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Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism
The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism comprises the three-degree-of-freedom spherical mechanism, the upper end of the three-degree-of-freedom spherical mechanism is provided with a first-section bridge body, the first-section bridge body is connected with a second-section bridge body through a first sliding pair, and the second-section bridge body is connected with a third-section bridge body through a second sliding pair. A visual sensor, a six-dimensional force sensor and a butt joint clamping jaw are arranged at one end of the third bridge body section, and a second-stage telescopic hydraulic cylinder is arranged at the lower end of the first bridge body section. The three-degree-of-freedom spherical mechanism comprises a rotary table, a first connecting rod, a second connecting rod, a third connecting rod, a first rotary support, a second rotary support, a third rotary support, a fixing ring, a rotary table support, a base, a first worm gear, a second rotary shaft, a second worm gear, a third rotary shaft, a third worm gear, a first worm, a first driver, a second worm, a second driver and a third worm. And a third driver. The four-degree-of-freedom large-amplitude motion compensation device can obtain the four-degree-of-freedom large-amplitude motion compensation capacity through a compact structure and small driving power.
本发明公开了一种基于三自由度球面机构的四自由度栈桥装置，包括三自由度球面机构，所述三自由度球面机构上端设有第一段桥体，第一段桥体经第一滑动副连接第二段桥体，第二段桥体经第二滑动副连接第三段桥体，第三段桥体一端设有视觉传感器、六维力传感器、对接卡爪，所述第一段桥体下端设有二级伸缩液压缸，所述三自由度球面机构包括转台、第一连杆、第二连杆、第三连杆、第一旋转支撑、第二旋转支撑、第三旋转支撑、固定环、转台支架、基座、第一蜗轮、第二转轴、第二蜗轮、第三转轴、第三蜗轮、第一蜗杆、第一驱动器、第二蜗杆、第二驱动器、第三蜗杆、第三驱动器。本发明能够以紧凑的结构、较小的驱动功率获得四自由度大幅运动补偿能力。
Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism
The four-degree-of-freedom trestle device based on the three-degree-of-freedom spherical mechanism comprises the three-degree-of-freedom spherical mechanism, the upper end of the three-degree-of-freedom spherical mechanism is provided with a first-section bridge body, the first-section bridge body is connected with a second-section bridge body through a first sliding pair, and the second-section bridge body is connected with a third-section bridge body through a second sliding pair. A visual sensor, a six-dimensional force sensor and a butt joint clamping jaw are arranged at one end of the third bridge body section, and a second-stage telescopic hydraulic cylinder is arranged at the lower end of the first bridge body section. The three-degree-of-freedom spherical mechanism comprises a rotary table, a first connecting rod, a second connecting rod, a third connecting rod, a first rotary support, a second rotary support, a third rotary support, a fixing ring, a rotary table support, a base, a first worm gear, a second rotary shaft, a second worm gear, a third rotary shaft, a third worm gear, a first worm, a first driver, a second worm, a second driver and a third worm. And a third driver. The four-degree-of-freedom large-amplitude motion compensation device can obtain the four-degree-of-freedom large-amplitude motion compensation capacity through a compact structure and small driving power.
本发明公开了一种基于三自由度球面机构的四自由度栈桥装置，包括三自由度球面机构，所述三自由度球面机构上端设有第一段桥体，第一段桥体经第一滑动副连接第二段桥体，第二段桥体经第二滑动副连接第三段桥体，第三段桥体一端设有视觉传感器、六维力传感器、对接卡爪，所述第一段桥体下端设有二级伸缩液压缸，所述三自由度球面机构包括转台、第一连杆、第二连杆、第三连杆、第一旋转支撑、第二旋转支撑、第三旋转支撑、固定环、转台支架、基座、第一蜗轮、第二转轴、第二蜗轮、第三转轴、第三蜗轮、第一蜗杆、第一驱动器、第二蜗杆、第二驱动器、第三蜗杆、第三驱动器。本发明能够以紧凑的结构、较小的驱动功率获得四自由度大幅运动补偿能力。
Four-degree-of-freedom trestle device based on three-degree-of-freedom spherical mechanism
一种基于三自由度球面机构的四自由度栈桥装置
LIN FEI (author) / LI PENGFEI (author) / YAN HELEI (author) / HUANG QIANG (author)
2023-05-12
Patent
Electronic Resource
Chinese
IPC:
E01D
BRIDGES
,
Brücken
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