Electrically-driven multi-degree-of-freedom posture adjusting device

Abstract

The utility model discloses an electrically-driven multi-degree-of-freedom posture adjusting device, and relates to the technical field of mechanical braking. The multi-degree-of-freedom posture adjusting device comprises a transverse moving support, a transverse moving driving assembly, a longitudinal moving support, a longitudinal moving driving assembly, a rolling pitching base, a rolling pitching mechanism, a rolling pitching driving assembly, a rotating platform, a rotating mechanism, a rotating driving assembly and a tray platform, and multi-degree-of-freedom posture adjusting of transverse moving, longitudinal moving, pitching, rolling, rotating in the horizontal plane and the like can be carried out on a carrier. And different brackets can be flexibly switched to adapt to different carriers. And the motor is adopted as a power executing mechanism, so that the structure is simple, the maintenance is convenient, and the control precision and the working efficiency are improved to a great extent.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical braking technology, specifically relating to an electrically driven multi-degree-of-freedom attitude adjustment device. Background Technology

[0002] Attitude adjustment devices are ground support equipment used for suspended objects to perform actions such as lifting, lateral movement, longitudinal movement, rotation, pitching, and rolling. Currently, traditional attitude adjustment mechanisms usually use hydraulic pumps as power sources to drive hydraulic cylinders to achieve attitude adjustment of each degree of freedom, which has problems such as poor control accuracy and low work efficiency. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide an electrically driven multi-degree-of-freedom attitude adjustment mechanism that can adjust the attitude of a carrier in multiple degrees of freedom, such as lateral movement, longitudinal movement, pitch, rolling, and rotation in the horizontal plane, and can flexibly switch different brackets to adapt to different carriers.

[0004] According to one aspect of the present invention, an electrically driven multi-degree-of-freedom attitude adjustment device is provided, comprising a transverse support 1, a transverse drive assembly 2, a longitudinal support 3, a longitudinal drive assembly 4, a roll pitch seat 5, a roll pitch mechanism 6, a roll pitch drive assembly 7, a rotary platform 8, a rotary mechanism 9, a rotary drive assembly 10, and a tray platform 11; wherein the transverse support 1 is slidably connected to the longitudinal support 3 via a first guide rail slider pair 12 of the transverse drive assembly 2, the roll pitch seat 5 is slidably connected to the longitudinal support 3 via a second guide rail slider pair 13, the roll pitch mechanism 6 is fixedly connected to the roll pitch seat 5, the longitudinal support 3 is U-shaped, the roll pitch seat 5 is disposed in the middle, and the longitudinal drive assembly 4 is installed on the inner side. The rotary platform 8 and the roll pitch mechanism 6 are connected by a cross hinge 14. Four roll pitch drive components 7 are provided between the rotary platform 8 and the roll pitch mechanism 6. The inner ring 15 of the rotary mechanism 9 is fixedly installed on the rotary platform 8, and the outer ring 16 of the rotary mechanism 9 is fixedly installed on the lower surface of the pallet platform 11. The pallet platform 11 has circular holes at its four corners for installing four pressure sensors 17. Four tapered pins 18 are installed above the four pressure sensors 17 and connected to the bracket.

[0005] Optionally, the lateral drive assembly includes a lateral reduction motor 19, a first coupling 20, a first ball screw 21, a first screw nut 22, and a lateral bearing seat 23; wherein the guide rail of the first guide rail slider pair 12 is connected to the lateral support 1, the lateral bearing seat 23 is fixedly mounted on the lateral support 1, the first screw nut 22 moves helically on the first ball screw 21, both ends of the first ball screw 21 are rotatably connected to the lateral bearing seat 23, the slider of the first guide rail slider pair 12 is connected to the longitudinal support 3, the first screw nut 22 is connected to the longitudinal support 3, and the lateral reduction motor 19 is connected to one end of the first ball screw 21 through the first coupling 20.

[0006] Optionally, the longitudinal drive assembly 4 includes a longitudinal reduction motor 24, a second coupling 25, a second ball screw 26, a second screw nut 27, and a longitudinal bearing seat 28; the guide rail of the second guide rail slider assembly 13 is connected to the longitudinal support 3, the longitudinal bearing seat 28 is fixedly mounted on the longitudinal support 3, the second screw nut 27 moves helically on the second ball screw 26, both ends of the second ball screw 26 are rotatably connected to the longitudinal bearing seat 28, the slider of the second guide rail slider assembly 13 is connected to the rolling pitch seat 5, the second screw nut 27 is connected to the rolling pitch seat 5, and the longitudinal reduction motor 24 is connected to one end of the second ball screw 26 through the second coupling 25.

