阅读说明：本技术 一种六自由度调节装置 (Six-degree-of-freedom adjusting device ) 是由 皮朝辉 姜豪 于 2020-11-30 设计创作，主要内容包括：本发明涉及一种六自由度调节装置,包括：X向旋转机构、Y向旋转机构、x向平移机构、y向平移机构、Z向旋转与z向平移机构、底座以及安装座。X向旋转机构固定在底座上,Y向旋转机构固定在X向旋转机构上；x向平移机构固定在Y向旋转机构上；Z向旋转与z向平移机构固定在y向平移机构上；安装座固定在Z向旋转与z向平移机构上。本发明提供的六自由度调节装置,通过X向旋转机构、Y向旋转机构和Z向旋转与z向平移机构能够实现安装板分别在X方向、Y方向和Z方向上的旋转调节,通过x向平移机构、y向平移机构和Z向旋转与z向平移机构能分别实现安装板分别在x方向、y方向和z方向上的平移调节,进而能实现安装板的六自由度调节。(The invention relates to a six-degree-of-freedom adjusting device, which comprises: the device comprises an X-direction rotating mechanism, a Y-direction rotating mechanism, an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction rotating and Z-direction translation mechanism, a base and a mounting seat. The X-direction rotating mechanism is fixed on the base, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; the mounting seat is fixed on the Z-direction rotation and Z-direction translation mechanism. According to the six-degree-of-freedom adjusting device provided by the invention, the mounting plate can be respectively adjusted in the X direction, the Y direction and the Z direction in a rotating way through the X direction rotating mechanism, the Y direction rotating mechanism and the Z direction rotating and Z direction translating mechanism, and the mounting plate can be respectively adjusted in the X direction, the Y direction and the Z direction in a translating way through the X direction translating mechanism, the Y direction translating mechanism and the Z direction rotating and Z direction translating mechanism, so that the six-degree-of-freedom adjustment of the mounting plate can be realized.)

1. A six degree-of-freedom adjustment device, comprising: the device comprises an X-direction rotating mechanism, a Y-direction rotating mechanism, an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction rotating and Z-direction translation mechanism, a base and a mounting seat;

the X-direction rotating mechanism is fixed on the base, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; the mounting seat for mounting the tool is fixed on the Z-direction rotation and Z-direction translation mechanism.

2. The six degree-of-freedom adjustment device of claim 1, wherein the X-direction rotation mechanism comprises: the first connecting block and the second connecting block;

the first connecting block is vertically fixed on the base, and a plurality of first through holes are formed in the first connecting block; the second connecting block is parallel to the first connecting block; a plurality of first arc-shaped holes distributed on the same circumference are formed in the second connecting block; the fastener passes through first through-hole and the first arc hole that corresponds with first connecting block and second connecting block are fixed.

3. The six degree-of-freedom adjustment device of claim 2, wherein the Y-rotation mechanism comprises: a third connecting block and a fourth connecting block;

the third connecting block and the fourth connecting block are perpendicular to the first connecting block and the second connecting block, and the fourth connecting block is arranged above the third connecting block; the third connecting block is provided with a plurality of second through holes, and the fourth connecting block is provided with a plurality of second arc-shaped holes distributed on the same circumference; the fastener fixes the third connecting block and the fourth connecting block through the second through hole and the corresponding second arc-shaped hole.

4. The six degree-of-freedom adjustment device of claim 3, wherein the x-direction translation mechanism comprises: a fifth connecting block and a sixth connecting block;

the fifth connecting block is of a T-shaped structure; the lower end of the fifth connecting block is fixed on the fourth connecting block; a first sliding groove is formed in the upper end of the fifth connecting block, and a first waist-shaped hole parallel to the first sliding groove is formed in the first sliding groove; a third through hole is formed in the sixth connecting block; the sixth connecting block is arranged in the first sliding groove, and a fastener fixes the fifth connecting block and the sixth connecting block through the third through hole and the corresponding first kidney-shaped hole.

5. The six degree-of-freedom adjustment device of claim 4, wherein the y-translation mechanism comprises: a seventh connecting block and an eighth connecting block;

the seventh connecting block is vertically fixed on the sixth connecting block; the eighth connecting block is parallel to the seventh connecting block; a second sliding groove is formed in the side face of the eighth connecting block, and a second waist-shaped hole parallel to the second sliding groove is formed in the second sliding groove; a fourth through hole is formed in the seventh connecting block; the seventh connecting block is arranged in the second sliding groove, and a fastening piece fixes the seventh connecting block and the eighth connecting block through the fourth through hole and the corresponding second kidney-shaped hole.

