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WO2021088362A1 - Rotating support apparatus having multiple degrees of freedom - Google Patents

Rotating support apparatus having multiple degrees of freedom Download PDF

Info

Publication number
WO2021088362A1
WO2021088362A1 PCT/CN2020/094472 CN2020094472W WO2021088362A1 WO 2021088362 A1 WO2021088362 A1 WO 2021088362A1 CN 2020094472 W CN2020094472 W CN 2020094472W WO 2021088362 A1 WO2021088362 A1 WO 2021088362A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
rod
rotating
connecting pin
adjusting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/094472
Other languages
French (fr)
Chinese (zh)
Inventor
相铁武
王赛进
王刚
陶玉玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Allcontroller Technology Co Ltd
Original Assignee
Nanjing Allcontroller Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Allcontroller Technology Co Ltd filed Critical Nanjing Allcontroller Technology Co Ltd
Publication of WO2021088362A1 publication Critical patent/WO2021088362A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/08—Foot or support base

Definitions

  • the invention relates to the technical field of a machine multi-degree-of-freedom platform, in particular to a multi-degree-of-freedom rotating support device.
  • the degree of freedom for the rotation adjustment of the components is relatively low, and for the rotation, the electric components are often used for adjustment.
  • the use of pure electric adjustment has great limitations in the use occasions, and this adjustment method will be affected by the electric components. Cumulative error causes inaccurate adjustment of component rotation, and also affects the support effect of the rotated component; for some workplaces where electric components are not suitable, the support of the component after rotation adjustment is carried out by bolt locking.
  • This locking method is used for disassembly. The operation is cumbersome, and there is a hidden danger of relative rotation of the rotating parts when the bolt is locked.
  • the present invention provides a multi-degree-of-freedom rotary support device that can conveniently adjust and support the orientation and angle of an external connection device.
  • the multi-degree-of-freedom rotation support device includes a bottom plate, a side vertical plate, a side rotating shaft, a connecting frame, a rotating gear, a rotating rod and a driving gear, and an adjustment mechanism.
  • the side vertical plate is mounted on On the top of the bottom plate, a counterbore is provided on the left side of the rear end of the side vertical plate, the left side of the middle part of the side vertical plate is connected with the right end of the side shaft through a bearing, and a connecting frame is installed on the left end of the side shaft to rotate the gear Installed on the middle of the side shaft, the driving gear is distributed on the rear side of the rotating gear.
  • the rotating gear meshes with the driving gear.
  • the width of the driving gear is greater than that of the rotating gear, so that when the rotating rod drives the driving gear to move left and right, the driving gear It can always be in mesh with the rotating gear.
  • the driving gear is installed on the middle of the rotating rod.
  • the rotating rod and the counterbore of the side vertical plate are in sliding fit. By rotating the rotating rod, the rotating gear can be driven to rotate, so that the rotating rod can drive adjustment.
  • the mechanism rotates so that the angle of the adjustment mechanism is adjusted.
  • the adjustment mechanism includes a support plate, a mounting frame, a connecting pin shaft, an adjustment sliding rod, an arc block, a toothing, a retracting spring, and an adjustment support plate, and the support plate is installed on the left side of the connecting frame
  • the mounting frame is provided with mounting holes for locking external equipment
  • the left side of the support plate is provided with ear seats
  • the mounting frame is located on the left side of the support plate
  • the mounting frame is provided with a connecting block
  • the connecting block on the mounting frame is installed on the On the middle part of the connecting pin
  • the outer end of the connecting pin is connected to the ear seat on the support plate by sliding and rotating fit
  • the front and rear ends of the connecting pin are provided with a set of slots, the right end of each set of slots on the connecting pin is provided with an arc-shaped block, and the left side of the arc-shaped block is provided with a slot on the connecting pin.
  • the arc block is installed on the left end of the adjusting slide bar, the middle of the adjusting slide bar is connected with the support plate through a sliding fit, and an adjusting support plate is installed between the right ends of the adjusting slide bar;
  • each adjusting slide rod is connected with the right end of a retracting spring.
  • the left end of the retracting spring is installed on the right side of the support plate.
  • the retracting spring has a certain expansion force.
  • the right end of the rotating rod is provided with a blocking block made of steel, the blocking block is located in a counterbore provided in the side vertical plate, and a locking sleeve is provided on the outer side of the right end of the rotating rod.
  • the inner side is evenly provided with blocking teeth, and the rotating rod is provided with a locking block that cooperates with the blocking teeth on the locking sleeve.
  • the blocking block can limit the moving distance of the rotating rod and prevent the rotating rod from falling out of the counterbore of the side vertical plate.
  • a magnet block is arranged on the right side wall of the counterbore on the side upright plate, and the magnet block on the counterbore on the side upright plate can adsorb the blocking block, increasing the stability of the present invention. Sex.
  • the slots on the connecting pin are evenly distributed on the outer surface of the connecting pin, the inner end of the slot on the connecting pin has a trapezoidal structure, and the insert on the connecting pin The outer end of the groove is a square structure.
  • the said tooth is a telescopic structure
  • the inner end of the tooth is a trapezoidal structure
  • the trapezoidal structure of the tooth is matched with the trapezoidal structure of the slot on the connecting pin
  • the telescopic structure of the gear shaper can automatically expand and contract so that the mounting frame can rotate, and the telescopic structure of the gear shaper can generate a certain resistance to the rotation of the mounting frame and prevent The rapid rotation of the mounting frame causes the connecting equipment installed on the mounting frame to fall.
  • each set of slots of the connecting pin are provided with a set of square locking holes
  • the left side of the arc block is provided with a square that matches the locking holes.
  • the insertion rod, the insertion rod on the arc-shaped block and the locking hole on the connecting pin shaft can increase the stability of the mounting frame.
  • the middle part of the adjusting slide rod is a hollow structure, and a linkage rod is installed in the hollow structure of each adjusting slide rod through a pin.
  • the linkage rod is a Z-shaped structure.
  • the left outer end and the right inner end pass through the adjusting slide rod, the support plate is provided with a positioning hole that matches the outer side of the left end of the linkage rod, and the outer surface of the right end of the linkage rod is connected with the inner wall of the adjusting slide rod through a return spring.
  • a flipping plate is distributed between the right ends of the two adjusting sliding rods, the flipping plate is located on the left side of the right end of the linkage rod, and the flipping plate is installed on the adjusting support through a flipping spring.
  • a telescopic column for restricting the position of the pulling plate is connected between the adjusting support plate and the pulling plate.
  • the invention adopts a simple adjustment method to complete the adjustment of the orientation and angle of the external connection equipment, with low failure rate and simple and quick operation; the invention can lock the external connection equipment after the orientation and angle adjustment is completed to improve stability; at the same time, Optimize the design of the rotating structure.
  • the rotation of the rotating rod can drive the mounting frame to rotate and adjust, so that the angle of the adjustment mechanism can be adjusted.
  • the locking block on the rotating rod and the locking sleeve can be locked after the adjustment of the adjustment mechanism is completed; ,
  • the telescopic structure of the upper toothing can generate a certain resistance to the rotation of the mounting frame, preventing the mounting frame from rotating faster and causing the connecting equipment installed on the mounting frame to fall.
  • Fig. 1 is a schematic diagram of the structure of the multi-degree-of-freedom rotation support device of the present invention.
  • Figure 2 is a schematic diagram (top view) of the present invention after removing the bottom plate.
  • Fig. 3 is a cross-sectional view between the side vertical plate, the side rotating shaft, the connecting frame, the rotating gear, the rotating rod and the driving gear of the present invention.
  • Fig. 4 is a schematic diagram of the structure of the adjusting mechanism of the present invention.
  • Figure 5 is a cross-sectional view of the adjustment mechanism of the present invention.
  • a multi-degree-of-freedom rotation support device includes a bottom plate 1, a side vertical plate 2, a side rotating shaft 3, a connecting frame 4, a rotating gear 5, a rotating rod 6, a driving gear 7 and an adjustment mechanism 8.
