The invention discloses a pose adjusting mechanism and a six-degree-of-freedom fault-tolerant adjusting method based on the same. A first numerical control positioner, a second numerical control positioner, a third numerical control positioner and a fourth numerical control positioner are mounted between a tray and a foundation platform; a first ball head, a second ball head, a third ball head and a fourth ball head are arranged at the upper end of the first numerical control positioner, the upper end of the second numerical control positioner, the upper end of the third numerical control positioner and the upper end of the fourth numerical control positioner respectively, and a ball socket, a first V-shaped groove, a second V-shaped groove and a positioning plane are arranged on the lower side of the tray. The second ball head and the third ball head are supported in the first V-shaped groove and the second V-shaped groove respectively, and the fourth ball head is supported on the lower side of the positioning plane. The position and posture adjusting mechanism has the advantages that the position and posture adjusting mechanism has high fault-tolerant ability and high adaptability, the control difficulty can be effectively reduced, and the position and posture adjusting precision is good.
本发明公开了一种位姿调整机构及基于该调整机构的6自由度容错调节方法,托盘与基础平台之间安装有第一数控定位器、第二数控定位器、第三数控定位器和第四数控定位器,第一数控定位器、第二数控定位器、第三数控定位器和第四数控定位器的上端分别设有第一球头、第二球头、第三球头和第四球头,托盘的下侧设有球窝、第一V型槽、第二V型槽和定位平面,第一球头与球窝球铰连接,第二球头和第三球头分别支撑在第一V型槽和第二V型槽内,第四球头支撑在定位平面下侧。有益效果是:位姿调整机构具备较高的容错能力且适应性强,能够有效降低控制难度并具有较好的位姿调整精度。
Pose adjusting mechanism and six-degree-of-freedom fault-tolerant adjusting method based on same
位姿调整机构及基于该调整机构的6自由度容错调节方法
2022-12-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B25B TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING , Werkzeuge oder Werkbankvorrichtungen zum Befestigen, Verbinden, Lösen oder Halten, soweit nicht anderweitig vorgesehen / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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