6. The six degree-of-freedom adjustment device of claim 5, wherein the Z-rotation and Z-translation mechanism comprises: the eighth connecting block, the ninth connecting block and the connecting shaft;

a plurality of third arc-shaped holes distributed on the same circumference are formed in the eighth connecting block on the outer side of the second sliding groove; a fifth through hole is formed in the ninth connecting block; the fastener fixes the eighth connecting block and the ninth connecting block through the fifth through hole and the corresponding third arc-shaped hole; one end of the connecting shaft is fixed to the other end, back to the second sliding groove, of the eighth connecting block; a shaft hole is formed in the ninth connecting block, and the other end of the connecting shaft is arranged in the shaft hole; a detachable gasket is arranged between the eighth connecting block and the ninth connecting block.

7. The six degree-of-freedom adjustment device of claim 6, further comprising: reinforcing ribs; the reinforcing rib is fixed on the sixth connecting block and the seventh connecting block.

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a six-degree-of-freedom adjusting device.

Background

In the mechanical field, the assembly of parts needs to be realized by adopting a special tool, and the displacement and the rotation angle of the tool need to be continuously adjusted in the working process. The existing tool adjusting mechanism is usually realized by adopting a three-axis or five-axis motion mechanism, and can only realize the displacement adjustment of a plurality of planes; or special angle adjustment is adopted, and only the angle adjustment of one or more surfaces can be realized. At present, no equipment capable of giving consideration to adjustment of a plurality of plane displacements and adjustment of a plurality of plane rotation angles exists.

Disclosure of Invention

The invention provides a six-degree-of-freedom adjusting device, aiming at the technical problem that the adjustment of a plurality of plane displacements and a plurality of plane rotation angles of a tool is difficult in the prior art.

The technical scheme for solving the technical problems is as follows:

a six degree-of-freedom adjustment device comprising: the device comprises an X-direction rotating mechanism, a Y-direction rotating mechanism, an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction rotating and Z-direction translation mechanism, a base and a mounting seat;

the X-direction rotating mechanism is fixed on the base, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; the mounting seat for mounting the tool is fixed on the Z-direction rotation and Z-direction translation mechanism.

Further, the X-direction rotating mechanism includes: the first connecting block and the second connecting block;

the first connecting block is vertically fixed on the base, and a plurality of first through holes are formed in the first connecting block; the second connecting block is parallel to the first connecting block; a plurality of first arc-shaped holes distributed on the same circumference are formed in the second connecting block; the fastener passes through first through-hole and the first arc hole that corresponds with first connecting block and second connecting block are fixed.

Further, the Y-direction rotating mechanism includes: a third connecting block and a fourth connecting block;

the third connecting block and the fourth connecting block are perpendicular to the first connecting block and the second connecting block, and the fourth connecting block is arranged above the third connecting block; the third connecting block is provided with a plurality of second through holes, and the fourth connecting block is provided with a plurality of second arc-shaped holes distributed on the same circumference; the fastener fixes the third connecting block and the fourth connecting block through the second through hole and the corresponding second arc-shaped hole.

Further, the x-direction translation mechanism includes: a fifth connecting block and a sixth connecting block;

the fifth connecting block is of a T-shaped structure; the lower end of the fifth connecting block is fixed on the fourth connecting block; a first sliding groove is formed in the upper end of the fifth connecting block, and a first waist-shaped hole parallel to the first sliding groove is formed in the first sliding groove; a third through hole is formed in the sixth connecting block; the sixth connecting block is arranged in the first sliding groove, and a fastener fixes the fifth connecting block and the sixth connecting block through the third through hole and the corresponding first kidney-shaped hole.

Further, the y-direction translation mechanism includes: a seventh connecting block and an eighth connecting block;

the seventh connecting block is vertically fixed on the sixth connecting block; the eighth connecting block is parallel to the seventh connecting block; a second sliding groove is formed in the side face of the eighth connecting block, and a second waist-shaped hole parallel to the second sliding groove is formed in the second sliding groove; a fourth through hole is formed in the seventh connecting block; the seventh connecting block is arranged in the second sliding groove, and a fastening piece fixes the seventh connecting block and the eighth connecting block through the fourth through hole and the corresponding second kidney-shaped hole.