[0007] Optionally, the roll pitch drive assembly 7 includes a housing 29, a cover plate 30, a roll pitch reduction motor 31, a third coupling 32, a third ball screw 33, a third screw nut 34, and a worm gear mechanism 35; wherein, bearings are provided at the bottom of the housing 29 and under the cover plate 30, the third ball screw 33 is fitted into the inner ring of the bearing 36, the third screw nut 34 is helically connected to the third ball screw 33, the third screw nut 34 is connected to the worm gear of the worm gear mechanism 35, the worm of the worm gear mechanism 35 is fitted into the inner ring of the bearing, and the roll pitch reduction motor 31 is connected to one end of the worm of the worm gear mechanism 35 through the third coupling 32;

[0008] The housing 29 has connecting shafts 37 on both sides in the middle. The rolling pitch mechanism 6 has multiple hinge holes. The connecting shafts 37 are hinged to the first hinge hole 38 on the rolling pitch mechanism 6. The upper end of the third ball screw 33 has a second hinge hole 39. The rotary platform 8 has a third hinge hole 40. The second hinge hole 39 at the upper end of the third ball screw 33 is hinged to the third hinge hole 40 of the rotary platform 8.

[0009] Optionally, the outer ring 16 of the rotary drive assembly 10 is provided with meshing teeth that mesh with the pinion 41. The rotary reduction motor 42 drives the pinion 41 to rotate the outer ring 16 of the rotary mechanism 10, thereby causing the pallet platform 11 to rotate.

[0010] Optionally, the pallet platform 11 is equipped with a pressure sensor for measuring the weight of the suspended object.

[0011] Optionally, the pallet platform 11 is provided with a plurality of standard tapered pins 18.

[0012] This utility model adopts a motor-driven multi-degree-of-freedom attitude adjustment mechanism, which can adjust the attitude of the carrier in multiple degrees of freedom, such as forward and backward, left and right, pitch, roll, and horizontal rotation. Different brackets can be flexibly switched on the mechanism to adapt to carriers of different sizes. The various functional modules of this utility model are designed in a centralized manner, with strong overall structural rigidity and high control precision. The overall structural design improves the efficiency of suspension operation for different models. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0014] Figure 2 This is a schematic diagram of the transverse drive component according to an embodiment of the present invention;

[0015] Figure 3 This is a schematic diagram of the longitudinal movement drive component according to an embodiment of the present invention;

[0016] Figure 4 This is a schematic diagram of the pitch and roll mechanism according to an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the pitch and roll drive assembly according to an embodiment of the present invention;

[0018] Figure 6 This is a schematic diagram of the rotary mechanism according to an embodiment of the present invention;

[0019] Figure 7 This is a schematic diagram of the tray platform according to an embodiment of the present utility model;

[0020] Explanation of reference numerals in the attached figures:

[0021] 1-Transverse support, 2-Transverse drive assembly, 3-Longitudinal support, 4-Longitudinal drive assembly, 5-Rolling pitch seat, 6-Rolling pitch mechanism, 7-Rolling pitch drive assembly, 8-Rotary platform, 9-Rotary mechanism, 10-Rotary drive assembly, 11-Pattern platform, 12-First guide rail slider pair, 13-Second guide rail slider pair, 14-Ten-element, 15-Inner rotating ring, 16-Outer rotating ring, 17-Pressure sensor, 18-Tapered pin, 19-Transverse geared motor, 20-First coupling, 21-First ball screw, 22-The 23-Transverse sliding bearing housing, 24-Longitudinal sliding geared motor, 25-Second coupling, 26-Second ball screw, 27-Second screw nut, 28-Longitudinal sliding bearing housing, 29-Housing, 30-Cover plate, 31-Rolling pitch geared motor, 32-Third coupling, 33-Third ball screw, 34-Third screw nut, 35-Wheel worm gear mechanism, 36-Bearing 1, 37-Connecting shaft, 38-First hinge hole, 39-Second hinge hole, 40-Third hinge hole, 41-Pinary gear, 42-Rotary geared motor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] According to one aspect of the present invention, an electrically driven multi-degree-of-freedom attitude adjustment device is provided, comprising a transverse support 1, a transverse drive assembly 2, a longitudinal support 3, a longitudinal drive assembly 4, a roll pitch seat 5, a roll pitch mechanism 6, a roll pitch drive assembly 7, a rotary platform 8, a rotary mechanism 9, a rotary drive assembly 10, and a tray platform 11; wherein the transverse support 1 is slidably connected to the longitudinal support 3 via a first guide rail slider pair 12 of the transverse drive assembly 2, the roll pitch seat 5 is slidably connected to the longitudinal support 3 via a second guide rail slider pair 13, the roll pitch mechanism 6 is fixedly connected to the roll pitch seat 5, the longitudinal support 3 is U-shaped, the roll pitch seat 5 is disposed in the middle, and the longitudinal drive assembly 4 is installed on the inner side. The rotary platform 8 and the roll pitch mechanism 6 are connected by a cross hinge 14. Four roll pitch drive components 7 are provided between the rotary platform 8 and the roll pitch mechanism 6. The inner ring 15 of the rotary mechanism 9 is fixedly installed on the rotary platform 8, and the outer ring 16 of the rotary mechanism 9 is fixedly installed on the lower surface of the pallet platform 11. The pallet platform 11 has circular holes at its four corners for installing four pressure sensors 17. Four tapered pins 18 are installed above the four pressure sensors 17 and connected to the bracket.