  • the side upright plate 2 is installed on the top of the bottom plate 1, and a counterbore is provided on the left side of the rear end of the side upright plate 2.
  • the left side surface of the middle part of the side vertical plate 2 is connected with the right end of the side rotating shaft 3 through a bearing, and a connecting frame 4 is installed on the left end of the side rotating shaft 3.
  • the rotating gear 5 is mounted on the middle of the side rotating shaft 3.
  • a driving gear 7 is distributed on the rear side of the rotating gear 5.
  • the rotating gear 5 meshes with the driving gear 7, and the width of the driving gear 7 is greater than the width of the rotating gear 5, so that the rotating rod When 6 drives the driving gear 7 to move left and right, the driving gear 7 can always be in mesh with the rotating gear 5.
  • the driving gear 7 is mounted on the middle of the rotating rod 6.
  • the adjusting mechanism 8 is installed on the connecting frame 4, and the rotating gear 5 can be driven to rotate by rotating the rotating rod 6, so that the rotating rod 6 drives the adjusting mechanism 8 to rotate , So that the angle of the adjustment mechanism 8 is adjusted.
  • the rotating rod 6 can be provided with a hand wheel, which can be adjusted manually.
  • the head of the rotating rod 6 may also be set in the shape of a hexagonal or square bolt to be driven by an external torque tool, such as a torque wrench or a socket wrench, especially an electric socket or a wrench.
  • an external torque tool such as a torque wrench or a socket wrench, especially an electric socket or a wrench.
  • the adjustment mechanism 8 includes a support plate 81, a mounting frame 82, a connecting pin 83, an adjustment slide rod 84, an arc block 85, a tooth 86, a retracting spring 87 and an adjustment support
  • the supporting plate 81 is installed on the left side of the connecting frame 4, the left side of the supporting plate 81 is provided with ear sockets, the mounting frame 82 is located on the left side of the supporting plate 81, and the mounting frame 82 is provided for locking the external
  • the mounting hole of the device the mounting frame 82 is provided with a connecting block, the connecting block on the mounting frame 82 is mounted on the middle of the connecting pin 83, and the outer end of the connecting pin 83 is fitted with the support plate 81 by sliding and rotating.
  • the ear sockets are connected.
  • the front and rear ends of the connecting pin 83 are provided with a set of slots, the right end of each set of slots on the connecting pin 83 is provided with an arc block 85, and the left side of the arc block 85 is provided with The slotted tooth 86 on the pin 83 is matched with the slot.
  • the arc block 85 is installed on the left end of the adjusting slide rod 84, the middle part of the adjusting slide rod 84 is connected to the support plate 81 by sliding fit, and an adjusting support plate 88 is installed between the right ends of the adjusting slide rod 84.
  • each adjusting slide rod 84 is connected to the right end of a retracting spring 87.
  • the left end of the retracting spring 87 is installed on the right side of the support plate 81.
  • the retracting spring 87 has a certain expansion force.
  • the adjusting mechanism 8 can swing up and down the mounting frame 82, so that the connecting device installed on the mounting frame 82 can be adjusted to a proper angle. By pulling the adjusting slide rod 84 to the right, the angle of the mounting frame 82 can be adjusted. .
  • the adjusting sliding rod 84 is pulled to the left to reinsert the tooth 86 into the slot on the connecting pin 83, so that the mounting frame 82 can be locked again.
  • the right end of the rotating rod 6 is provided with a blocking block 61 made of steel, and the blocking block 61 is located in a counterbore provided in the side upright plate 2, and a locking sleeve 62 is provided on the outer side of the right end of the rotating rod 6, and the inner surface of the locking sleeve 62
  • the blocking teeth are evenly arranged, and the rotating rod 6 is provided with a locking block that cooperates with the blocking teeth on the locking sleeve 62.
  • the blocking block 61 can limit the moving distance of the rotating rod 6 to prevent the rotating rod 6 from moving out of the counterbore of the side upright plate 2.
  • the right side wall of the counterbore on the side vertical plate 2 is provided with a magnet block, and the magnet block on the counterbore of the side vertical plate 2 can adsorb the blocking block 61 to increase the stability of the system.
  • the slots on the connecting pin 83 are evenly distributed on the outer surface of the connecting pin 83, the inner end of the slot on the connecting pin 83 has a trapezoidal structure, and the outer end of the slot on the connecting pin 83 has a square structure. .
  • the inserting tooth 86 is a telescopic structure
  • the inner end of the inserting tooth 86 is a trapezoidal structure
  • the trapezoidal structure of the inserting tooth 86 is matched with the trapezoidal structure of the slot on the connecting pin 83.
  • the tooth 86 can be moved out of the trapezoidal structure of the slot on the connecting pin shaft 83, so that the telescopic structure of the tooth 86 is located on the connecting pin shaft.
  • the rotation of the mounting frame 82 will drive the connecting pin 83 to rotate synchronously.
  • the telescopic structure of the tooth 86 can automatically expand and contract, so that the mounting frame 82 can rotate and the tooth 86 can be rotated.
  • the telescopic structure can generate a certain resistance to the rotation of the mounting frame 82, and prevent the mounting frame 82 from rotating fast, causing the connecting device installed on the mounting frame 82 to fall.
  • each set of slots of the connecting pin 83 are provided with a set of square locking holes
  • the left side of the arc block 85 is provided with a square insert rod that matches the locking hole
  • the arc block 85 The fitting of the inserted rod and the locking hole on the connecting pin 83 can increase the stability of the mounting frame 82.
  • the middle part of the adjusting slide rod 84 is a hollow structure, and a linkage rod 89 is installed in the hollow structure of each adjusting slide rod 84 through a pin.
  • the linkage rod 89 is a Z-shaped structure, and the left outer end of the linkage rod 89 is connected with The inner end of the right side passes through the adjustment slide rod 84, the support plate 81 is provided with a positioning hole that matches the outer side of the left end of the linkage rod 89, and the outer surface of the right end of the linkage rod 89 is connected to the inner wall of the adjustment slide rod 84 through a return spring 810 .
  • a flipping plate 811 is distributed between the right ends of the two adjusting sliding rods 84, the flipping plate 811 is located on the left side of the right end of the linkage rod 89, and the flipping plate 811 is installed on the left of the adjusting support plate 88 through a flipping spring 812.
  • the pull plate 811 is pulled to the right, so that the outer end of the pull plate 811 drives the right inner end of the linkage rod 89 to move outward, thereby the linkage rod 89
  • the left outer end of the bracket can be moved out of the positioning hole on the support plate 81, so that the adjustment sliding rod 84 can be pulled to the right.
  • a telescopic column 813 for restricting the position of the pulling plate 811 is connected between the adjusting support plate 88 and the pulling plate 811.
  • the mounting frame 82 is adjusted by swinging up and down through the adjusting mechanism 8, so that the connecting device installed on the mounting frame 82 can be adjusted to a proper angle; by pulling the pull plate 811 to the right, the outer end of the pull plate 811 drives the linkage rod 89 The right inner end of the rod moves outwards, so that the left outer end of the linkage rod 89 can be moved out of the positioning hole on the support plate 81, and then the adjusting slide rod 84 is pulled to the right and the trigger plate 811 is released, so that the linkage rod 89 The left outer end of the tooth can be clamped on the right side of the support plate 81, and the tooth 86 will move out of the trapezoidal structure of the slot on the connecting pin 83. At this time, the telescopic structure of the tooth 86 is inserted on the connecting pin 83. Inside the square structure of the groove.
  • the mounting frame 82 can be adjusted to a proper angle.
  • the telescopic structure of the tooth 86 can automatically expand and contract when the angle of the mounting frame 82 is adjusted, and the telescopic structure of the tooth 86 can generate a certain resistance to the rotation of the mounting frame 82. It is prevented that the connecting device installed on the mounting rack 82 will fall due to the fast rotating speed of the mounting rack 82, so that the connecting device installed on the mounting rack 82 can complete the angle adjustment.
  • the pull plate 811 is pulled to the right again, so that the adjusting sliding rod 84 drives the tooth 86 to be re-locked in the slot on the connecting pin 83, which increases the stability of the present invention.
  • the multi-degree-of-freedom rotation support device of the present invention uses mechanical adjustment to realize the adjustment of the orientation and angle of the external connection equipment, with low failure rate and simple and quick operation; the present invention can lock after the orientation and angle adjustment of the external connection equipment is completed. Improve stability.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Manipulator (AREA)