Further, the Z-direction rotation and Z-direction translation mechanism comprises: the eighth connecting block, the ninth connecting block and the connecting shaft;

a plurality of third arc-shaped holes distributed on the same circumference are formed in the eighth connecting block on the outer side of the second sliding groove; a fifth through hole is formed in the ninth connecting block; the fastener fixes the eighth connecting block and the ninth connecting block through the fifth through hole and the corresponding third arc-shaped hole; one end of the connecting shaft is fixed to the other end, back to the second sliding groove, of the eighth connecting block; a shaft hole is formed in the ninth connecting block, and the other end of the connecting shaft is arranged in the shaft hole; a detachable gasket is arranged between the eighth connecting block and the ninth connecting block.

Further, the method also comprises the following steps: reinforcing ribs; the reinforcing rib is fixed on the sixth connecting block and the seventh connecting block.

The six-degree-of-freedom adjusting device provided by the invention at least has the following beneficial effects or advantages:

according to the six-degree-of-freedom adjusting device provided by the invention, the X-direction rotating mechanism is fixed on the base, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; and the mounting seat for mounting the tool is fixed on the Z-direction rotation and Z-direction translation mechanism. According to the six-degree-of-freedom adjusting device provided by the invention, the mounting plate can be respectively rotatably adjusted in the X direction, the Y direction and the Z direction through the X-direction rotating mechanism, the Y-direction rotating mechanism and the Z-direction rotating and Z-direction translating mechanism, and the mounting plate can be respectively translationally adjusted in the X direction, the Y direction and the Z direction through the X-direction translating mechanism, the Y-direction translating mechanism and the Z-direction rotating and Z-direction translating mechanism, wherein the X direction, the Y direction and the Z direction are pairwise vertical, and the X direction, the Y direction and the Z direction are pairwise vertical, so that the six-degree-of-freedom adjusting of the mounting plate can be realized, and the adjustment of a plurality of plane displacements and the adjustment.

Drawings

Fig. 1 is a schematic structural diagram of a six-degree-of-freedom adjusting device according to an embodiment of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-a first connecting block, 2-a second connecting block, 3-a third connecting block, 4-a fourth connecting block, 5-a fifth connecting block, 6-a sixth connecting block, 7-a seventh connecting block, 8-an eighth connecting block, 9-a ninth connecting block, 10-a reinforcing rib, 11-a base and 12-a mounting seat.

Detailed Description

The invention provides a six-degree-of-freedom adjusting device, aiming at the technical problem that the adjustment of a plurality of plane displacements and a plurality of plane rotation angles of a tool is difficult in the prior art.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a six-degree-of-freedom adjusting device, which is shown in a figure 1 and mainly comprises: an X-direction rotating mechanism, a Y-direction rotating mechanism, an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction rotating and Z-direction translation mechanism, a base 11 and a mounting seat 12. The X-direction rotating mechanism is fixed on the base 11, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; and a mounting seat 12 for mounting the tool is fixed on the Z-direction rotation and Z-direction translation mechanism. The X direction, the Y direction and the Z direction are vertical to each other, and the X direction, the Y direction and the Z direction are vertical to each other. Specifically, the method comprises the following steps:

referring to fig. 1, the X-direction rotating mechanism includes: a first connecting block 1 and a second connecting block 2. The first connecting block 1 is vertically fixed on the base 11, and a plurality of first through holes, for example, three first through holes, are formed in the first connecting block 1. The second connecting block 2 is parallel to the first connecting block 1; a plurality of first arc-shaped holes distributed on the same circumference are formed in the second connecting block 2; the fastener passes through first through-hole and the first arc hole that corresponds and fixes first connecting block 1 and second connecting block 2.

Referring to fig. 1, the Y-direction rotating mechanism includes: a third connecting block 3 and a fourth connecting block 4. The third connecting block 3 and the fourth connecting block 4 are perpendicular to the first connecting block 1 and the second connecting block 2, and the fourth connecting block 4 is disposed above the third connecting block 3. A plurality of second through holes, for example, two second through holes, are formed in the third connecting block 3; a plurality of second arc-shaped holes distributed on the same circumference, for example, two second arc-shaped holes are formed in the fourth connecting block 4. The fastener passes through the second through-hole and the second arc hole that corresponds is fixed third connecting block 3 and fourth connecting block 4.