[0024] Furthermore, the transverse drive assembly includes a transverse reduction motor 19, a first coupling 20, a first ball screw 21, a first screw nut 22, and a transverse bearing seat 23; wherein the guide rail of the first guide rail slider pair 12 is connected to the transverse support 1, the transverse bearing seat 23 is fixedly mounted on the transverse support 1, the first screw nut 22 moves helically on the first ball screw 21, both ends of the first ball screw 21 are rotatably connected to the transverse bearing seat 23, the slider of the first guide rail slider pair 12 is connected to the longitudinal support 3, the first screw nut 22 is connected to the longitudinal support 3, and the transverse reduction motor 19 is connected to one end of the first ball screw 21 through the first coupling 20.

[0025] Further, the longitudinal drive assembly 4 includes a longitudinal reduction motor 24, a second coupling 25, a second ball screw 26, a second screw nut 27, and a longitudinal bearing seat 28; the guide rail of the second guide rail slider assembly 13 is connected to the longitudinal support 3, the longitudinal bearing seat 28 is fixedly installed on the longitudinal support 3, the second screw nut 27 moves helically on the second ball screw 26, the two ends of the second ball screw 26 are rotatably connected to the longitudinal bearing seat 28, the slider of the second guide rail slider assembly 13 is connected to the rolling pitch seat 5, the second screw nut 27 is connected to the rolling pitch seat 5, and the longitudinal reduction motor 24 is connected to one end of the second ball screw 26 through the second coupling 25.

[0026] Further, the rolling pitch drive assembly 7 includes a housing 29, a cover plate 30, a rolling pitch reduction motor 31, a third coupling 32, a third ball screw 33, a third screw nut 34, and a worm gear mechanism 35; wherein, bearings are provided at the bottom of the housing 29 and under the cover plate 30, the third ball screw 33 is fitted into the inner ring of the bearing 36, the third screw nut 34 is helically connected to the third ball screw 33, the third screw nut 34 is connected to the worm gear of the worm gear mechanism 35, the worm of the worm gear mechanism 35 is fitted into the inner ring of the bearing, and the rolling pitch reduction motor 31 is connected to one end of the worm of the worm gear mechanism 35 through the third coupling 32;

[0027] The housing 29 has connecting shafts 37 on both sides in the middle. The rolling pitch mechanism 6 has multiple hinge holes. The connecting shafts 37 are hinged to the first hinge hole 38 on the rolling pitch mechanism 6. The upper end of the third ball screw 33 has a second hinge hole 39. The rotary platform 8 has a third hinge hole 40. The second hinge hole 39 at the upper end of the third ball screw 33 is hinged to the third hinge hole 40 of the rotary platform 8.

[0028] Furthermore, the outer ring 16 of the rotary drive assembly 10 is provided with meshing teeth that mesh with the pinion 41. The rotary reduction motor 42 drives the pinion 41 to rotate the outer ring 16 of the rotary mechanism 10, thereby causing the pallet platform 11 to rotate.

[0029] Furthermore, the pallet platform 11 is equipped with a pressure sensor for measuring the weight of the suspended object.

[0030] Furthermore, the pallet platform 11 is provided with multiple standard tapered pins 18, which can be connected to various brackets.

[0031] Example

[0032] like Figure 1-7 As shown, an electrically driven multi-degree-of-freedom attitude adjustment mechanism includes a transverse support 1, a transverse drive assembly 2, a longitudinal support 3, a longitudinal drive assembly 4, a roll pitch seat 5, a roll pitch mechanism 6, a roll pitch drive assembly 7, a rotary platform 8, a rotary mechanism 9, a rotary drive assembly 10, and a tray platform 11.