Abstract

A rotating support apparatus having multiple degrees of freedom, comprising a bottom plate (1), a lateral upright plate (2), a lateral rotating shaft (3), a connecting frame (4), a rotating gear (5), a rotating rod (6), an active gear (7), and an adjusting mechanism (8). The apparatus employs a simple adjustment scheme to adjust the orientation and angle of an external connected apparatus, has a low failure rate, and is simple and convenient to operate.

Description

多自由度旋转支撑装置Multi-degree-of-freedom rotating support device 技术领域Technical field

本发明涉及机多自由度平台技术领域，特别涉及一种多自由度旋转支撑装置。The invention relates to the technical field of a machine multi-degree-of-freedom platform, in particular to a multi-degree-of-freedom rotating support device.

背景技术Background technique

现有技术中，对于部件的旋转调节自由度较低，且对于旋转多使用电动部件进行调节，采用纯电动调节在使用场合上存在较大的局限性，而且这种调节方式会因电动元件的累计误差造成部件旋转调节不精确，此外还会影响旋转后的部件的支撑效果；对于有些不宜使用电动原件的工作场所，部件进行转动调节后的支撑采用螺栓锁定的方式进行，这种锁定方式拆卸操作较为繁琐，且螺栓锁定时存在旋转部件发生相对转动的隐患。In the prior art, the degree of freedom for the rotation adjustment of the components is relatively low, and for the rotation, the electric components are often used for adjustment. The use of pure electric adjustment has great limitations in the use occasions, and this adjustment method will be affected by the electric components. Cumulative error causes inaccurate adjustment of component rotation, and also affects the support effect of the rotated component; for some workplaces where electric components are not suitable, the support of the component after rotation adjustment is carried out by bolt locking. This locking method is used for disassembly. The operation is cumbersome, and there is a hidden danger of relative rotation of the rotating parts when the bolt is locked.

技术问题technical problem

为了解决上述问题，本发明提供了一种可方便地对外部连接设备的方位与角度的调节和支撑的多自由度旋转支撑装置。In order to solve the above-mentioned problems, the present invention provides a multi-degree-of-freedom rotary support device that can conveniently adjust and support the orientation and angle of an external connection device.

技术解决方案Technical solutions

根据本发明目的的第一方面提供的多自由度旋转支撑装置，包括底板、侧立板、侧转轴、连接架、转动齿轮、转动杆和主动齿轮和调节机构，所述的侧立板安装在底板的顶部上，侧立板的后端左侧面上设置有沉孔，侧立板的中部左侧面通过轴承与侧转轴的右端相连接，侧转轴的左端上安装有连接架，转动齿轮安装在侧转轴的中部上，转动齿轮的后侧分布有主动齿轮，转动齿轮与主动齿轮相啮合，且主动齿轮的宽度大于转动齿轮的宽度，使得转动杆带动主动齿轮进行左右移动时，主动齿轮能够始终与转动齿轮处于啮合状态，主动齿轮安装在转动杆的中部上，转动杆与侧立板的沉孔之间为滑动配合，通过旋转转动杆能够带动转动齿轮进行转动，从而转动杆带动调节机构进行转动，使得调节机构的角度得到调节。According to the first aspect of the present invention, the multi-degree-of-freedom rotation support device includes a bottom plate, a side vertical plate, a side rotating shaft, a connecting frame, a rotating gear, a rotating rod and a driving gear, and an adjustment mechanism. The side vertical plate is mounted on On the top of the bottom plate, a counterbore is provided on the left side of the rear end of the side vertical plate, the left side of the middle part of the side vertical plate is connected with the right end of the side shaft through a bearing, and a connecting frame is installed on the left end of the side shaft to rotate the gear Installed on the middle of the side shaft, the driving gear is distributed on the rear side of the rotating gear. The rotating gear meshes with the driving gear. The width of the driving gear is greater than that of the rotating gear, so that when the rotating rod drives the driving gear to move left and right, the driving gear It can always be in mesh with the rotating gear. The driving gear is installed on the middle of the rotating rod. The rotating rod and the counterbore of the side vertical plate are in sliding fit. By rotating the rotating rod, the rotating gear can be driven to rotate, so that the rotating rod can drive adjustment. The mechanism rotates so that the angle of the adjustment mechanism is adjusted.

优选地，所述的调节机构包括支撑板、安装架、连接销轴、调节滑杆、弧形块、插齿、回缩弹簧和调节支板，支撑板安装在连接架的左侧面上，安装架上设置有用于锁定外接设备的安装孔，支撑板的左侧面上设置有耳座，安装架位于支撑板的左侧，安装架上设置有连接块，安装架上的连接块安装在连接销轴的中部上，连接销轴的外端通过滑动转动配合的方式与支撑板上的耳座相连接，其中：Preferably, the adjustment mechanism includes a support plate, a mounting frame, a connecting pin shaft, an adjustment sliding rod, an arc block, a toothing, a retracting spring, and an adjustment support plate, and the support plate is installed on the left side of the connecting frame, The mounting frame is provided with mounting holes for locking external equipment, the left side of the support plate is provided with ear seats, the mounting frame is located on the left side of the support plate, the mounting frame is provided with a connecting block, and the connecting block on the mounting frame is installed on the On the middle part of the connecting pin, the outer end of the connecting pin is connected to the ear seat on the support plate by sliding and rotating fit, where:

-连接销轴的前后两端均设置有一组插槽，连接销轴上的每组插槽的右端均设置有一个弧形块，弧形块的左侧面设置有与连接销轴上插槽相配合的插齿，弧形块安装在调节滑杆的左端上，调节滑杆的中部通过滑动配合的方式与支撑板相连接，调节滑杆的右端之间安装有调节支板；-The front and rear ends of the connecting pin are provided with a set of slots, the right end of each set of slots on the connecting pin is provided with an arc-shaped block, and the left side of the arc-shaped block is provided with a slot on the connecting pin. With matching toothing, the arc block is installed on the left end of the adjusting slide bar, the middle of the adjusting slide bar is connected with the support plate through a sliding fit, and an adjusting support plate is installed between the right ends of the adjusting slide bar;

-每个调节滑杆的右侧内端均与一个回缩弹簧的右端相连接，回缩弹簧的左端安装在支撑板的右侧面上，回缩弹簧具有一定的伸缩力，具体工作时，调节机构能够对安装架上下摆动调节，使得安装架上安装的连接设备能够调节到合适的角度，通过向右拉动调节滑杆，使得安装架的角度能够进行调节，安装架的角度调节完毕后，向左拉动调节滑杆使得插齿重新插入到连接销轴上的插槽内，使得安装架能够被重新锁定住。-The right inner end of each adjusting slide rod is connected with the right end of a retracting spring. The left end of the retracting spring is installed on the right side of the support plate. The retracting spring has a certain expansion force. When working, The adjustment mechanism can swing and adjust the mounting frame up and down, so that the connecting device installed on the mounting frame can be adjusted to a proper angle. By pulling the adjustment slide bar to the right, the angle of the mounting frame can be adjusted. After the angle of the mounting frame is adjusted, Pull the adjusting slide bar to the left to re-insert the toothing into the slot on the connecting pin, so that the mounting frame can be re-locked.

