The invention relates to a large equipment omni-directional moving module which comprises a rack assembly, a wheel type moving assembly, an axial moving assembly and a synchronous pulley assembly, the wheel type moving assembly is connected to the lower portion of the rack assembly, the synchronous pulley assembly is connected to the upper portion of the rack assembly, the axial moving assembly is connected to the middle of the rack assembly, and the synchronous pulley assembly is connected to the lower portion of the rack assembly. The device can move in any direction in the plane, rotate in the axial direction and move in the axial direction, and the movement is flexible. The invention further relates to a branch chain unit and a parallel posture adjusting mechanism, the branch chain unit comprises a large equipment omni-directional moving module and a spherical hinge assembly, and the parallel posture adjusting mechanism comprises a plurality of branch chain units and a platform assembly. According to the omni-directional moving mechanism, the omni-directional moving module of the large equipment and a traditional parallel mechanism branch chain are combined, the multi-degree-of-freedom posture adjusting requirement is met, omni-directional moving is achieved with a small occupied space, the omni-directional moving mechanism can adapt to different butt joint working conditions, the bearing capacity is high, and the assembling and installing efficiency is high.
本发明涉及一种大型装备全向移动模块,其包括机架组件、轮式移动组件、轴向移动组件和同步带轮组件,轮式移动组件连接在机架组件的下部,同步带轮组件连接在机架组件的上部,轴向移动组件连接在机架组件的中部,可沿平面任意方向移动、绕轴向转动以及沿轴向移动,运动灵活。本发明还涉及一种支链单元与并联调姿机构,支链单元包括一个大型装备全向移动模块和一个球铰组件,并联调姿机构包括多个支链单元和一个平台组件。本发明结合大型装备全向移动模块和传统并联机构支链,不仅满足多自由度调姿需求,还以较小的占地空间实现了全向移动,可自适应于不同的对接工况,承载能力强,装配和安装效率高。
Omnidirectional moving module, branched chain unit and parallel posture adjusting mechanism of large equipment
大型装备全向移动模块、支链单元及其并联调姿机构
2023-05-23
Patent
Electronic Resource
Chinese
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