阅读说明：本技术 一种载荷安装车六自由度调节机构 (A kind of load installation vehicle six degree of freedom regulating mechanism ) 是由 田彦龙 罗迪 补俊 于 2019-08-22 设计创作，主要内容包括：本发明公开了一种载荷安装车六自由度调节机构,它包括托盘外框架(1)和托盘内框架(2),所述托盘内框架(2)设置于托盘外框架(1)中,且经托盘连接轴(3)旋转安装于托盘外框架(1)内,托盘外框架(1)的底部固设有举升臂(4),它还包括纵向调节机构、横向调节机构、旋转调节机构、横滚调节机构和俯仰调节机构(5)。本发明的有益效果是：结构紧凑、提高载荷的安装效率、降低工人劳动强度、通用性强,满足低矮工况的使用要求。(The invention discloses a kind of load to install vehicle six degree of freedom regulating mechanism, it includes pallet outer framework (1) and pallet inner frame (2), the pallet inner frame (2) is set in pallet outer framework (1), and it is installed in pallet outer framework (1) through pallet connecting shaft (3) rotation, the bottom of pallet outer framework (1) is installed with lift arm (4), it further includes longitudinal adjusting mechanism, lateral adjustment, rotation regulating mechanism, roll regulating mechanism and pitching adjusting mechanism (5).The beneficial effects of the present invention are: installation effectiveness that is compact-sized, improving load, reducing labor intensity of workers, versatile, meet the requirement of short operating condition.)

1. a kind of load installs vehicle six degree of freedom regulating mechanism, it includes pallet outer framework (1) and pallet inner frame (2), described Pallet inner frame (2) is set in pallet outer framework (1), and is installed on pallet outer framework (1) through pallet connecting shaft (3) rotation Interior, the bottom of pallet outer framework (1) is installed with lift arm (4), it is characterised in that: it further includes longitudinal adjusting mechanism, laterally adjusts Save mechanism, rotation regulating mechanism, roll regulating mechanism and pitching adjusting mechanism (5)；

The longitudinal adjusting mechanism includes longitudinal platform (6), longitudinal nut (7), bearing block A(8), it is vertical adjustment screw rod (9), vertical The longitudinal rail (10) longitudinally disposed to sliding block (11) and two, two longitudinal rails (10) are fixedly arranged on pallet inner frame respectively (2) in left and right sidewall, be slidably fitted with longitudinal sliding block (11) on two longitudinal rails (10), two longitudinal sliding blocks (11) it Between be installed with longitudinal platform (6), be installed with bearing block A(8 on longitudinal platform (6)), longitudinal nut (7) is set to pallet outer framework (1) front side, longitudinal nut (7) internal screw thread are connected with vertical adjustment screw rod (9), and vertical adjustment screw rod (9) is parallel to longitudinal lead One end rotation of rail (10) setting, vertical adjustment screw rod (9) is installed on bearing block A(8) in；

The lateral adjustment includes horizontal platform (12), lateral adjustments screw rod (13), lateral nut (14), bearing block B (15), transverse slider (16) and two cross slide ways (17) being laterally arranged, two cross slide ways (17) are fixedly arranged on longitudinal flat It on the top surface of platform (6), is slidably fitted with transverse slider (16) on two cross slide ways (17), between two transverse sliders (16) It is installed with horizontal platform (12), bearing block B(15) it is fixedly arranged on horizontal platform (12), lateral nut (14) is fixedly arranged on longitudinal platform (6) on, lateral nut (14) internal screw thread is connected with lateral adjustments screw rod (13), and lateral adjustments screw rod (13) is parallel to cross slide way (17) it is arranged, the other end rotation of lateral adjustments screw rod (13) is installed on bearing block B(15) in, in the horizontal platform (12) Portion is recessed forms groove downwards；

The rotation regulating mechanism includes rotating disk (18) and turntable bearing (20), and turntable bearing (20) rotation is installed on groove Interior, the upper end of turntable bearing (20) extends outside groove and is installed with rotating disk (18) at the top of elongated end；