作为本发明的一种优选技术方案，所述的转动杆的右端设置有钢材质的阻挡块，阻挡块位于侧立板设置的沉孔内，转动杆的右端外侧设置有锁定套，锁定套的内侧面上均匀设置有阻挡齿，转动杆上设置有与锁定套上阻挡齿相配合的锁定块，阻挡块能够对转动杆的移动距离进行限位，防止转动杆从侧立板的沉孔内移出，当转动杆向左拔出时，转动杆上的锁定块从锁定套内移出，使得转动杆能够进行转动，从而带动转动齿轮进行转动，使得安装架能够旋转到合适的角度，之后将转动杆向右推动，使得锁定套重新将转动杆锁定住。As a preferred technical solution of the present invention, the right end of the rotating rod is provided with a blocking block made of steel, the blocking block is located in a counterbore provided in the side vertical plate, and a locking sleeve is provided on the outer side of the right end of the rotating rod. The inner side is evenly provided with blocking teeth, and the rotating rod is provided with a locking block that cooperates with the blocking teeth on the locking sleeve. The blocking block can limit the moving distance of the rotating rod and prevent the rotating rod from falling out of the counterbore of the side vertical plate. Remove, when the rotating lever is pulled out to the left, the locking block on the rotating lever is removed from the locking sleeve, so that the rotating lever can be rotated, thereby driving the rotating gear to rotate, so that the mounting frame can be rotated to a suitable angle, and then it will rotate Push the lever to the right, so that the locking sleeve locks the rotating lever again.

作为本发明的一种优选技术方案，所述的侧立板上沉孔的右侧壁上设置有磁铁块，侧立板沉孔上的磁铁块能够将阻挡块吸附住，增加本发明的稳定性。As a preferred technical solution of the present invention, a magnet block is arranged on the right side wall of the counterbore on the side upright plate, and the magnet block on the counterbore on the side upright plate can adsorb the blocking block, increasing the stability of the present invention. Sex.

作为本发明的一种优选技术方案，所述的连接销轴上的插槽均匀分布在连接销轴的外侧面上，连接销轴上的插槽内端为梯形结构，连接销轴上的插槽外端为方形结构。As a preferred technical solution of the present invention, the slots on the connecting pin are evenly distributed on the outer surface of the connecting pin, the inner end of the slot on the connecting pin has a trapezoidal structure, and the insert on the connecting pin The outer end of the groove is a square structure.

作为本发明的一种优选技术方案，所述的插齿为可伸缩结构，插齿的内端为梯形结构，且插齿的梯形结构与连接销轴上的插槽的梯形结构相配合，当安装架需要进行角度调节时，通过移动调节滑杆的位置，插齿能够从连接销轴上的插槽梯形结构内移出，使得插齿的伸缩结构位于连接销轴上插槽的方形结构内，安装架进行转动会带动连接销轴进行同步转动，此时使得插齿的伸缩结构能够自动进行伸缩，以便安装架能够进行转动，且插齿的伸缩结构能够对安装架转动产生一定的阻力，防止安装架转动速度较快造成安装架上安装的连接设备掉落。As a preferred technical solution of the present invention, the said tooth is a telescopic structure, the inner end of the tooth is a trapezoidal structure, and the trapezoidal structure of the tooth is matched with the trapezoidal structure of the slot on the connecting pin, when When the angle of the mounting frame needs to be adjusted, by moving the position of the adjusting slide bar, the gear can be moved out of the trapezoidal structure of the slot on the connecting pin, so that the telescopic structure of the gear is located in the square structure of the slot on the connecting pin. The rotation of the mounting frame will drive the connecting pin shaft to rotate synchronously. At this time, the telescopic structure of the gear shaper can automatically expand and contract so that the mounting frame can rotate, and the telescopic structure of the gear shaper can generate a certain resistance to the rotation of the mounting frame and prevent The rapid rotation of the mounting frame causes the connecting equipment installed on the mounting frame to fall.

作为本发明的一种优选技术方案，所述的连接销轴的每组插槽的前后两端均设置有一组方形锁定孔，弧形块的左侧面上设置有与锁定孔相配合的方形插杆，弧形块上的插杆与连接销轴上的锁定孔相配合能够增加安装架的稳定性。As a preferred technical solution of the present invention, the front and rear ends of each set of slots of the connecting pin are provided with a set of square locking holes, and the left side of the arc block is provided with a square that matches the locking holes. The insertion rod, the insertion rod on the arc-shaped block and the locking hole on the connecting pin shaft can increase the stability of the mounting frame.

作为本发明的一种优选技术方案，所述的调节滑杆的中部为空心结构，每个调节滑杆的空心结构内通过销轴安装有一个联动杆，联动杆为Z型结构，联动杆的左侧外端与右侧内端穿过调节滑杆，支撑板上设置有与联动杆左端外侧相配合的定位孔，联动杆的右端外侧面通过归位弹簧与调节滑杆的内壁相连接。As a preferred technical solution of the present invention, the middle part of the adjusting slide rod is a hollow structure, and a linkage rod is installed in the hollow structure of each adjusting slide rod through a pin. The linkage rod is a Z-shaped structure. The left outer end and the right inner end pass through the adjusting slide rod, the support plate is provided with a positioning hole that matches the outer side of the left end of the linkage rod, and the outer surface of the right end of the linkage rod is connected with the inner wall of the adjusting slide rod through a return spring.

作为本发明的一种优选技术方案，所述的两个调节滑杆的右端之间分布有扳动板，扳动板位于联动杆右端的左侧，扳动板通过扳动弹簧安装在调节支板的左侧面上，当调节滑杆需要向右移动时，通过向右侧拉扳动板，使得扳动板的外端带动联动杆的右侧内端向外移动，从而联动杆的左侧外端能够从支撑板上的定位孔内移出，使得调节滑杆能够向右拉动，之后松开扳动板，联动杆在归位弹簧的作用下进行复位，使得联动杆的左侧外端能够卡在支撑板的右侧面上，插齿会从连接销轴上的插槽梯形结构内移出，使得安装架能够进行转动调节，安装架角度调节完毕后，再次向右拉动扳动板，使得调节滑杆带动插齿重新锁定在连接销轴上的插槽内。As a preferred technical solution of the present invention, a flipping plate is distributed between the right ends of the two adjusting sliding rods, the flipping plate is located on the left side of the right end of the linkage rod, and the flipping plate is installed on the adjusting support through a flipping spring. On the left side of the plate, when the adjustment slide bar needs to move to the right, pull the plate to the right, so that the outer end of the plate drives the right inner end of the linkage rod to move outward, so that the left side of the linkage rod The side outer end can be moved out of the positioning hole on the support plate, so that the adjusting slide bar can be pulled to the right, and then the pull plate is released, the linkage rod is reset under the action of the return spring, so that the left outer end of the linkage rod It can be stuck on the right side of the support plate, and the inserting teeth will move out of the trapezoidal structure of the slot on the connecting pin, so that the mounting frame can be rotated and adjusted. After the angle of the mounting frame is adjusted, pull the flipping plate to the right again, The adjusting slide rod drives the inserting tooth to be locked in the slot on the connecting pin shaft again.

