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CN110883565B - Novel six-degree-of-freedom platform - Google Patents

Novel six-degree-of-freedom platform Download PDF

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Publication number
CN110883565B
CN110883565B CN201811049481.XA CN201811049481A CN110883565B CN 110883565 B CN110883565 B CN 110883565B CN 201811049481 A CN201811049481 A CN 201811049481A CN 110883565 B CN110883565 B CN 110883565B
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CN
China
Prior art keywords
connecting rod
servo electric
sets
electric cylinders
hinging
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CN201811049481.XA
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Chinese (zh)
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CN110883565A (en
Inventor
王丹
王玉珍
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East China Zhizheng Industrial Automation Changshu Co ltd
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East China Zhizheng Industrial Automation Changshu Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4804Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed perpendicularly by a single sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)

Abstract

The utility model provides a novel six degrees of freedom platforms, have bottom platform, middle platform, first adjustment mechanism, second adjustment mechanism, third adjustment mechanism, fourth adjustment mechanism and workstation, wherein two sets of servo electronic jar and two revolving stages are as first adjustment mechanism, two sets of servo electronic jar are installed both ends around the bottom platform, two revolving stages lower part are installed in two sets of servo electronic jar sliding block upper ends, the upper portion of two revolving stages is installed in middle platform front and back both ends middle part under, the second, third adjustment mechanism is installed both ends around the upper portion of middle platform, fourth adjustment mechanism is vertically installed in the middle part upper end of second, third adjustment mechanism, the workstation is installed at fourth adjustment mechanism rear side. The invention can drive the workbench to transversely rotate left and right, horizontally rotate, longitudinally move forwards and backwards, longitudinally move forwards and downwards at the upper part or the lower part, vertically move upwards and downwards and vertically move leftwards or rightwards in a rotating way, so that the clamp drives the workpiece to correspondingly move and the tool to approach, and the requirement of the tool on the workpiece in multi-angle pose is met.

Description

Novel six-degree-of-freedom platform
Technical Field
The invention relates to the field of machining equipment, in particular to a novel six-degree-of-freedom platform.
Background
In the process of machining a workpiece by a machine tool, the pose of the workpiece is often required to be adjusted according to the machining process so as to meet the requirement of blank workpiece allowance homogenization machining; when the pose is adjusted, a clamp matched with a machine tool is often required to clamp a blank, and then the position of each angle is adjusted by adjusting angle adjusting equipment matched with the clamp and driving the blank through the clamp; in actual machining, the more the angle adjusting equipment drives the blank through the clamp to realize, the more is beneficial to the cutter of the machine tool to machine the workpiece, that is, the more the angle adjusting equipment with higher freedom degree of movement adjusts the pose of the blank through the clamp, the better the effect and the faster the speed of the workpiece machined by the machine tool.
The angle of the existing angle adjusting equipment, which drives a blank to be adjusted through a clamp, can only be adjusted in 3 degrees of freedom, namely, can only be adjusted in three states and poses of a workpiece, so that when a machine tool processes a relatively complex workpiece, a cutter cannot effectively contact and act on the surface of the workpiece, the processing speed is reduced, and the precision of the workpiece after processing is low.
Disclosure of Invention
In order to overcome the defect that the angle adjusting equipment matched with the existing clamp is limited by the structure, the invention provides a novel six-degree-of-freedom platform which has six azimuth adjusting functions, can conveniently drive the transverse left-right displacement, horizontal rotary displacement, longitudinal front-back displacement, longitudinal upper or lower forward displacement, vertical up-down displacement and vertical left-right rotary displacement of a workbench through eight sets of servo electric cylinders in use, further drive the clamp in front of the workbench to correspondingly displace, and drive a workpiece to correspondingly displace and the tool of a machine tool to approach, thereby fully meeting the multi-angle pose requirement for processing the workpiece when the tool of the machine tool processes the workpiece, and further improving the processing speed and the processing precision of the workpiece.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides a novel six degrees of freedom platforms, PIC (programmable controller) including the lathe is supporting, eight sets of servo electric cylinders, the eight way control power output of PIC respectively with eight sets of servo electric cylinders's power input pass through the wire connection, a serial communication port still has the bottom platform, the intermediate platform, first adjustment mechanism, the second adjustment mechanism, the third adjustment mechanism, fourth adjustment mechanism and workstation, wherein two sets of servo electric cylinders and two revolving stages are as first adjustment mechanism, wherein two sets of servo electric cylinders pass through screw nut and transversely install respectively at the front and back both ends of bottom platform, two revolving stage lower parts respectively have a axle sleeve, there is a bearing in every axle sleeve, two revolving stage's supporting backup pad upper end axletree overlaps respectively in the inner circle of two bearings, two revolving stage's supporting backup pad lower extreme is installed in two sets of servo electric cylinders's sliding block upper end wherein through screw nut respectively, two revolving stage's upper portion is installed respectively in the middle platform front and back both ends middle part through screw nut, the second, the third adjustment mechanism is transversely installed respectively at the upper front and back both ends of intermediate platform's upper portion, the fourth adjustment mechanism is vertically installed at the end at the front and back both ends of the middle platform's upper portion through screw nut, the screw nut is installed at the fourth adjustment mechanism, the supporting backup pad upper end at the side of the operating platform, the supporting clamp is installed at the side of the lathe.