Referring to fig. 1, the x-direction translation mechanism includes: a fifth connecting block 5 and a sixth connecting block 6. The fifth connecting block 5 is of a T-shaped structure; the lower end of the fifth connecting block 5 is fixed on the fourth connecting block 4. The upper end of the fifth connecting block 5 is provided with a first sliding chute which is linearly distributed; a first waist-shaped hole parallel to the first sliding groove is formed in the first sliding groove; and a third through hole, for example, four symmetrically arranged third through holes, is formed in the sixth connecting block 6. The sixth connecting block 6 is arranged in the first sliding groove, and the sixth sliding block can move along the first sliding groove. The fastener fixes the fifth connecting block 5 and the sixth connecting block 6 through the third through hole and the corresponding first kidney-shaped hole.

As shown in fig. 1, the y-direction translation mechanism includes: a seventh connecting block 7 and an eighth connecting block 8. The seventh connecting block 7 is vertically fixed on the sixth connecting block 6; the eighth connecting block 8 is parallel to the seventh connecting block 7. A second sliding groove is formed in the side face of the eighth connecting block 8 and is linearly distributed; a second waist-shaped hole parallel to the second sliding groove is formed in the second sliding groove; and a fourth through hole, for example, four symmetrically arranged fourth through holes, is formed in the seventh connecting block 7. The seventh connecting block 7 is arranged in the second sliding groove, and the fastening piece fixes the seventh connecting block 7 and the eighth connecting block 8 through the fourth through hole and the corresponding second kidney-shaped hole. The six-degree-of-freedom adjusting device provided by the embodiment further comprises: a reinforcing rib 10; the reinforcing rib 10 is fixed on the sixth connecting block 6 and the seventh connecting block 7.

As shown in fig. 1, the Z-direction rotation and Z-direction translation mechanism includes: eighth connecting block 8, ninth connecting block 9 and connecting axle. A plurality of third arc holes, for example two third arc holes, that distribute on same circumference are seted up in the outside of second spout on eighth connecting block 8. A fifth through hole, for example, two symmetrically arranged fifth through holes, is formed in the ninth connecting block 9; the fastener passes through fifth through-hole and the third arc hole that corresponds and fixes eighth connecting block 8 and ninth connecting block 9. One end of the connecting shaft is fixed at the other end of the eighth connecting block 8, which is back to the second chute. A shaft hole is formed in the ninth connecting block 9, and the other end of the connecting shaft is arranged in the shaft hole; a detachable gasket is arranged between the eighth connecting block 8 and the ninth connecting block 9, and the distance of the z-direction translation of the mounting block fixed on the ninth connecting block 9 can be adjusted through the thickness of the gasket.

According to the six-degree-of-freedom adjusting device provided by the embodiment of the invention, the mounting plate can be rotationally adjusted in the X direction, the Y direction and the Z direction respectively through the X-direction rotating mechanism, the Y-direction rotating mechanism and the Z-direction rotating and Z-direction translating mechanism, and the mounting plate can be translationally adjusted in the X direction, the Y direction and the Z direction respectively through the X-direction translating mechanism, the Y-direction translating mechanism and the Z-direction rotating and Z-direction translating mechanism, wherein the X direction, the Y direction and the Z direction are vertical to each other, and the X direction, the Y direction and the Z direction are vertical to each other, so that the six-degree-of-freedom adjusting of the.

The six-degree-of-freedom adjusting device provided by the embodiment of the invention at least has the following beneficial effects or advantages:

according to the six-degree-of-freedom adjusting device provided by the embodiment of the invention, the X-direction rotating mechanism is fixed on the base, and the Y-direction rotating mechanism is fixed on the X-direction rotating mechanism; the x-direction translation mechanism is fixed on the Y-direction rotation mechanism; the Z-direction rotation and Z-direction translation mechanism is fixed on the y-direction translation mechanism; and the mounting seat for mounting the tool is fixed on the Z-direction rotation and Z-direction translation mechanism. The six-degree-of-freedom adjusting device provided by the embodiment of the invention can realize six-degree-of-freedom adjustment of the mounting plate and can realize displacement adjustment of a plurality of planes and rotation angle adjustment of the plurality of planes of the tool.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.