作为本发明的一种优选技术方案，所述的调节支板与扳动板之间连接有用于对扳动板进行限位的伸缩柱。As a preferred technical solution of the present invention, a telescopic column for restricting the position of the pulling plate is connected between the adjusting support plate and the pulling plate.

有益效果Beneficial effect

本发明采用简便的调节方式完成对外部连接设备的方位与角度的调节，故障率低、操作简单快捷；本发明能够在外部连接设备进行方位与角度调节完毕后进行锁定，提高稳定性；同时，优化设计转动结构，藉由转动杆的转动能够带动安装架进行转动调节，使得调节机构的角度得到调节，转动杆上的锁定块与锁定套相配合能够在调节机构方位调节完毕后进行锁定；同时，通过上插齿的伸缩结构能够对安装架转动产生一定的阻力，防止安装架转动速度较快造成安装架上安装的连接设备掉落。The invention adopts a simple adjustment method to complete the adjustment of the orientation and angle of the external connection equipment, with low failure rate and simple and quick operation; the invention can lock the external connection equipment after the orientation and angle adjustment is completed to improve stability; at the same time, Optimize the design of the rotating structure. The rotation of the rotating rod can drive the mounting frame to rotate and adjust, so that the angle of the adjustment mechanism can be adjusted. The locking block on the rotating rod and the locking sleeve can be locked after the adjustment of the adjustment mechanism is completed; , The telescopic structure of the upper toothing can generate a certain resistance to the rotation of the mounting frame, preventing the mounting frame from rotating faster and causing the connecting equipment installed on the mounting frame to fall.

附图说明Description of the drawings

下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the drawings and embodiments.

图1是本发明的多自由度旋转支撑装置的结构示意图。Fig. 1 is a schematic diagram of the structure of the multi-degree-of-freedom rotation support device of the present invention.

图2是本发明去除底板之后的结构示意图（俯视图）。Figure 2 is a schematic diagram (top view) of the present invention after removing the bottom plate.

图3是本发明侧立板、侧转轴、连接架、转动齿轮、转动杆与主动齿轮之间的剖视图。Fig. 3 is a cross-sectional view between the side vertical plate, the side rotating shaft, the connecting frame, the rotating gear, the rotating rod and the driving gear of the present invention.

图4是本发明调节机构的结构示意图。Fig. 4 is a schematic diagram of the structure of the adjusting mechanism of the present invention.

图5是本发明调节机构的剖视图。Figure 5 is a cross-sectional view of the adjustment mechanism of the present invention.

本发明的实施方式Embodiments of the present invention

为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体图示，进一步阐述本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互结合。In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific drawings. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict.

如图1至图5所示，一种多自由度旋转支撑装置，包括底板1、侧立板2、侧转轴3、连接架4、转动齿轮5、转动杆6和主动齿轮7和调节机构8，侧立板2安装在底板1的顶部上，侧立板2的后端左侧面上设置有沉孔。As shown in Figures 1 to 5, a multi-degree-of-freedom rotation support device includes a bottom plate 1, a side vertical plate 2, a side rotating shaft 3, a connecting frame 4, a rotating gear 5, a rotating rod 6, a driving gear 7 and an adjustment mechanism 8. , The side upright plate 2 is installed on the top of the bottom plate 1, and a counterbore is provided on the left side of the rear end of the side upright plate 2.

侧立板2的中部左侧面通过轴承与侧转轴3的右端相连接，侧转轴3的左端上安装有连接架4。The left side surface of the middle part of the side vertical plate 2 is connected with the right end of the side rotating shaft 3 through a bearing, and a connecting frame 4 is installed on the left end of the side rotating shaft 3.

转动齿轮5安装在侧转轴3的中部上，转动齿轮5的后侧分布有主动齿轮7，转动齿轮5与主动齿轮7相啮合，且主动齿轮7的宽度大于转动齿轮5的宽度，使得转动杆6带动主动齿轮7进行左右移动时，主动齿轮7能够始终与转动齿轮5处于啮合状态。The rotating gear 5 is mounted on the middle of the side rotating shaft 3. A driving gear 7 is distributed on the rear side of the rotating gear 5. The rotating gear 5 meshes with the driving gear 7, and the width of the driving gear 7 is greater than the width of the rotating gear 5, so that the rotating rod When 6 drives the driving gear 7 to move left and right, the driving gear 7 can always be in mesh with the rotating gear 5.

结合图示，主动齿轮7安装在转动杆6的中部上。In combination with the figure, the driving gear 7 is mounted on the middle of the rotating rod 6.

转动杆6与侧立板2的沉孔之间为滑动配合，调节机构8安装在连接架4上，通过旋转转动杆6能够带动转动齿轮5进行转动，从而转动杆6带动调节机构8进行转动，使得调节机构8的角度得到调节。There is a sliding fit between the rotating rod 6 and the counterbore of the side vertical plate 2. The adjusting mechanism 8 is installed on the connecting frame 4, and the rotating gear 5 can be driven to rotate by rotating the rotating rod 6, so that the rotating rod 6 drives the adjusting mechanism 8 to rotate , So that the angle of the adjustment mechanism 8 is adjusted.

作为可选的方式，转动杆6可以设置手轮，通过手动方式进行调节。As an optional way, the rotating rod 6 can be provided with a hand wheel, which can be adjusted manually.

在另外的实施例中，转动杆6的头部还可以被设置成六角或者四角螺栓状，以通过外部的扭力工具进行驱动，例如扭力扳手或者套筒扳手，尤其是电动套筒或者扳手。In another embodiment, the head of the rotating rod 6 may also be set in the shape of a hexagonal or square bolt to be driven by an external torque tool, such as a torque wrench or a socket wrench, especially an electric socket or a wrench.

作为可选的实施例，结合图、5，调节机构8包括支撑板81、安装架82、连接销轴83、调节滑杆84、弧形块85、插齿86、回缩弹簧87和调节支板88，支撑板81安装在连接架4的左侧面上，支撑板81的左侧面上设置有耳座，安装架82位于支撑板81的左侧，安装架82上设置有用于锁定外接设备的安装孔，安装架82上设置有连接块，安装架82上的连接块安装在连接销轴83的中部上，连接销轴83的外端通过滑动转动配合的方式与支撑板81上的耳座相连接。As an alternative embodiment, in conjunction with Figures and 5, the adjustment mechanism 8 includes a support plate 81, a mounting frame 82, a connecting pin 83, an adjustment slide rod 84, an arc block 85, a tooth 86, a retracting spring 87 and an adjustment support The supporting plate 81 is installed on the left side of the connecting frame 4, the left side of the supporting plate 81 is provided with ear sockets, the mounting frame 82 is located on the left side of the supporting plate 81, and the mounting frame 82 is provided for locking the external The mounting hole of the device, the mounting frame 82 is provided with a connecting block, the connecting block on the mounting frame 82 is mounted on the middle of the connecting pin 83, and the outer end of the connecting pin 83 is fitted with the support plate 81 by sliding and rotating. The ear sockets are connected.

其中，连接销轴83的前后两端均设置有一组插槽，连接销轴83上的每组插槽的右端均设置有一个弧形块85，弧形块85的左侧面设置有与连接销轴83上插槽相配合的插齿86。Wherein, the front and rear ends of the connecting pin 83 are provided with a set of slots, the right end of each set of slots on the connecting pin 83 is provided with an arc block 85, and the left side of the arc block 85 is provided with The slotted tooth 86 on the pin 83 is matched with the slot.

