CN108081248A - A kind of single motor driving precision is to bit platform - Google Patents

Abstract

The invention discloses a precision alignment platform driven by a single motor, which can effectively solve the problems of many driving elements, high cost and uncompact structure of precision alignment equipment in the current micro-manufacturing industry. The precision alignment platform is composed of a fixed platform, a moving platform, a rotating disk and three rotating branch chains. The bottom end of the rotating branch chain is connected with the fixed platform by a rotating pair, the rotating branch chain and the moving platform are connected by a rotating pair formed by cross roller collars, the linear guide rail is connected with the lower branch chain by bolts, and connected with the upper branch The chain is connected through threaded holes, the motor is fixedly connected by the motor fixing frame and the fixed platform through bolts, the rotating disk is connected with the motor shaft through a shaft coupling, and a bar-shaped notch is opened on the rotating disk. The single-motor-driven precision alignment platform with the above structure can greatly simplify the current high-precision alignment platform during the platform manufacturing process, and can achieve more precise alignment during the platform precision alignment process.

Description

A precision alignment platform driven by a single motor

technical field

This patent relates to the technical field of manufacturing equipment, and specifically relates to a precision alignment platform driven by a single motor.

Background technique

At present, some equipment related to high-precision alignment platforms seen at home and abroad, most of the alignment systems use parallel mechanisms. The upper and lower platforms of the parallel mechanism are supported by independent parallel components, so they have the characteristics of relatively stable structure and high rigidity. ;Due to the ring-shaped closed-chain constraint between the frame and the end effector, the parallel mechanism has a greater load-carrying capacity; because there is no accumulation and amplification effect of the errors of each joint, the parallel mechanism has small errors and high precision; the parallel mechanism The drive part is easy to install on the frame, which reduces the motion load and has good dynamic performance; the parallel structure has the advantages of high operating speed, compact structure, high rigidity, large bearing capacity, and good dynamic performance, but the existing precision Most of the alignment platforms use multi-motor-driven motion branch chains, and the parallel mechanism has a small working space, and each branch chain is prone to interference, which is also a common problem in current precision alignment platforms.

Contents of the invention

In order to overcome the problem that the existing precision alignment platform uses multi-motor drive to reduce the working space and interfere with each branch chain, this patent provides a single-motor-driven precision alignment platform, which uses the combination of macro and micro drive control Technology, can well achieve precise positioning, large stroke drive displacement. The parallel mechanism configuration provided by this patent can well meet the requirements of a precise positioning system combining macro and micro.

In order to achieve the above object, the technical solution adopted in the present invention is: a single-motor-driven precision alignment platform, including a fixed platform and a moving platform, and more than two rotating branch chains; The upper and lower rotating branch chains and the upper rotating branch chain installed on the moving platform; the fixed platform and the lower rotating branch chain can rotate relatively; the moving platform and the upper rotating branch chain can rotate relatively; the lower rotating branch chain and the upper rotating branch chain connected, and the lower rotating branch chain and the upper rotating branch chain can slide relatively; more than one rotating disk; the rotating disk is connected with the driving system, and is used to make the rotating disk rotate with the driving system under the drive of the driving system; There is more than one bar-shaped notch on the disc, and the upper rotating branch chain is connected with the rotating disc through the bar-shaped notch, and the shape of the bar-shaped notch is not parallel to any circumferential arc of the rotating disc, which is used to make The upper rotating branch chain slides according to the predetermined trajectory with the rotation of the rotating disk; the total number of the bar-shaped notches is not less than the number of the rotating branch chains, so that each upper rotating branch chain is installed on the corresponding bar inside the notch.

Further, the lower rotating branch chain is connected to the upper rotating branch chain through a linear guide rail, so as to make the upper rotating branch chain slide along the linear guide rail.

Further, the upper rotating branch chain is connected with the moving platform through a cross roller collar.

Further, the upper rotating branch chain is provided with a pin shaft, and the upper rotating branch chain is installed in the bar-shaped notch through the pin shaft, and the top of the pin shaft is connected by a cross roller shaft ring platform.

Further, it includes three rotating branch chains and a rotating disk; the middle part of the rotating disk is connected with the driving system; three bar-shaped notches are arranged on the rotating disk.

Further, the rotating disk includes a rotating disk, a stepped shaft arranged in the middle of the rotating disk, and more than two bar-shaped notches arranged on the rotating disk. Arrangement feature for a circular pattern with the location as the center.

Further, the shape of the bar-shaped notch does not coincide with any diameter of the turntable, which is used to reduce the component force of the extrusion force and prevent the bar-shaped notch and the upper rotating branch chain from being locked.