[0033] The transverse support 1 is slidably connected to the longitudinal support 3 via the first guide rail slider pair 12 of the transverse drive assembly 2. The roll pitch seat 5 is slidably connected to the longitudinal support 3 via the second guide rail slider pair 13. The roll pitch mechanism 6 is fixedly connected to the roll pitch seat 5. The longitudinal support 3 is U-shaped, with the roll pitch seat 5 located in the middle and the longitudinal drive assembly 4 installed on the inner side. The rotary platform 8 and the roll pitch mechanism 6 are connected by a cross hinge 14. Four roll pitch drive assemblies 7 are provided between the rotary platform 8 and the roll pitch mechanism 6. The inner ring 15 of the rotary mechanism 9 is fixedly installed on the rotary platform 8, and the outer ring 16 of the rotary mechanism 9 is fixedly installed on the lower surface of the pallet platform 11. The pallet platform 11 has circular holes at its four corners for installing four pressure sensors 17. Three tapered pins 18 are installed above the four pressure sensors 17 and connected to the bracket.

[0034] The transverse drive assembly includes a transverse geared motor 19, a first coupling 20, a first ball screw 21, a first screw nut 22, and a transverse bearing housing 23;

[0035] The guide rail of the first guide rail slider pair 12 is connected to the transverse support 1. The transverse bearing seat 23 is fixedly installed on the transverse support 1. The first lead screw nut 22 moves helically on the first ball screw 21. The two ends of the first ball screw 21 are rotatably connected to the transverse bearing seat 23. The slider of the first guide rail slider pair 12 is connected to the longitudinal support 3. The first lead screw nut 22 is connected to the longitudinal support 3. The transverse reduction motor 19 is connected to one end of the first ball screw 21 through the first coupling 20.

[0036] The longitudinal drive assembly 4 includes a longitudinal reduction motor 24, a second coupling 25, a second ball screw 26, a second screw nut 27, and a longitudinal bearing housing 28;

[0037] The guide rail of the second guide rail slider pair 13 is connected to the longitudinal support 3. The longitudinal bearing seat 28 is fixedly installed on the longitudinal support 3. The second lead screw nut 27 moves helically on the second ball screw 26. The two ends of the second ball screw 26 are rotatably connected to the longitudinal bearing seat 28. The slider of the second guide rail slider pair 13 is connected to the rolling pitch seat 5. The second lead screw nut 27 is connected to the rolling pitch seat 5. The longitudinal reduction motor 24 is connected to one end of the second ball screw 26 through the second coupling 25.

[0038] The roll pitch drive assembly 7 includes a housing 29, a cover plate 30, a roll pitch reduction motor 31, a third coupling 32, a third ball screw 33, a third screw nut 34, and a worm gear mechanism 35.

[0039] Bearings are provided at the bottom of the housing 29 and under the cover plate 30. The third ball screw 33 is fitted into the inner ring of the bearing 36. The third screw nut 34 is screwed to the third ball screw 33. The third screw nut 34 is connected to the worm gear mechanism 35. The worm of the worm gear mechanism 35 is fitted into the inner ring of the bearing. The rolling pitch reduction motor 31 is connected to one end of the worm of the worm gear mechanism 35 through the third coupling 32.

[0040] The housing 29 has connecting shafts 37 on both sides in the middle. The rolling pitch seat 5 has four pairs of first hinge holes 38. The connecting shafts 37 are hinged to a pair of hinge holes 38 on the rolling pitch seat 5. The upper end of the third ball screw 33 has a second hinge hole 39. The rotary platform 8 has four sets of third hinge holes 40. The second hinge hole 39 at the upper end of the third ball screw 33 is hinged to the third hinge hole 40 of the rotary platform 8.

[0041] The outer ring 16 of the rotary drive assembly 10 is provided with meshing teeth that mesh with the pinion 41. The rotary reduction motor 42 drives the pinion 41 to rotate the outer ring 16 of the rotary mechanism 10, thereby causing the pallet platform 11 to rotate.

[0042] Pressure sensors are installed at the four corners of the pallet platform 11 to measure the weight of the suspended object.

[0043] This invention allows for multi-degree-of-freedom attitude adjustment of the carrier, including lateral movement, longitudinal movement, pitch, rolling, and horizontal rotation. Different supports can be flexibly switched to adapt to different carriers. The advantages of this invention include: achieving multi-degree-of-freedom adjustment; using a motor as the power actuator; simple structure; convenient maintenance; and significantly improved control accuracy and work efficiency.