弧形块85安装在调节滑杆84的左端上，调节滑杆84的中部通过滑动配合的方式与支撑板81相连接，调节滑杆84的右端之间安装有调节支板88。The arc block 85 is installed on the left end of the adjusting slide rod 84, the middle part of the adjusting slide rod 84 is connected to the support plate 81 by sliding fit, and an adjusting support plate 88 is installed between the right ends of the adjusting slide rod 84.

每个调节滑杆84的右侧内端均与一个回缩弹簧87的右端相连接，回缩弹簧87的左端安装在支撑板81的右侧面上，回缩弹簧87具有一定的伸缩力，具体工作时，调节机构8能够对安装架82上下摆动调节，使得安装架82上安装的连接设备能够调节到合适的角度，通过向右拉动调节滑杆84，使得安装架82的角度能够进行调节。The right inner end of each adjusting slide rod 84 is connected to the right end of a retracting spring 87. The left end of the retracting spring 87 is installed on the right side of the support plate 81. The retracting spring 87 has a certain expansion force. During specific work, the adjusting mechanism 8 can swing up and down the mounting frame 82, so that the connecting device installed on the mounting frame 82 can be adjusted to a proper angle. By pulling the adjusting slide rod 84 to the right, the angle of the mounting frame 82 can be adjusted. .

安装架82的角度调节完毕后，向左拉动调节滑杆84使得插齿86重新插入到连接销轴83上的插槽内，使得安装架82能够被重新锁定住。After the angle of the mounting frame 82 is adjusted, the adjusting sliding rod 84 is pulled to the left to reinsert the tooth 86 into the slot on the connecting pin 83, so that the mounting frame 82 can be locked again.

优选地，转动杆6的右端设置有钢材质的阻挡块61，阻挡块61位于侧立板2设置的沉孔内，转动杆6的右端外侧设置有锁定套62，锁定套62的内侧面上均匀设置有阻挡齿，转动杆6上设置有与锁定套62上阻挡齿相配合的锁定块。如此，阻挡块61能够对转动杆6的移动距离进行限位，防止转动杆6从侧立板2的沉孔内移出，当转动杆6向左拔出时，转动杆6上的锁定块从锁定套62内移出，使得转动杆6能够进行转动，从而带动转动齿轮5进行转动，使得安装架82能够旋转到合适的角度，之后将转动杆6向右推动，使得锁定套62重新将转动杆6锁定住。Preferably, the right end of the rotating rod 6 is provided with a blocking block 61 made of steel, and the blocking block 61 is located in a counterbore provided in the side upright plate 2, and a locking sleeve 62 is provided on the outer side of the right end of the rotating rod 6, and the inner surface of the locking sleeve 62 The blocking teeth are evenly arranged, and the rotating rod 6 is provided with a locking block that cooperates with the blocking teeth on the locking sleeve 62. In this way, the blocking block 61 can limit the moving distance of the rotating rod 6 to prevent the rotating rod 6 from moving out of the counterbore of the side upright plate 2. When the rotating rod 6 is pulled out to the left, the locking block on the rotating rod 6 is removed from The locking sleeve 62 is moved out so that the rotating rod 6 can be rotated, thereby driving the rotating gear 5 to rotate, so that the mounting frame 82 can be rotated to a suitable angle, and then the rotating rod 6 is pushed to the right, so that the locking sleeve 62 can rotate the lever again 6 Lock it.

侧立板2上沉孔的右侧壁上设置有磁铁块，侧立板2沉孔上的磁铁块能够将阻挡块61吸附住，增加系统的稳定性。The right side wall of the counterbore on the side vertical plate 2 is provided with a magnet block, and the magnet block on the counterbore of the side vertical plate 2 can adsorb the blocking block 61 to increase the stability of the system.

优选地，连接销轴83上的插槽均匀分布在连接销轴83的外侧面上，连接销轴83上的插槽内端为梯形结构，连接销轴83上的插槽外端为方形结构。Preferably, the slots on the connecting pin 83 are evenly distributed on the outer surface of the connecting pin 83, the inner end of the slot on the connecting pin 83 has a trapezoidal structure, and the outer end of the slot on the connecting pin 83 has a square structure. .

优选地，插齿86为可伸缩结构，插齿86的内端为梯形结构，且插齿86的梯形结构与连接销轴83上的插槽的梯形结构相配合。如此，当安装架82需要进行角度调节时，通过移动调节滑杆84的位置，插齿86能够从连接销轴83上的插槽梯形结构内移出，使得插齿86的伸缩结构位于连接销轴83上插槽的方形结构内，安装架82进行转动会带动连接销轴83进行同步转动，此时使得插齿86的伸缩结构能够自动进行伸缩，以便安装架82能够进行转动，且插齿86的伸缩结构能够对安装架82转动产生一定的阻力，防止安装架82转动速度较快，造成安装架82上安装的连接设备掉落。Preferably, the inserting tooth 86 is a telescopic structure, the inner end of the inserting tooth 86 is a trapezoidal structure, and the trapezoidal structure of the inserting tooth 86 is matched with the trapezoidal structure of the slot on the connecting pin 83. In this way, when the mounting frame 82 needs to adjust the angle, by moving the position of the adjusting slide rod 84, the tooth 86 can be moved out of the trapezoidal structure of the slot on the connecting pin shaft 83, so that the telescopic structure of the tooth 86 is located on the connecting pin shaft. In the square structure of the upper slot 83, the rotation of the mounting frame 82 will drive the connecting pin 83 to rotate synchronously. At this time, the telescopic structure of the tooth 86 can automatically expand and contract, so that the mounting frame 82 can rotate and the tooth 86 can be rotated. The telescopic structure can generate a certain resistance to the rotation of the mounting frame 82, and prevent the mounting frame 82 from rotating fast, causing the connecting device installed on the mounting frame 82 to fall.

优选地，连接销轴83的每组插槽的前后两端均设置有一组方形锁定孔，弧形块85的左侧面上设置有与锁定孔相配合的方形插杆，弧形块85上的插杆与连接销轴83上的锁定孔相配合能够增加安装架82的稳定性。Preferably, the front and rear ends of each set of slots of the connecting pin 83 are provided with a set of square locking holes, the left side of the arc block 85 is provided with a square insert rod that matches the locking hole, and the arc block 85 The fitting of the inserted rod and the locking hole on the connecting pin 83 can increase the stability of the mounting frame 82.

优选地，调节滑杆84的中部为空心结构，每个调节滑杆84的空心结构内通过销轴安装有一个联动杆89，联动杆89为Z型结构，联动杆89的左侧外端与右侧内端穿过调节滑杆84，支撑板81上设置有与联动杆89左端外侧相配合的定位孔，联动杆89的右端外侧面通过归位弹簧810与调节滑杆84的内壁相连接。Preferably, the middle part of the adjusting slide rod 84 is a hollow structure, and a linkage rod 89 is installed in the hollow structure of each adjusting slide rod 84 through a pin. The linkage rod 89 is a Z-shaped structure, and the left outer end of the linkage rod 89 is connected with The inner end of the right side passes through the adjustment slide rod 84, the support plate 81 is provided with a positioning hole that matches the outer side of the left end of the linkage rod 89, and the outer surface of the right end of the linkage rod 89 is connected to the inner wall of the adjustment slide rod 84 through a return spring 810 .