Further, the drive system includes a motor and a coupling, and the motor is connected to the stepped shaft through the coupling.

The beneficial effects of the present invention are as follows: the rotating disk with notches drives the upper rotating branch chain to perform corresponding rotational movement through the designed notches, three bar-shaped notches are evenly distributed on the rotating disk, and the rotation of the disk drives the upper The branch chain pin slides in the bar-shaped notch, and then makes it swing back and forth. In order to prevent the "dead point" during the movement of the bar-shaped notch and the upper branch chain pin, and reduce the component force of the extrusion force, it is not The bar notch is designed to be parallel to the diameter of the rotating disc, but instead it is designed at an angle. The rotation of the pin shaft of the upper branch chain drives the slider of the linear guide rail to slide on the linear axis. The advantage of this design is that the radius of rotation of the pin shaft of the upper branch chain can be precisely changed. The pin shaft of the upper branch chain is connected with the moving platform through the cross roller collar, which can make the upper platform rotate precisely. At the same time, the use of the linear guide rail and the cross roller collar greatly simplifies the structure of the precision alignment platform and greatly reduces the working space. It can also better realize the high-precision and high-rigidity requirements of the platform. The rotating disk is driven by a servo motor through a coupling. The servo motor can control the speed and position accuracy very precisely, and can convert the voltage signal into torque and speed to drive the control object. The rotating disk is driven by a servo motor, which can Very precise control of the rotation angle of the turntable.

Description of drawings

Fig. 1 is the overall structure schematic diagram of this patent.

Fig. 2 is the schematic diagram of the rotating branch chain of this patent;

Fig. 3 is the schematic diagram of the rotating disk of this patent;

Fig. 4 is a schematic diagram of the drive system of this patent.

In the figure: 1, fixed platform; 2, rotating branch chain; 2-1, lower rotating branch chain; 2-2, linear guide rail; 2-3, upper rotating branch chain; 2-4, pin shaft; 2-5, Cross roller collar; 3. Turning disc; 3-1. Step shaft; 3-2. Strip notch; 3-3. Turntable; 4. Drive system; 4-1. Motor; 4-2. Coupling 5. Moving platform.

Detailed ways

Below in conjunction with accompanying drawing and example this patent is described further, but the present invention is not limited to following embodiment:

This patent relates to a precision alignment platform driven by a single motor, which consists of a fixed platform, a lower rotating branch chain, a motor, a shaft coupling, a rotating disk, a linear guide rail assembly, an upper rotating branch chain, a cross roller collar, and a moving platform. The precision alignment system is composed of a fixed platform, a rotating system and a moving platform. The fixed platform is connected to the lower rotating branch chain, the linear guide rail is connected to the lower rotating branch chain, and the guide rail is connected to the upper rotating branch chain. The moving platform is connected with the upper rotating branch chain through the cross roller collar, and the upper rotating branch chain is matched with the bar-shaped notch of the rotating disk to drive the upper rotating branch chain to move. The rotating disk and the servo motor are connected through a joint. The shaft is connected, and the servo motor is connected through the motor cage.

Further, a precision alignment platform driven by a single motor includes a fixed platform, a rotating branch chain, a rotating disk, a power system, and a moving platform. The moving platform is connected to the fixed platform through an up and down rotating branch chain, and the precise positioning is achieved by the rotation of the rotating branch chain connected to the fixed platform and the moving platform through the rotation of the rotating disk to make the moving platform rotate, thereby achieving the purpose of precise alignment. The rotation of the rotating disk is driven by a power system and a rotating branch chain. The power system is composed of a motor and a coupling. The rotating member is composed of a rotating rod, a linear guide rail and a rotating disk. The lower rotating branch chain and The fixed platform is connected by a rotating pair, the upper rotating branch chain forms a rotating pair link with the moving platform through a cross roller collar, and the rotating disc is connected with the rotating rod through a precisely designed bar-shaped notch on the rotating disc.

Specifically, a precision alignment platform driven by a single motor includes a fixed platform and a moving platform. Rotary branch chain installation holes, install the lower rotating branch chain in each lower rotating branch chain installation hole; the other end of the lower rotating branch chain is connected with the linear guide rail, and the upper rotating branch chain is installed on the track of the linear guide rail; the upper rotating branch chain is connected with the linear guide rail. The pin shafts are connected, and the pin shafts are installed in the upper rotating branch chain installation holes of the moving platform through the cross roller collar, and the upper rotating branch chain installation holes are arranged on the moving platform according to the three vertices of an equilateral triangle; The drive system includes a motor and a shaft coupling; the motor is connected to the stepped shaft on the rotating disc through the coupling; the rotating disc is provided with three shafts with the stepped shaft as the rotating shaft, whose shape and distance are distributed according to the characteristics of a circular array. A bar-shaped notch; the pin shaft is installed in the bar-shaped notch, so that the pin shaft is restricted by the bar-shaped notch and rotates together with the rotating disk.