The second adjusting mechanism consists of a third set of servo electric cylinder, a fourth set of servo electric cylinder, an upper connecting rod, a left connecting rod and a right connecting rod, the middle part of the upper connecting rod is of a concave structure, the lower hinging holes of the left connecting rod and the right connecting rod are hinged with the outer hinging seat holes of sliding blocks of the third set of servo electric cylinder and the fourth set of servo electric cylinder respectively through a hinging screw rod, the upper hinging holes of the left connecting rod and the right connecting rod are hinged with the hinging holes of the left side and the right side of the upper connecting rod respectively through a hinging screw rod, a plurality of mounting holes are respectively arranged at the lower parts of shells of the third set of servo electric cylinder and the fourth set of servo electric cylinder, and the second adjusting mechanism is transversely mounted at the front end of the upper part of the middle platform through screw nuts for the shell mounting holes of the third set of servo electric cylinder and the fourth set of servo electric cylinder.
The third adjusting mechanism consists of a fifth set of servo electric cylinder, a sixth set of servo electric cylinder, an upper connecting rod, a left connecting rod and a right connecting rod, the middle part of the upper connecting rod is of a concave structure, the lower hinging holes of the left connecting rod and the right connecting rod are hinged with the outer hinging seat holes of sliding blocks of the fifth set of servo electric cylinder and the sixth set of servo electric cylinder respectively through a hinging screw rod, the upper hinging holes of the left connecting rod and the right connecting rod are hinged with the hinging holes of the left side and the right side of the upper connecting rod respectively through a hinging screw rod, the lower parts of shells of the fifth set of servo electric cylinder and the sixth set of servo electric cylinder are respectively provided with a plurality of mounting holes, and the third adjusting mechanism is transversely mounted at the rear end of the upper part of the middle platform through screw nuts of the shell mounting holes of the fifth set of servo electric cylinder and the sixth set of servo electric cylinder.
The fourth regulating mechanism consists of a seventh set of servo electric cylinder, a eighth set of servo electric cylinder, a rear connecting rod, an upper connecting rod, a lower connecting rod and a fixed plate, wherein front hinging holes of the upper connecting rod and the lower connecting rod are respectively hinged with hinging seat holes on the outer sides of sliding blocks of the seventh set of servo electric cylinder and the eighth set of servo electric cylinder through hinging screws, the rear hinging holes of the upper connecting rod and the lower connecting rod are respectively hinged with hinging holes on the upper side and the lower side of the rear connecting rod through hinging screws, a plurality of mounting holes are respectively arranged on the inner sides of shells of the seventh set of servo electric cylinder and the eighth set of servo electric cylinder, the shells of the seventh set of servo electric cylinder and the eighth set of servo electric cylinder are longitudinally arranged on the upper end and the lower end of the middle of the fixed plate through shell mounting holes of the seventh set of servo electric cylinder and the eighth set of servo electric cylinder, and the left side and right side of the fixed plate are respectively arranged in grooves of the upper connecting rod of the third regulating machine through screw nuts.
The middle part of the workbench is arranged at the rear side of the rear connecting rod of the fourth adjusting mechanism through a screw nut.