The roll regulating mechanism is set on the top surface of rotating disk (18), and roll regulating mechanism includes roll feed screw nut (21), crosshead shoe (22), connecting plate (23), roll adjust screw rod (24), load disk (25), thrust lead screw shaft (26) and consolidate Cabinet (27), cushion block (28) on rotating disk (18) top surface and the support base (29) with through-hole, the side wall of cabinet (27) On be rotatably installed with drive bevel gear (30) and driven wheel of differential (31), drive bevel gear (30) is nibbled with driven wheel of differential (31) It closes, is fixedly provided in cabinet (27) and driven wheel of differential (31) opposed roll feed screw nut (21), thrust lead screw shaft (26) Middle part be provided with external screw thread, the external screw thread of thrust lead screw shaft (26) is threadedly coupled with roll feed screw nut (21), thrust lead screw One end of axis (26) extends cabinet (27) outside and is installed with connecting plate (23) on extending, and the other end of connecting plate (23) sells A (32) be articulated on load disk (25), load disk (25) is supported on the top surface of cushion block (28), thrust lead screw shaft (26) it is another One end is connect with driven wheel of differential (31) through flat key, described to have support base (29) is interior to be provided with roll adjusting screw rod (24), roll It adjusts and is provided with crosshead shoe (22) between the one end and drive bevel gear (30) of screw rod (24)；

The pitching adjusting mechanism (5) is set to the rear side of pallet outer framework (1), pitching adjusting mechanism include U-shaped rack (33), Link block (34), sliding block (35), pitching feed screw nut (36) and pitch regulation screw rod (37), the U-shaped rack (33) are fixedly arranged on The bottom of pallet outer framework (1) offers sliding slot (38) on the two sidewalls of the U-lag of U-shaped rack (33), U-shaped rack (33) It is inside provided with sliding block (35), fixing axle is installed on the two sidewalls of sliding block (35), is rotatably installed with rolling bearing in fixing axle (39), rolling bearing (39) is set in sliding slot (38) and can move (38) length direction along the chute, pitching feed screw nut (36) It is fixedly arranged on the bottom of U-lag, pitching feed screw nut (36) internal screw thread is connected with pitch regulation screw rod (37), pitch regulation screw rod (37) one end rotation is installed in sliding block (35), and one end of the link block (34) is articulated with the rear end of pallet inner frame (2) Portion, the other end of link block (34) are articulated on sliding block (35).

2. a kind of load according to claim 1 installs vehicle six degree of freedom regulating mechanism, it is characterised in that: the load disk (25) through slot is offered in the middle part of, through slot is located at the surface of cabinet (27).

3. a kind of load according to claim 1 installs vehicle six degree of freedom regulating mechanism, it is characterised in that: the sliding block (35) it offers bearing hole (40) in, is equipped with thrust bearing (41) in bearing hole (40), the inner ring installation of thrust bearing (41) In on pitch regulation screw rod (37).

4. a kind of load according to claim 1 installs vehicle six degree of freedom regulating mechanism, it is characterised in that: the sliding block (35) pin B(42 is provided between link block (34)).

5. a kind of load according to claim 1 installs vehicle six degree of freedom regulating mechanism, it is characterised in that: longitudinal tune The other end of section screw rod (9) is installed with spanner (43).

Technical field

The present invention relates to the technical field of load setting angle position adjustment, especially a kind of load installs vehicle six degree of freedom Regulating mechanism.

Background technique

Unmanned plane needs to install various load (guided missile, hanger, radar, camera etc.) at work at present, and unmanned plane by In small volume, height is very low from the ground for ventral, and worker will be under load installation and ventral by various mounting brackets during installation Side, and mounting bracket only has lift adjustment, is not able to satisfy six degree of freedom adjusting, worker can only by physical strength by load hand lift into Row installation, and unmanned plane due to load it is more, need to change all kinds of brackets, it is very inconvenient.Therefore it needs a kind of to improve load Installation effectiveness reduces labor intensity of workers, meets the six degree of freedom regulating mechanism of different type load installation.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of installation effect that is compact-sized, improving load Rate reduces labor intensity of workers, is versatile, and the load installation vehicle six degree of freedom for meeting the requirement of short operating condition adjusts machine Structure.

The purpose of the present invention is achieved through the following technical solutions: a kind of load installation vehicle six degree of freedom regulating mechanism, it Including pallet outer framework and pallet inner frame, the pallet inner frame is set in pallet outer framework, and is revolved through pallet connecting shaft Turn to be installed in pallet outer framework, the bottom of pallet outer framework is installed with lift arm, it further includes longitudinal adjusting mechanism, laterally adjusts Save mechanism, rotation regulating mechanism, roll regulating mechanism and pitching adjusting mechanism；