[0044] The above description is merely a specific embodiment of this utility model, providing a detailed description of the utility model. Parts not covered in detail are conventional techniques. However, the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model should be included within the protection scope of this utility model. The protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An electrically driven multi-degree-of-freedom attitude adjustment device, characterized in that, The system includes a transverse support (1), a transverse drive assembly (2), a longitudinal support (3), a longitudinal drive assembly (4), a roll pitch seat (5), a roll pitch mechanism (6), a roll pitch drive assembly (7), a rotary platform (8), a rotary mechanism (9), a rotary drive assembly (10), and a pallet platform (11). The transverse support (1) is slidably connected to the longitudinal support (3) via the first guide rail slider pair (12) of the transverse drive assembly (2). The roll pitch seat (5) is slidably connected to the longitudinal support (3) via the second guide rail slider pair (13). The roll pitch mechanism (6) is fixedly connected to the roll pitch seat (5). The longitudinal support (3) is U-shaped. The rolling pitch seat (5) is located in the middle, and the longitudinal drive assembly (4) is installed on the inner side; the rotary platform (8) and the rolling pitch mechanism (6) are connected by a cross joint (14), and four rolling pitch drive assemblies (7) are provided between the rotary platform (8) and the rolling pitch mechanism (6). The inner ring (15) of the rotary mechanism (9) is fixedly installed on the rotary platform (8), and the outer ring (16) of the rotary mechanism (9) is fixedly installed on the lower surface of the pallet platform (11). The pallet platform (11) has circular holes at its four corners, and four pressure sensors (17) are installed thereon. Four tapered pins (18) are installed above the four pressure sensors (17) and connected to the bracket.

2. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The transverse drive assembly includes a transverse reduction motor (19), a first coupling (20), a first ball screw (21), a first screw nut (22), and a transverse bearing seat (23); wherein the guide rail of the first guide rail slider pair (12) is connected to the transverse support (1), the transverse bearing seat (23) is fixedly installed on the transverse support (1), the first screw nut (22) moves helically on the first ball screw (21), the two ends of the first ball screw (21) are rotatably connected to the transverse bearing seat (23), the slider of the first guide rail slider pair (12) is connected to the longitudinal support (3), the first screw nut (22) is connected to the longitudinal support (3), and the transverse reduction motor (19) is connected to one end of the first ball screw (21) through the first coupling (20).

3. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The longitudinal drive assembly (4) includes a longitudinal reduction motor (24), a second coupling (25), a second ball screw (26), a second screw nut (27), and a longitudinal bearing seat (28); the guide rail of the second guide rail slider pair (13) is connected to the longitudinal support (3), the longitudinal bearing seat (28) is fixedly installed on the longitudinal support (3), the second screw nut (27) moves helically on the second ball screw (26), the two ends of the second ball screw (26) are rotatably connected to the longitudinal bearing seat (28), the slider of the second guide rail slider pair (13) is connected to the rolling pitch seat (5), the second screw nut (27) is connected to the rolling pitch seat (5), and the longitudinal reduction motor (24) is connected to one end of the second ball screw (26) through the second coupling (25).

4. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The rolling pitch drive assembly (7) includes a housing (29), a cover plate (30), a rolling pitch reduction motor (31), a third coupling (32), a third ball screw (33), a third screw nut (34), and a worm gear mechanism (35); wherein, the bottom of the housing (29) and the bottom of the cover plate (30) are provided with bearings, the third ball screw (33) is fitted in the inner ring of the bearing (36), the third screw nut (34) is helically connected to the third ball screw (33), the third screw nut (34) is connected to the worm gear of the worm gear mechanism (35), the worm of the worm gear mechanism (35) is fitted in the inner ring of the bearing, and the rolling pitch reduction motor (31) is connected to one end of the worm of the worm gear mechanism (35) through the third coupling (32); The housing (29) has connecting shafts (37) on both sides in the middle. The rolling pitch mechanism (6) has multiple hinge holes. The connecting shafts (37) are hinged to the first hinge hole (38) on the rolling pitch mechanism (6). The upper end of the third ball screw (33) has a second hinge hole (39). The rotary platform (8) has a third hinge hole (40). The second hinge hole (39) at the upper end of the third ball screw (33) is hinged to the third hinge hole (40) of the rotary platform (8).

5. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The outer ring (16) of the rotary drive assembly (10) is provided with meshing teeth that mesh with the pinion (41). The rotary reduction motor (42) drives the pinion (41) to rotate the outer ring (16) of the rotary mechanism (9), thereby driving the pallet platform (11) to rotate.

6. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The pallet platform (11) is equipped with a pressure sensor for measuring the weight of the suspended object.

7. The electrically driven multi-degree-of-freedom attitude adjustment device according to claim 1, characterized in that, The pallet platform (11) is provided with multiple standard tapered pins (18).

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