The invention has the beneficial effects that: the invention has six azimuth adjusting functions of the workbench. During the use, the operator operates PLC as required, and PIC eight-circuit control power supply output end can be under operator's operation instruction, and the power of output gets into eight sets of servo electric cylinder's power input end respectively. When the first path of control power output end and the second path of control power output end of the PIC output power simultaneously and power enters two sets of power input ends of the servo electric cylinders of the first adjusting mechanism, the workbench transversely moves leftwards or rightwards; when one of the first path of control power output end and the second path of control power output end of the PIC outputs power to enter one set of power input end of the servo electric cylinder of the first adjusting mechanism, the workbench can rotate leftwards or rightwards in the horizontal direction. When the third path control power supply output end, the fourth path control power supply output end, the fifth path control power supply output end and the sixth path control power supply output end of the PIC simultaneously output power supplies to enter the third set of servo electric cylinders, the fourth set of servo electric cylinders, the fifth set of servo electric cylinders and the sixth set of servo electric cylinders of the second adjusting mechanism and the third adjusting mechanism, the workbench moves upwards or downwards in the vertical direction; when one of the third path control power supply output end and the fourth path control power supply output end of the PIC is used for controlling the power supply output end, the output power supply enters one of the third set of servo electric cylinder and the fourth set of servo electric cylinder of the second regulating mechanism, the fifth path control power supply output end and the sixth path control power supply output end of the PIC are used for controlling the power supply output end, and the output power supply enters one of the fifth set of servo electric cylinder and the sixth set of servo electric cylinder of the third regulating mechanism, the left end or the right end of the workbench can rotate leftwards or rightwards in the vertical direction. When a seventh path of control power supply output end and an eighth path of control power supply output end of the PIC simultaneously output power supply and enter a seventh set of servo electric cylinder power supply input end and an eighth set of servo electric cylinder power supply input end of the fourth regulating mechanism, the workbench longitudinally moves forwards or backwards; when one of the seventh path of control power output end and the eighth path of control power output end of the PIC outputs power to enter one set of power input end of the servo electric cylinder of the fourth regulating mechanism, the upper part or the lower part of the workbench can move forward. The invention can conveniently drive the workbench to move left and right, horizontally rotate and displace, longitudinally move back and forth, longitudinally move upwards or downwards, vertically move leftwards or rightwards rotate and displace by eight sets of servo electric cylinders, and further drive the clamp in front of the workbench to move correspondingly, and the clamp drives the workpiece to move correspondingly and approach to the tool of the machine tool, thereby fully meeting the multi-angle pose requirement on the workpiece to be machined when the tool of the machine tool machines the workpiece, and further improving the machining speed and the precision of the workpiece to be machined. Based on the above, the invention has good application prospect.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic diagram of the front view of the bottom platform and the first adjustment mechanism, and the intermediate platform of the present invention.
Fig. 3 is a schematic diagram of the front view of the second adjusting mechanism of the present invention.
Fig. 4 is a schematic side view of a fourth adjustment mechanism of the present invention.
Detailed Description
The novel six-degree-of-freedom platform shown in figures 1, 2, 3 and 4 comprises a PIC (programmable controller) matched with a machine tool, eight sets of servo electric cylinders, eight paths of control power output ends of the PIC are respectively connected with power input ends of the eight sets of servo electric cylinders through wires, the novel six-degree-of-freedom platform also comprises a bottom platform 1, a middle platform 2, a first regulating mechanism 3, a second regulating mechanism 4, a third regulating mechanism 5, a fourth regulating mechanism 6 and a workbench 7, wherein two sets of servo electric cylinders 3-1 and 3-2 and two rotary tables 3-3 serve as a first regulating mechanism 3, the two sets of servo electric cylinders 3-1 and 3-2 are respectively transversely arranged at the front end and the rear end of the bottom platform 1 through screw nuts, a shaft sleeve 3-4 is arranged at the lower part of each rotary table 3-3, each shaft sleeve 3-4 is internally provided with a bearing, the upper end shaft rods of the supporting support plates 3-5 of the two rotary tables are respectively sleeved in the inner rings of the two bearings, the lower ends of the supporting support plates 3-5 of the two rotary tables are respectively arranged at the upper ends of sliding blocks 3-6 of two sets of servo electric cylinders 3-1 and 3-2 through screw nuts, the upper parts of the two rotary tables 3-3 are respectively arranged at the middle parts of the front end and the rear end of the middle platform 2 through screw nuts, the second adjusting mechanism 4 and the third adjusting mechanism 5 are respectively transversely arranged at the front end and the rear end of the upper part of the middle platform 2, the fourth adjusting mechanism 6 is longitudinally arranged at the middle upper ends of the second adjusting mechanism 4 and the third adjusting mechanism 5, the workbench 7 is arranged at the rear side of the fourth adjusting mechanism 6, the clamp matched with the machine tool is arranged at the rear side of the workbench 7 through screw nuts, the bottom platform 1 is mounted on the operating table surface of the machine tool by a screw nut.