The longitudinal adjusting mechanism includes longitudinal platform, longitudinal nut, bearing block A, vertical adjustment screw rod, longitudinal sliding block and two The longitudinally disposed longitudinal rail of root, two longitudinal rails are fixedly arranged on respectively in the left and right sidewall of pallet inner frame, and two longitudinal directions are led It is slidably fitted with longitudinal sliding block on rail, longitudinal platform is installed between two longitudinal sliding blocks, is installed with bearing on longitudinal platform Seat A, longitudinal nut are set to the front side of pallet outer framework, and longitudinal nut inner thread is connected with vertical adjustment screw rod, vertical adjustment Screw rod is parallel to longitudinal rail setting, and one end rotation of vertical adjustment screw rod is installed in bearing block A；

The lateral adjustment includes horizontal platform, lateral adjustments screw rod, lateral nut, bearing block B, transverse slider and two The cross slide way that root is laterally arranged, two cross slide ways are fixedly arranged on the top surface of longitudinal platform, are slided on two cross slide ways Transverse slider is installed, horizontal platform is installed between two transverse sliders, bearing block B is fixedly arranged on horizontal platform, lateral spiral shell Mother is fixedly arranged on longitudinal platform, and lateral nut inner thread is connected with lateral adjustments screw rod, and lateral adjustments screw rod, which is parallel to, laterally leads The other end rotation of rail setting, lateral adjustments screw rod is installed in bearing block B, and the middle part of the horizontal platform is recessed to be formed downwards Groove；

The rotation regulating mechanism includes rotating disk and turntable bearing, and turntable bearing rotation is installed in groove, turntable bearing Upper end extends outside groove and is installed with rotating disk at the top of elongated end；

The roll regulating mechanism is set on the top surface of rotating disk, and roll regulating mechanism includes roll feed screw nut, cross Sliding block, connecting plate, roll adjust screw rod, load disk, thrust lead screw shaft and the cabinet being fixedly arranged on rotating disk top surface, cushion block With the support base with through-hole, be rotatably installed with drive bevel gear and driven wheel of differential on the side wall of cabinet, drive bevel gear with from Dynamic bevel gear engages, and is fixedly provided with and the opposed roll feed screw nut of driven wheel of differential, the middle part of thrust lead screw shaft in cabinet It is provided with external screw thread, the external screw thread of thrust lead screw shaft is threadedly coupled with roll feed screw nut, and one end of thrust lead screw shaft extends It is installed with connecting plate outside cabinet and on extending, the other end of connecting plate is sold A and is articulated on load disk, and load disk is supported in cushion block Top surface on, the other end and driven wheel of differential of thrust lead screw shaft are connected through flat key, and roll tune is provided in the support base Screw rod is saved, is provided with crosshead shoe between one end and drive bevel gear of roll adjusting screw rod；

The pitching adjusting mechanism is set to the rear side of pallet outer framework, and pitching adjusting mechanism includes U-shaped rack, link block, cunning Block, pitching feed screw nut and pitch regulation screw rod, the U-shaped rack are fixedly arranged on the bottom of pallet outer framework, the U-shaped of U-shaped rack Sliding slot is offered on the two sidewalls of slot, and sliding block is provided in U-shaped rack, is installed with fixing axle on the two sidewalls of sliding block, Gu Rolling bearing is rotatably installed on dead axle, rolling bearing is set in sliding slot and can move length direction along the chute, pitching lead screw Nut is fixedly arranged on the bottom of U-lag, and pitching feed screw nut internal screw thread is connected with pitch regulation screw rod, one end of pitch regulation screw rod Rotation is installed in sliding block, and one end of the link block is articulated with the rear end of pallet inner frame, and the other end of link block is hinged In on sliding block.

Through slot is offered in the middle part of the load disk, through slot is located at the surface of cabinet.

Bearing hole is offered in the sliding block, thrust bearing is installed in bearing hole, and the inner ring of thrust bearing, which is installed on, bows It faces upward and adjusts on screw rod.

Pin B is provided between the sliding block and link block.

The other end of the vertical adjustment screw rod is installed with spanner.

The invention has the following advantages that pallet of the present invention is short, there is six degree of freedom regulating mechanism and universalized connection, it can It realizes that a pallet installs all loading functionalities, substantially increases the installation effectiveness of load, reduce labor intensity of workers；It is general Property is strong, meets the requirement of short operating condition.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the invention;

