor (8), the power output end of the first motor (8) is connected to the lead screw (6), and the second driving device is a second motor (14), the power output end of the second motor (14) is connected to the worm (15).
7. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The adjustment mechanism further comprises a displacement sensor (10), and the displacement sensor (10) is fixedly mounted on the translation adjustment platform (4).
8. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The adjustment mechanism further comprises an angle sensor (16), wherein the angle sensor (16) is arranged at the rotation center of the worm gear (21).
9. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The adjustment mechanism also includes a position and posture sensor (20), and the position and posture sensor (20) is arranged on the composite adjustment table (19).
10. The five-degree-of-freedom adjustment mechanism according to claim 1, characterized in that: The translation adjustment platform (4) is provided with a plurality of universal wheels and a plurality of telescopic support bases.