The second adjusting mechanism is shown in fig. 1, 2, 3 and 4, and is composed of a third set of servo electric cylinders 4-1 and 4-2, an upper connecting rod 4-3, a left connecting rod 4-4 and a right connecting rod 4-5, the middle part of the upper connecting rod 4-3 is of a concave structure, the lower hinging holes of the left connecting rod 4-4 and the right connecting rod 4-5 and the hinging seat holes on the outer sides of sliding blocks 4-6 of the third set of servo electric cylinders and the fourth set of servo electric cylinders are respectively hinged together through a hinging screw rod, the upper hinging holes of the left connecting rod 4-4 and the right connecting rod 4-5 and the hinging holes on the left side and the right side of the upper connecting rod 4-3 are respectively hinged together through a hinging screw rod, a plurality of mounting holes are respectively arranged on the lower parts of shells of the third set of servo electric cylinders 4-1 and the fourth set of servo electric cylinders 4-2, and the second adjusting mechanism 4 is transversely mounted on the front end of the upper part of the middle platform 2 through screw rod nuts. The third adjusting mechanism 5 consists of a fifth set of servo electric cylinders 5-1 and 5-2, an upper connecting rod 5-3, a left connecting rod 5-4 and a right connecting rod 5-5, the middle part of the upper connecting rod 5-3 is of a concave structure, the lower hinging holes of the left connecting rod 5-4 and the right connecting rod 5-5 and the hinging seat holes on the outer sides of sliding blocks 5-6 of the fifth set of servo electric cylinders 5-1 and 5-2 are respectively hinged together through a hinging screw rod, the upper hinging holes of the left connecting rod 5-4 and the right connecting rod 5-5 and the hinging holes on the left side and the right side of the upper connecting rod 5-3 are respectively hinged together through a hinging screw rod, a plurality of mounting holes are respectively arranged on the lower parts of shells of the fifth set of servo electric cylinders 5-1 and 5-2, and the third adjusting mechanism 5 is transversely mounted on the rear end of the upper part of the middle platform 2 through the shell mounting holes of the fifth set of servo electric cylinders 5-1 and the sixth set of servo electric cylinders 5-2. The fourth adjusting mechanism consists of seventh and eighth sets of servo electric cylinders 6-1 and 6-2, a rear connecting rod 6-3, an upper connecting rod 6-4, a lower connecting rod 6-5 and a fixed plate 6-6, wherein front hinging holes of the upper connecting rod 6-4 and the lower connecting rod 6-5 and hinging seat holes on the outer sides of sliding blocks 6-7 of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2 are respectively hinged together through a hinging screw rod, rear hinging holes of the upper connecting rod 6-4 and the lower connecting rod 6-5 and hinging holes on the upper side and the lower side of the rear connecting rod 6-3 are respectively hinged together through a hinging screw rod, a plurality of mounting holes are respectively formed in the inner sides of shells of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2, and the left side and right side of the fixed plate 6-7 are respectively arranged at the upper end and lower ends of the middle part of the fixed plate 6-6 through shell mounting holes of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2, and the left side and the right side of the fixed plate 6-2 are respectively arranged in the third adjusting screw rod 4-3 through a groove. The middle part of the workbench 7 is arranged at the rear side of the rear connecting rod 6-3 of the fourth adjusting mechanism through a screw nut.