Further, the servo motor is connected to the rotary table through a shaft coupling;

Further, the linear guide rail is fixedly connected with the lower rotating branch chain through bolts, and connected with the upper rotating branch chain through threaded holes;

Further, the upper rotating branch chain is connected with the moving platform through a cross roller collar;

Further, the vertically rotating branch chain and the fixed platform and the moving platform are respectively installed at designated positions;

Further, the rotating disk is connected with the upper branch chain through the bar-shaped notch on the disk, and the upper rotating branch chain moves with the rotation of the rotating disk.

Working principle of the present invention is:

After the platform starts, the servo motor drives the rotating disc to rotate through the coupling, and the rotating disc drives the pin shaft of the upper rotating branch chain to move. The change of the rotation radius of the chain and the radius of the upper rotating branch chain makes the cross roller collar rotate at a certain angle, and the angle change of the three cross roller collars makes the moving platform rotate in a specific way, prompting the moving platform to rotate according to the designed trajectory. Ultimately achieve the purpose of precise alignment.

Claims (8)

1. a kind of single motor driving precision is to bit platform, including fixed platform（1）And moving platform（5）, which is characterized in that it further includes：

The rotation branch of two or more（2）；The rotation branch（2）Including being mounted on fixed platform（1）On lower rotation branch（2- 1）And mounted on moving platform（5）On upper rotation branch（2-3）；Fixed platform（1）With lower rotation branch（2-1）It can relatively rotate； Moving platform（5）With upper rotation branch（2-3）It can relatively rotate；Lower rotation branch（2-1）With upper rotation branch（2-3）It is connected, And lower rotation branch（2-1）With upper rotation branch（2-3）It opposite can slide；With

More than one rotating disc（3）；The rotating disc（3）With drive system（4）It is connected, for making rotating disc（3）It is driving Dynamic system（4）Driving under with drive system（4）It rotates；Rotating disc（3）It is equipped with more than one bar shaped notch（3-2）, on Rotate branch（2-3）Pass through bar shaped notch（3-2）With rotating disc（3）It is connected, and the bar shaped notch（3-2）Shape it is not parallel In rotating disc（3）Any circumferential circular arc during rotation, for making upper rotation branch（2-3）With rotating disc（3）Rotation according to pre- Fixed track slides；

The bar shaped notch（3-2）Total quantity be no less than the rotation branch（2）Quantity, for make on each rotate Branch（2-3）It is installed in corresponding bar shaped notch（3-2）It is interior.

2. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the lower rotation branch （2-1）Pass through line slideway（2-2）With upper rotation branch（2-3）Connection, for making upper rotation branch（2-3）Along line slideway （2-2）It slides.

3. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the upper rotation branch （2-3）Pass through decussation roller collar（2-5）With moving platform（5）It is connected.

4. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the upper rotation branch （2-3）It is equipped with axis pin（2-4）, upper rotation branch（2-3）Pass through axis pin（2-4）Mounted on bar shaped notch（3-2）It is interior.

5. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that rotates branch including three Chain（2）An and rotating disc（3）；The rotating disc（3）Middle part and drive system（4）It is connected；Rotating disc（3）It is equipped with three A bar shaped notch（3-2）.

6. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the rotating disc（3） Including turntable（3-3）, be arranged on turntable（3-3）The multi-diameter shaft at middle part（3-1）And two or more be arranged on turntable（3-3）On Bar shaped notch（3-2）, the bar shaped notch（3-2）Mutual position and shape have with multi-diameter shaft（3-1）Position be The arrangement feature of the circumference array in the center of circle.

7. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the bar shaped notch （3-2）Shape not with turntable（3-3）Any diameter coincide, for reducing the component of extruding force, preventing bar shaped notch（3- 2）With upper rotation branch（2-3）It is mutually stuck.

8. a kind of single motor driving precision according to claim 1 is to bit platform, which is characterized in that the drive system （4）Including motor（4-1）And shaft coupling（4-2）, motor（4-1）Pass through shaft coupling（4-2）With multi-diameter shaft（3-1）It is connected.