优选地，两个调节滑杆84的右端之间分布有扳动板811，扳动板811位于联动杆89右端的左侧，扳动板811通过扳动弹簧812安装在调节支板88的左侧面上，当调节滑杆84需要向右移动时，通过向右侧拉扳动板811，使得扳动板811的外端带动联动杆89的右侧内端向外移动，从而联动杆89的左侧外端能够从支撑板81上的定位孔内移出，使得调节滑杆84能够向右拉动。如此，之后松开扳动板811，联动杆89在归位弹簧810的作用下进行复位，使得联动杆89的左侧外端能够卡在支撑板81的右侧面上，插齿86会从连接销轴83上的插槽梯形结构内移出，使得安装架82能够进行转动调节，安装架82角度调节完毕后，再次向右拉动扳动板811，使得调节滑杆84带动插齿86重新锁定在连接销轴83上的插槽内。Preferably, a flipping plate 811 is distributed between the right ends of the two adjusting sliding rods 84, the flipping plate 811 is located on the left side of the right end of the linkage rod 89, and the flipping plate 811 is installed on the left of the adjusting support plate 88 through a flipping spring 812. On the side, when the adjusting slide rod 84 needs to move to the right, the pull plate 811 is pulled to the right, so that the outer end of the pull plate 811 drives the right inner end of the linkage rod 89 to move outward, thereby the linkage rod 89 The left outer end of the bracket can be moved out of the positioning hole on the support plate 81, so that the adjustment sliding rod 84 can be pulled to the right. In this way, after the trigger plate 811 is released, the linkage rod 89 is reset under the action of the return spring 810, so that the left outer end of the linkage rod 89 can be caught on the right side of the support plate 81, and the inserting teeth 86 will be removed from The slot on the connecting pin 83 is moved out of the trapezoidal structure, so that the mounting frame 82 can be rotated and adjusted. After the angle of the mounting frame 82 is adjusted, pull the lever plate 811 to the right again, so that the adjusting slide rod 84 drives the inserting tooth 86 to re-lock In the slot on the connecting pin 83.

调节支板88与扳动板811之间连接有用于对扳动板811进行限位的伸缩柱813。A telescopic column 813 for restricting the position of the pulling plate 811 is connected between the adjusting support plate 88 and the pulling plate 811.

工作时，首先通过安装架82上的安装孔锁定住外部的连接设备，通过旋转转动杆6能够带动转动齿轮5进行转动，从而转动杆6带动安装架82进行转动调节，使得调节机构8的角度得到调节，当转动杆6需要转动时，将转动杆6向左拔出，转动杆6上的锁定块从锁定套62内移出，转动杆6能够进行转动，使得安装架82旋转到合适的角度，之后将转动杆6向右推动，使得锁定套62重新将转动杆6锁定住，侧立板2沉孔上的磁铁块能够将阻挡块61吸附住，增加本发明的稳定性，从而安装架82安装的连接设备完成了转动调节。When working, first lock the external connection equipment through the mounting hole on the mounting frame 82, and rotate the rotating rod 6 to drive the rotating gear 5 to rotate, so that the rotating rod 6 drives the mounting frame 82 to rotate and adjust, so that the angle of the adjustment mechanism 8 is adjusted. After adjusting, when the rotating rod 6 needs to be rotated, pull out the rotating rod 6 to the left, the locking block on the rotating rod 6 is removed from the locking sleeve 62, the rotating rod 6 can be rotated, so that the mounting frame 82 can be rotated to a proper angle After that, the rotating rod 6 is pushed to the right, so that the locking sleeve 62 locks the rotating rod 6 again, and the magnet block on the counterbore of the side upright plate 2 can adsorb the blocking block 61, which increases the stability of the present invention, thereby mounting the frame 82 The connected equipment installed has completed the rotation adjustment.

通过调节机构8对安装架82上下摆动调节，使得安装架82上安装的连接设备能够调节到合适的角度；通过向右侧拉扳动板811，使得扳动板811的外端带动联动杆89的右侧内端向外移动，从而联动杆89的左侧外端能够从支撑板81上的定位孔内移出，之后向右拉动调节滑杆84并松开扳动板811，使得联动杆89的左侧外端能够卡在支撑板81的右侧面上，插齿86会从连接销轴83上的插槽梯形结构内移出，此时插齿86的伸缩结构位于连接销轴83上插槽的方形结构内。The mounting frame 82 is adjusted by swinging up and down through the adjusting mechanism 8, so that the connecting device installed on the mounting frame 82 can be adjusted to a proper angle; by pulling the pull plate 811 to the right, the outer end of the pull plate 811 drives the linkage rod 89 The right inner end of the rod moves outwards, so that the left outer end of the linkage rod 89 can be moved out of the positioning hole on the support plate 81, and then the adjusting slide rod 84 is pulled to the right and the trigger plate 811 is released, so that the linkage rod 89 The left outer end of the tooth can be clamped on the right side of the support plate 81, and the tooth 86 will move out of the trapezoidal structure of the slot on the connecting pin 83. At this time, the telescopic structure of the tooth 86 is inserted on the connecting pin 83. Inside the square structure of the groove.

然后，还可以再调节安装架82到合适的角度，安装架82进行角度调节时插齿86的伸缩结构能够自动进行伸缩，且插齿86的伸缩结构能够对安装架82转动产生一定的阻力，防止安装架82转动速度较快造成安装架82上安装的连接设备掉落，从而安装架82上安装的连接设备能够完成角度调节。Then, the mounting frame 82 can be adjusted to a proper angle. The telescopic structure of the tooth 86 can automatically expand and contract when the angle of the mounting frame 82 is adjusted, and the telescopic structure of the tooth 86 can generate a certain resistance to the rotation of the mounting frame 82. It is prevented that the connecting device installed on the mounting rack 82 will fall due to the fast rotating speed of the mounting rack 82, so that the connecting device installed on the mounting rack 82 can complete the angle adjustment.

安装架82角度调节完毕后再次向右拉动扳动板811，使得调节滑杆84带动插齿86重新锁定在连接销轴83上的插槽内，增加本发明的稳定性。After the angle of the mounting frame 82 is adjusted, the pull plate 811 is pulled to the right again, so that the adjusting sliding rod 84 drives the tooth 86 to be re-locked in the slot on the connecting pin 83, which increases the stability of the present invention.

本发明的多自由度旋转支撑装置采用机械调节方式实现对外部连接设备的方位与角度的调节，故障率低、操作简单快捷；本发明能够在外部连接设备进行方位与角度调节完毕后进行锁定，提高稳定性。The multi-degree-of-freedom rotation support device of the present invention uses mechanical adjustment to realize the adjustment of the orientation and angle of the external connection equipment, with low failure rate and simple and quick operation; the present invention can lock after the orientation and angle adjustment of the external connection equipment is completed. Improve stability.

虽然本发明已以较佳实施例揭露如上，然其并非用以限定本发明。本发明所属技术领域中具有通常知识者，在不脱离本发明的精神和范围内，当可作各种的更动与润饰。因此，本发明的保护范围当视权利要求书所界定者为准。Although the present invention has been disclosed as above in preferred embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field of the present invention can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to what is defined in the claims.