The invention has six azimuth adjustment functions of the table 7, shown in fig. 1, 2, 3, 4. During the use, the operator operates PLC as required, and PIC eight-circuit control power supply output end can be under the operation instruction of operator, and the power of output power gets into eight sets of servo electric cylinder's power input end respectively to the position of control workstation through relevant mechanism. When the first path of control power supply output end and the second path of control power supply output end of PIC output positive and negative power supply or negative and positive power supply simultaneously enter the power supply input ends of two sets of servo electric cylinders 3-1 and 3-2 of the first regulating mechanism, the two sets of servo electric cylinders 3-1 and 3-2 can work simultaneously, the motor shafts of the two sets of servo electric cylinders 3-1 and 3-2 can rotate clockwise or anticlockwise (when the positive and negative power supply is input, the motors of the two sets of servo electric cylinders 3-1 and 3-2 rotate clockwise, and when the negative and positive power supply is input, the motors of the two sets of servo electric cylinders 3-1 and 3-2 rotate anticlockwise), so that under the action of the lead screws of the two sets of servo electric cylinders 3-1 and 3-2, the sliding blocks 3-6 of the two sets of servo electric cylinders 3-1 and 3-2 can move leftwards or rightwards transversely, and further, the sliding blocks 3-6 can drive a workbench 7 and a workpiece on the workbench to move leftwards or rightwards transversely through the middle platform 2. When the output power of the first path of control power supply output end of the PIC enters the power input end of the first set of servo electric cylinder 3-1, the second set of servo electric cylinder 3-2 is in a power-off state, or the output power of the second path of control power supply output end of the PIC enters the power input end of the second set of servo electric cylinder 3-2, the first set of servo electric cylinder 3-1 is in the power-off state, the sliding block 3-6 of the first set of servo electric cylinder 3-1 drives the front part of the middle platform 2 to move leftwards or rightwards, the rear part of the middle platform 2 correspondingly moves rightwards or leftwards, or the sliding block 3-6 of the second set of servo electric cylinder 3-2 drives the rear part of the middle platform 2 correspondingly moves rightwards or leftwards, so that the upper part of the middle platform 2 rotates leftwards or rightwards, and the work piece on the workbench and the workbench 7 is driven to horizontally leftwards or rightwards; when the middle platform 2 rotates leftwards or rightwards, as the lower parts of the two rotary tables 3-3 are respectively provided with a bearing, the upper end shaft rods of the supporting plates 3-5 of the two rotary tables are respectively sleeved in the inner rings of the two bearings, the lower ends of the supporting plates 3-5 of the two rotary tables are respectively arranged at the upper ends of the sliding blocks 3-6 of the two servo electric cylinders 3-1 and 3-2 through screw nuts, and the upper parts of the two rotary tables 3-3 are arranged at the middle lower ends of the front end and the rear end of the middle platform 2, when the middle platform 2 rotates leftwards or rightwards, the middle platform 2 rotates through the outer rings of the two bearings respectively, the two sliding blocks 3-6 drive the upper end shaft rods of the supporting plates 3-5 of the two rotary tables to rotate along the inner rings of the two bearings, and no rigid motion relation is generated between the two sliding blocks 3-6 and the middle platform 2, so that the rotation of the middle platform 7 can not cause any blocking influence on the left-right displacement of the sliding blocks 3-6.
As shown in fig. 1,2, 3 and 4, when the third and fourth paths of control power output terminals, the fifth and sixth paths of control power output terminals of the PIC output positive and negative power or negative and positive power and enter the power input terminals of the third and fourth sets of servo electric cylinders 4-1 and 4-2 of the second adjusting mechanism at the same time, and enter the power input terminals of the fifth and sixth sets of servo electric cylinders 5-1 and 5-2 of the third adjusting mechanism, the third and fourth sets of servo electric cylinders 4-1 and 4-2 and the fifth and sixth sets of servo electric cylinders 5-1 and 5-2 are simultaneously powered, the motor shafts of the third and fourth sets of servo electric cylinders 4-1 and 4-2 and the fifth and sixth sets of servo electric cylinders 5-1 and 5-2 are rotated clockwise or counterclockwise, in this way, under the action of the screw rods of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and the fifth set and the sixth set of servo electric cylinders 5-1 and 5-2, the sliding blocks 4-6 and 5-6 of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and the fifth set, the sixth set of servo electric cylinders 5-1 and 5-2 move upwards or downwards vertically, further, the sliding blocks 4-6 and 5-6 of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and the fifth set, the sixth set of servo electric cylinders 5-1 and 5-2 drive the upper connecting rods 4-3 and 5-3 to move upwards or downwards vertically, the