Fig. 2 is top view of the invention；

Fig. 3 is the A-A cross-sectional view of Fig. 2；

Fig. 4 is the B-B cross-sectional view of Fig. 2；

Fig. 5 is the structural schematic diagram of pitching adjusting mechanism；

Fig. 6 is the C-C cross-sectional view of Fig. 5；

In figure, 1- pallet outer framework, 2- pallet inner frame, 3- connecting shaft, 4- lift arm, 5- pitching adjusting mechanism, 6- is longitudinal to be put down Platform, the longitudinal direction 7- nut, 8- bearing block A, 9- vertical adjustment screw rod, 10- longitudinal rail, 11- longitudinal sliding block, 12- horizontal platform, 13- lateral adjustments screw rod, 14- transverse direction nut, 15- bearing block B, 16- transverse slider, 17- cross slide way, 18- rotating disk, 20- Turntable bearing, 21- roll feed screw nut, 22- crosshead shoe, 23- connecting plate, 24- roll adjust screw rod, 25- load disk, 26- Thrust lead screw shaft, 27- cabinet, 28- cushion block, support base of the 29- with through-hole, 30- drive bevel gear, 31- driven wheel of differential, 32- Sell A, 33-U shape rack, 34- link block, 35- sliding block, 36- pitching feed screw nut, 37- pitch regulation screw rod, 38- sliding slot, 39- Rolling bearing, 40- bearing hole, 41- thrust bearing, 42- sell B, 43- spanner.

Specific embodiment

The present invention will be further described with reference to the accompanying drawing, and protection scope of the present invention is not limited to as described below:

As shown in Fig. 1 ~ 6, a kind of load installation vehicle six degree of freedom regulating mechanism, it includes pallet outer framework 1 and pallet inner frame 2, the pallet inner frame 2 is set in pallet outer framework 1, and is installed in pallet outer framework 1 through the rotation of pallet connecting shaft 3, The bottom of pallet outer framework 1 is installed with lift arm 4, it further includes longitudinal adjusting mechanism, lateral adjustment, rotation adjusting machine Structure, roll regulating mechanism and pitching adjusting mechanism 5.

The longitudinal adjusting mechanism is sliding including longitudinal platform 6, longitudinal nut 7, bearing block A8, vertical adjustment screw rod 9, longitudinal direction Block 11 and two longitudinally disposed longitudinal rails 10, two longitudinal rails 10 are fixedly arranged on the left and right sides of pallet inner frame 2 respectively On wall, it is slidably fitted with longitudinal sliding block 11 on two longitudinal rails 10, is installed with longitudinal platform between two longitudinal sliding blocks 11 6, bearing block A8 is installed on longitudinal platform 6, and longitudinal nut 7 is set to the front side of pallet outer framework 1, longitudinal 7 internal screw thread of nut It is connected with vertical adjustment screw rod 9, vertical adjustment screw rod 9 is parallel to the setting of longitudinal rail 10, one end rotation of vertical adjustment screw rod 9 It is installed in bearing block A8.

The lateral adjustment includes horizontal platform 12, lateral adjustments screw rod 13, lateral nut 14, bearing block B15, cross The cross slide way 17 being laterally arranged to sliding block 16 and two, two cross slide ways 17 are fixedly arranged on the top surface of longitudinal platform 6, It is slidably fitted with transverse slider 16 on two cross slide ways 17, is installed with horizontal platform 12, bearing between two transverse sliders 16 Seat B15 is fixedly arranged on horizontal platform 12, and lateral nut 14 is fixedly arranged on longitudinal platform 6, and lateral 14 internal screw thread of nut is connected with cross To screw rod 13 is adjusted, lateral adjustments screw rod 13 is parallel to the setting of cross slide way 17, and the other end of lateral adjustments screw rod 13 rotates peace Groove is formed loaded in bearing block B15, the middle part of the horizontal platform 12 is recessed downwards.

The rotation regulating mechanism includes rotating disk 18 and turntable bearing 20, and the rotation of turntable bearing 20 is installed in groove, The upper end of turntable bearing 20 extends outside groove and is installed with rotating disk 18 at the top of elongated end.

The roll regulating mechanism is set on the top surface of rotating disk 18, and roll regulating mechanism includes roll feed screw nut 21, crosshead shoe 22, connecting plate 23, roll adjust screw rod 24, load disk 25, thrust lead screw shaft 26 and are fixedly arranged on rotating disk 18 Cabinet 27, cushion block 28 on top surface and the support base 29 with through-hole are rotatably installed with drive bevel gear on the side wall of cabinet 27 30 and driven wheel of differential 31, drive bevel gear 30 engaged with driven wheel of differential 31, be fixedly provided in cabinet 27 and driven wheel of differential 31 opposed roll feed screw nuts 21, the middle part of thrust lead screw shaft 26 are provided with external screw thread, the external screw thread of thrust lead screw shaft 26 It is threadedly coupled with roll feed screw nut 21, one end of thrust lead screw shaft 26 extends outside cabinet 27 and is installed with connecting plate on extending 23, the other end of connecting plate 23 is sold A32 and is articulated on load disk 25, and load disk 25 is supported on the top surface of cushion block 28, carries Lotus disk 25 be used for constantly acting load, load can be bundled on load disk by positioning pin or bandage, thrust lead screw shaft 26 it is another End is connect with driven wheel of differential 31 through flat key, and roll is provided in the support base 29 and adjusts screw rod 24, roll adjusts screw rod 24 One end and drive bevel gear 30 between be provided with crosshead shoe 22.