Claims (9)

一种多自由度旋转支撑装置，其特征在于：包括底板(1)、侧立板(2)、侧转轴(3)、连接架(4)、转动齿轮(5)、转动杆(6)和主动齿轮(7)和调节机构(8)，其中：A multi-degree-of-freedom rotation support device, which is characterized in that it comprises a bottom plate (1), a side vertical plate (2), a side rotating shaft (3), a connecting frame (4), a rotating gear (5), a rotating rod (6) and Driving gear (7) and adjustment mechanism (8), of which: 所述的侧立板(2)安装在底板(1)的顶部上，侧立板(2)的后端左侧面上设置有沉孔；The side vertical plate (2) is installed on the top of the bottom plate (1), and a counterbore is provided on the left side of the rear end of the side vertical plate (2); 所述侧立板(2)的中部左侧面通过轴承与侧转轴(3)的右端相连接，侧转轴(3)的左端上安装有连接架(4)；The left side surface of the middle part of the side vertical plate (2) is connected with the right end of the side rotating shaft (3) through a bearing, and a connecting frame (4) is installed on the left end of the side rotating shaft (3); 所述转动齿轮(5)安装在侧转轴(3)的中部上，转动齿轮(5)的后侧分布有主动齿轮(7)，所述主动齿轮(7)安装在转动杆(6)的中部上，转动齿轮(5)与主动齿轮(7)相啮合，且主动齿轮(7)的宽度大于转动齿轮(5)的宽度；The rotating gear (5) is installed on the middle part of the side rotating shaft (3), and the driving gear (7) is distributed on the rear side of the rotating gear (5), and the driving gear (7) is installed on the middle part of the rotating rod (6). Above, the rotating gear (5) meshes with the driving gear (7), and the width of the driving gear (7) is greater than the width of the rotating gear (5); 所述转动杆(6)与侧立板(2)的沉孔之间为滑动配合；There is a sliding fit between the rotating rod (6) and the counterbore of the side vertical plate (2); 所述的调节机构(8)包括支撑板(81)、安装架(82)、连接销轴(83)、调节滑杆(84)、弧形块(85)、插齿(86)、回缩弹簧(87)和调节支板(88)，其中：The adjustment mechanism (8) includes a support plate (81), a mounting frame (82), a connecting pin shaft (83), an adjustment sliding rod (84), an arc block (85), a toothing (86), and a retracting Spring (87) and adjusting support plate (88), of which: -支撑板(81)安装在连接架(4)的左侧面上，支撑板(81)的左侧面上设置有耳座，安装架(82)位于支撑板(81)的左侧；-The supporting plate (81) is installed on the left side of the connecting frame (4), the left side of the supporting plate (81) is provided with an ear seat, and the mounting frame (82) is located on the left side of the supporting plate (81); -安装架(82)上设置有连接块，安装架(82)上的连接块安装在连接销轴(83)的中部上，连接销轴(83)的外端通过滑动转动配合的方式与支撑板(81)上的耳座相连接；-The mounting frame (82) is provided with a connecting block, and the connecting block on the mounting frame (82) is installed on the middle of the connecting pin (83), and the outer end of the connecting pin (83) is supported by sliding and rotating fit. The ear sockets on the board (81) are connected; -连接销轴(83)的前后两端均设置有一组插槽，连接销轴(83)上的每组插槽的右端均设置有一个弧形块(85)，弧形块(85)的左侧面设置有与连接销轴(83)上插槽相配合的插齿(86)，弧形块(85)安装在调节滑杆(84)的左端上，调节滑杆(84)的中部通过滑动配合的方式与支撑板(81)相连接，调节滑杆(84)的右端之间安装有调节支板(88)；-The front and rear ends of the connecting pin (83) are provided with a set of slots, and the right end of each set of slots on the connecting pin (83) is provided with an arc block (85). The left side is provided with a tooth (86) matching the slot on the connecting pin (83), the arc block (85) is installed on the left end of the adjusting slide bar (84), and the middle of the adjusting slide bar (84) It is connected with the support plate (81) through a sliding fit, and an adjusting support plate (88) is installed between the right ends of the adjusting slide rod (84); -每个调节滑杆(84)的右侧内端均与一个回缩弹簧(87)的右端相连接，回缩弹簧(87)的左端安装在支撑板(81)的右侧面上。-The right inner end of each adjusting slide rod (84) is connected with the right end of a retracting spring (87), and the left end of the retracting spring (87) is installed on the right side of the support plate (81). 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的转动杆(6)的右端设置有钢材质的阻挡块(61)，阻挡块(61)位于侧立板(2)设置的沉孔内，转动杆(6)的右端外侧设置有锁定套(62)，锁定套(62)的内侧面上均匀设置有阻挡齿，转动杆(6)上设置有与锁定套(62)上阻挡齿相配合的锁定块。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that: the right end of the rotating rod (6) is provided with a blocking block (61) made of steel, and the blocking block (61) is located on the side vertical plate (2). ) Is provided in the counterbore, the outer right end of the rotating rod (6) is provided with a locking sleeve (62), the inner surface of the locking sleeve (62) is evenly provided with blocking teeth, and the rotating rod (6) is provided with a locking sleeve ( 62) A locking block with matching upper blocking teeth. 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的侧立板(2)上沉孔的右侧壁上设置有磁铁块。The multi-degree-of-freedom rotation support device according to claim 1, wherein a magnet block is provided on the right side wall of the counterbore on the side vertical plate (2). 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的连接销轴(83)上的插槽均匀分布在连接销轴(83)的外侧面上，连接销轴(83)上的插槽内端为梯形结构，连接销轴(83)上的插槽外端为方形结构。The multi-degree-of-freedom rotation support device according to claim 1, wherein the slots on the connecting pin (83) are evenly distributed on the outer surface of the connecting pin (83), and the connecting pin (83) The inner end of the slot on the) is a trapezoidal structure, and the outer end of the slot on the connecting pin (83) is a square structure. 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的插齿(86)为可伸缩结构，插齿(86)的内端为梯形结构，且插齿(86)的梯形结构与连接销轴(83)上的插槽的梯形结构相配合。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that: the tooth (86) is a telescopic structure, the inner end of the tooth (86) is a trapezoidal structure, and the tooth (86) The trapezoidal structure is matched with the trapezoidal structure of the slot on the connecting pin (83). 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的连接销轴(83)的每组插槽的前后两端均设置有一组方形锁定孔，弧形块(85)的左侧面上设置有与锁定孔相配合的方形插杆。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that: the front and rear ends of each set of slots of the connecting pin shaft (83) are provided with a set of square locking holes, and arc blocks (85) A square plunger matched with the locking hole is provided on the left side of the device. 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的调节滑杆(84)的中部为空心结构，每个调节滑杆(84)的空心结构内通过销轴安装有一个联动杆(89)，联动杆(89)为Z型结构，联动杆(89)的左侧外端与右侧内端穿过调节滑杆(84)，支撑板(81)上设置有与联动杆(89)左端外侧相配合的定位孔，联动杆(89)的右端外侧面通过归位弹簧(810)与调节滑杆(84)的内壁相连接。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that the middle part of the adjusting slide rod (84) is a hollow structure, and the hollow structure of each adjusting slide rod (84) is installed with a pin shaft. A linkage rod (89), the linkage rod (89) is a Z-shaped structure, the left outer end and the right inner end of the linkage rod (89) pass through the adjusting slide rod (84), and the support plate (81) is provided with The outer side of the left end of the linkage rod (89) is matched with a positioning hole, and the outer surface of the right end of the linkage rod (89) is connected with the inner wall of the adjusting slide rod (84) through a return spring (810). 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的两个调节滑杆(84)的右端之间分布有扳动板(811)，扳动板(811)位于联动杆(89)右端的左侧，扳动板(811)通过扳动弹簧(812)安装在调节支板(88)的左侧面上。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that: a pull plate (811) is distributed between the right ends of the two adjusting sliding rods (84), and the pull plate (811) is located in the linkage On the left side of the right end of the rod (89), the pulling plate (811) is installed on the left side of the adjusting support plate (88) through the pulling spring (812). 根据权利要求1所述的多自由度旋转支撑装置，其特征在于：所述的调节支板(88)与扳动板(811)之间连接有用于对扳动板(811)进行限位的伸缩柱(813)。The multi-degree-of-freedom rotation support device according to claim 1, characterized in that: the adjusting support plate (88) and the pulling plate (811) are connected between the adjusting plate (88) and the pulling plate (811) to limit the position of the pulling plate (811). Telescopic column (813).
PCT/CN2020/094472 2019-11-08 2020-06-04 Rotating support apparatus having multiple degrees of freedom Ceased WO2021088362A1 (en)

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