upper connecting rods 4-3 and 5-3 drive the fourth set of adjusting mechanism 6 to move upwards or downwards integrally, the rear connecting rod 6-3 of the fourth set of adjusting mechanism 6 drives the workbench and the workpiece on the workbench 7 to move upwards or downwards. When one of the output ends of the third path and the fourth path of control power supply output end, one of the output ends of the fifth path and the sixth path of control power supply output end of the PIC outputs positive and negative electrode power supply or negative and positive electrode power supply and enters one of the power supply input ends of the third set and the fourth set of servo electric cylinders 4-1 and 4-2 of the second regulating mechanism, and enters one of the power supply input ends of the fifth set and the sixth set of servo electric cylinders 5-1 and 5-2 of the third regulating mechanism, one of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and one of the fifth set and the sixth set of servo electric cylinders 5-1 and 5-2 are powered on simultaneously (when one of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and one of the fifth set and the sixth set of servo electric cylinders 5-1 and 5-2 are powered on simultaneously, the servo electric cylinders 4-2 and 5-2 at the right side work simultaneously or the servo electric cylinders 4-1 and 5-1 at the left side work simultaneously, one of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and one of the fifth set, the sixth set of servo electric cylinders 5-1 and 5-2 rotate clockwise or anticlockwise, so that under the action of the screw rod of one of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and one of the fifth set, the sixth set of servo electric cylinders 5-1 and 5-2, one of the third set, the fourth set of servo electric cylinders 4-1 and 4-2 and the fifth set of servo electric cylinders, the sliding blocks 4-6 and 5-6 of one set of servo electric cylinders 5-1 and 5-2 can vertically move upwards or downwards, and then the sliding blocks 4-6 and 5-6 of the third set of servo electric cylinders 4-1 and the fifth set of servo electric cylinders 5-1 drive the upper connecting rods 4-3 and 5-3 to vertically move upwards or downwards, the left sides of the upper connecting rods 4-3 and 5-3 rotate along the hinging point between the upper ends of the left connecting rods 4-4 and 5-4, and the lower ends of the left connecting rods 4-4 and 5-4 rotate along the hinging seat holes of the sliding blocks 4-6 and 5-6 at the left end, and the right sides of the upper connecting rods 4-3 and 5-3 drive the whole fourth set of adjusting mechanisms 6 to vertically rotate leftwards or rightwards until returning to the initial state, and the rear connecting rods 6-3 of the fourth set of adjusting mechanisms 6 drive the work pieces on the workbench and the workbench 7 to leftwards or rightwards until returning to the initial state; when the fourth set of servo electric cylinder 4-2 and the sliding blocks 4-6 and 5-6 of the sixth set of servo electric cylinder 5-2 drive the upper connecting rods 4-3 and 5-3 to move upwards or downwards in the vertical direction on the left side, the right sides of the upper connecting rods 4-3 and 5-3 rotate along the hinging point between the upper ends of the upper connecting rods 4-5 and 5-5, the lower ends of the right connecting rods 4-5 and 5-5 rotate along the hinging seat holes of the sliding blocks 4-6 and 5-6 on the right end, the left sides of the upper connecting rods 4-3 and 5-3 drive the fourth set of adjusting mechanisms 6 to rotate rightwards or leftwards in the whole vertical direction until returning to the initial state, and meanwhile, the rear connecting rods 6-3 of the fourth set of adjusting mechanisms 6 drive workpieces on the workbench and the workbench 7 to rotate rightwards or leftwards until returning to the initial state.
As shown in fig. 1, 2,3 and 4, when the seventh and eighth control power output ends of the PIC output positive and negative power sources and positive power sources simultaneously enter the power input ends of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2 of the fourth adjusting mechanism, the seventh and eighth sets of servo electric cylinders 6-1 and 6-2 are simultaneously powered, the motor shafts of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2 rotate clockwise or anticlockwise, and the sliding blocks 6-7 of the seventh and eighth sets of servo electric cylinders 6-1 and 6-2 drive the rear connecting rod 6-3 to longitudinally move forwards or backwards through the upper connecting rod 6-4 and the lower connecting rod 6-5, and then the rear connecting rod 6-3 drives the work pieces on the workbench and the workbench 7 to longitudinally move forwards or backwards. When the seventh path of control power output end of PIC outputs positive and negative or negative and positive power and enters the power input end of the seventh set of servo electric cylinder 6-1 of the fourth regulating mechanism, after the seventh set of servo electric cylinder 6-1 is electrified and works, the motor rotating shaft of the seventh set of servo electric cylinder 6-1 can rotate clockwise or anticlockwise, the sliding block 6-7 of the seventh set of servo electric cylinder 6-1 drives the upper end of the rear connecting rod 6-3 to longitudinally move forwards or backwards through the