The pitching adjusting mechanism 5 is set to the rear side of pallet outer framework 1, and pitching adjusting mechanism includes U-shaped rack 33, connects Block 34, sliding block 35, pitching feed screw nut 36 and pitch regulation screw rod 37 are connect, the U-shaped rack 33 is fixedly arranged on pallet outer framework 1 Bottom offers sliding slot 38 on the two sidewalls of the U-lag of U-shaped rack 33, sliding block 35, sliding block 35 is provided in U-shaped rack 33 Two sidewalls on be installed with fixing axle, rolling bearing 39 is rotatably installed in fixing axle, rolling bearing 39 is set to sliding slot 38 It is interior and can along the chute 38 length directions it is mobile, pitching feed screw nut 36 be fixedly arranged on the bottom of U-lag, spiral shell in pitching feed screw nut 36 Line is connected with pitch regulation screw rod 37, and one end rotation of pitch regulation screw rod 37 is installed in sliding block 35, the link block 34 One end is articulated with the rear end of pallet inner frame 2, and the other end of link block 34 is articulated on sliding block 35.

The middle part of the load disk 25 offers through slot, and through slot is located at the surface of cabinet 27.It is opened up in the sliding block 35 There is bearing hole 40, thrust bearing 41 is installed in bearing hole 40, the inner ring of thrust bearing 41 is installed on pitch regulation screw rod 37, The other end that vertical adjustment screw rod 9 described in pin B42 is provided between the sliding block 35 and link block 34 is installed with spanner 43.

Lift adjustment: can pallet outer framework 1 be lifted or is transferred by lift arm 4, realize the up and down adjustment of load；

Vertical adjustment: by rotary spanner 43, vertical adjustment screw rod 9 can be made to rotate, vertical adjustment screw rod 9 drives bearing block A8 to do Longitudinal movement, bearing block A8 drives longitudinal platform 6 to do longitudinal movement along longitudinal rail 10, to drive on longitudinal platform 6 All components do longitudinal movement, realize the vertical adjustment of load；

Lateral adjustments: lateral adjustments screw rod 13 is rotated using spanner, lateral adjustments screw rod 13 drives bearing block B15 to do lateral fortune Dynamic, bearing block B15 drives horizontal platform 12 to do transverse movement along cross slide way 17, to drive all on horizontal platform 12 Component does transverse movement, realizes the lateral adjustments of load；

Pitch regulation: adjusting screw rod 37 using spanner rotary luffing, under pitch regulation screw rod 37 and pitching feed screw nut 36 cooperate, Band movable slider 35 is moved forward and backward along sliding slot 38, and sliding block 35 drives pallet inner frame 2 to move forward and backward through link block 34, makes to hold in the palm Disk inner frame 2 does pitching movement around connecting shaft 3, so that all components on pallet inner frame 2 be driven to do pitching movement, realizes The pitch regulation of load；

Roll is adjusted: screw rod 24 is adjusted using spanner rotation roll, roll adjusts screw rod 24 and drives to be rotated by crosshead shoe 22, Crosshead shoe 22 drives drive bevel gear 30 to rotate, and drive bevel gear 30 drives driven wheel of differential 31 to rotate, driven wheel of differential 31 Band dynamicthrust lead screw shaft 26 rotates, and thrust lead screw shaft 26 drives connecting plate 23 to rotate, since connecting plate 23 and load disk 25 are connected, To make load disk 25 rotate around thrust lead screw shaft 26, load disk 25 is separated with cushion block 28, to realize the roll of load It adjusts；

Rotation is adjusted: rotating horizontally rotating disk 18 manually, all components in rotating disk 18 do 0~360 ° around turntable bearing 19 Rotary motion, thus realize load rotation adjust.Therefore the regulating mechanism has the function of six degree of freedom adjusting, can root Height and different loads type according to unmanned plane ventral away from ground, below the efficient ventral for being installed to unmanned plane of load, The load installation and adjustment time is shortened, the installation effectiveness of load is greatly improved, and be not necessarily to artificial lift to move load, greatly drops Low labor intensity of workers.