upper connecting rod 6-4, the lower end of the rear connecting rod 6-3 rotates along the hinge point of the rear end of the lower connecting rod 6-5, the front end of the lower connecting rod 6-5 rotates along the hinge point of the sliding block 6-7 of the eighth set of servo electric cylinder, and simultaneously, the upper end of the rear connecting rod 6-3 of the fourth set of regulating mechanism 6 drives the workbench and a workpiece on the workbench 7 to longitudinally move forwards or backwards until returning to an initial state. When the eighth path control power output end of the PIC outputs positive and negative electrode power or negative and positive electrode power and enters the power input end of an eighth set of servo electric cylinder 6-2 of the fourth adjusting mechanism, after the eighth set of servo electric cylinder 6-2 is electrified and works, a motor rotating shaft of the eighth set of servo electric cylinder 6-2 rotates clockwise or anticlockwise, a sliding block 6-7 of the eighth set of servo electric cylinder 6-2 drives the lower end of a rear connecting rod 6-3 to longitudinally move forwards or backwards through a lower connecting rod 6-5, the upper end of the rear connecting rod 6-3 rotates along a hinge point of the rear end of an upper connecting rod 6-4, the front end of the upper connecting rod 6-4 rotates along a hinge point of a sliding block 6-7 of the seventh set of servo electric cylinder, and meanwhile, the lower end of the rear connecting rod 6-3 of the fourth set of adjusting mechanism 6 drives a workbench and a workpiece on the workbench 7 to longitudinally move forwards or backwards until returning to an initial state. The invention can conveniently drive the workbench to move left and right, horizontally rotate and displace, longitudinally move back and forth, longitudinally move upwards or downwards, vertically move leftwards or rightwards rotate and displace by eight sets of servo electric cylinders, and further drive the clamp in front of the workbench to move correspondingly, and the clamp drives the workpiece to move correspondingly and approach to the tool of the machine tool, thereby fully meeting the multi-angle pose requirement on the workpiece to be machined when the tool of the machine tool machines the workpiece, and further improving the machining speed and the precision of the workpiece to be machined. Based on the above, the invention has good application prospect.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is limited to the details of the foregoing exemplary embodiments, and that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (2)

1. The novel six-degree-of-freedom platform comprises a PIC matched with a machine tool and eight sets of servo electric cylinders, wherein eight control power supply output ends of the PIC are respectively connected with power supply input ends of the eight sets of servo electric cylinders through wires; the second regulating mechanism consists of a third set of servo electric cylinder, a fourth set of servo electric cylinder, an upper connecting rod, a left connecting rod and a right connecting rod, the middle part of the upper connecting rod is of a concave structure, the lower hinging holes of the left connecting rod and the right connecting rod are respectively hinged with the hinging seat holes on the outer sides of sliding blocks of the third set of servo electric cylinder and the fourth set of servo electric cylinder, the upper hinging holes of the left connecting rod and the right connecting rod are respectively hinged with the hinging holes on the left side and the right side of the upper connecting rod, and the lower parts of shells of the third set of servo electric cylinder and the fourth set of servo electric cylinder are respectively provided with a plurality of mounting holes; the fourth regulating mechanism consists of seventh and eighth sets of servo electric cylinders, a rear connecting rod, an upper connecting rod, a lower connecting rod and a fixed plate, wherein front hinging holes of the upper connecting rod and the lower connecting rod are respectively hinged with hinging seat holes on the outer sides of sliding blocks of the seventh and eighth sets of servo electric cylinders, rear hinging holes of the upper connecting rod and the lower connecting rod are respectively hinged with hinging holes on the upper side and the lower side of the rear connecting rod, a plurality of mounting holes are respectively formed in the inner sides of shells of the seventh and eighth sets of servo electric cylinders, the shells of the seventh and eighth sets of servo electric cylinders are longitudinally arranged at the upper end and the lower end of the middle part of the fixed plate, and the left side and the right side of the fixed plate are respectively arranged in grooves of the upper connecting rod of the third and the third regulating machine.
2. The novel six-degree-of-freedom platform of claim 1 wherein the table is centrally mounted on the rear side of the rear link of the fourth adjustment mechanism.
CN201811049481.XA 2018-09-10 2018-09-10 Novel six-degree-of-freedom platform Active CN110883565B (en)

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CN103434655A (en) * 2013-08-29 2013-12-11 西北工业大学 Assembly test vehicle of airplane nose landing gear
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