CN108161854A - A kind of four-degree-of-freedom platform applied under radiation environment - Google Patents
A kind of four-degree-of-freedom platform applied under radiation environment Download PDFInfo
- Publication number
- CN108161854A CN108161854A CN201711368445.5A CN201711368445A CN108161854A CN 108161854 A CN108161854 A CN 108161854A CN 201711368445 A CN201711368445 A CN 201711368445A CN 108161854 A CN108161854 A CN 108161854A
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- CN
- China
- Prior art keywords
- axis
- clamping device
- stepper motor
- offset axis
- adaptive clamping
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/08—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for attachment of work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
Abstract
The invention discloses a kind of four-degree-of-freedom platforms applied under radiation environment, are related to radiation protection field；Including X-axis offset axis, Y-axis offset axis, Z axis offset axis, R axis rotating mechanism and adaptive clamping device.X-axis offset axis, Y-axis offset axis and Z axis offset axis structure use total closed type structure, end and side are installed with stepper motor and LVDT respectively, wherein the measuring staff of LVDT follows mobile sliding block to move, so as to measure the actual coordinate parameter of each offset axis movement sliding block, and pass through the closed-loop control of controller and stepper motor forming position.The front end of R axis rotating mechanisms is fixedly connected with adaptive clamping device；The output shaft of adaptive clamping device and R axis rotating mechanisms is attached by shaft coupling, and adaptive clamping device carries out the movement that rotates in a circumferential direction under stepper motor driving.The resistance to irradiation ability of the present invention is stronger, reaches requirement in terms of precision and flexible, is adaptable to the clamping of different shapes, different dimensions workpiece, and clamping torque is adjustable.
Description
Technical field
The present invention relates to radiation protection field, specifically a kind of four-degree-of-freedom platform applied under radiation environment.
Background technology
At present, existing equipment is in the high precision movement operation for being loaded and being pinpointed to workpiece, generally using light
Grid ruler cooperation motor does the closed-loop control of position, as shown in Figure 1, doing starting point limiting using common optoelectronic switch, exists
In the environment of ionising radiation, grating scale and optoelectronic switch are easier to damage, so as to influence the normal operation of equipment.
And existing equipment need to prepare the tooling that is loaded of plurality of specifications for the workpiece of different dimensions, cause cost in this way
Increase, work efficiency drop.
Invention content
The present invention in view of the above-mentioned problems, devise it is a kind of it is general can adaptive different specification size workpiece card-loading machine
Structure, and LVDT (differential transformation displacement sensor) is selected to substitute grating scale cooperation motor and does closed-loop control, utilize mechanical limiting
Switch substitutes optoelectronic switch and carries out stroke limit so as to reduce equipment electronic component quantity, increases its Radiation hardness, specifically
It is a kind of four-degree-of-freedom platform applied under radiation environment.
The four-degree-of-freedom platform includes：X-axis offset axis, Y-axis offset axis, Z axis offset axis, R axis rotating mechanism and
Adaptive clamping device.
The X-axis offset axis, Y-axis offset axis is identical with Z axis displacement axle construction, respectively on different level courses,
It is three straight-line displacement axis；X-axis offset axis is located at bottom, passes through mobile sliding block vertical connection Y-axis offset axis；Y-axis offset axis
Z axis offset axis is connected by mobile sliding block；Z axis offset axis is fixedly connected with R axis rotating mechanisms by sliding block simultaneously；R axis whirlers
Structure follows Z-direction sliding block to be moved in vertical direction.
X-axis offset axis, Y-axis offset axis and Z axis offset axis structure use total closed type structure, and peace is fixed in end and side respectively
Equipped with stepper motor and LVDT, the wherein measuring staff of LVDT follows mobile sliding block to move, so as to measure each offset axis movement sliding block
Actual coordinate parameter, and pass through the closed-loop control of controller and stepper motor forming position.
Each stepper motor drives respective straight-line displacement axis, makes mobile sliding block along crossed roller by precision lead screw transmission
Guide rail moves along a straight line；Respectively into straight-line displacement axis, stroke starts and end position is mounted on limit switch, plays stroke
The effect of position limitation protection.
The front end of R axis rotating mechanisms is fixedly connected with adaptive clamping device；Adaptive clamping device and R axis rotating mechanisms
Output shaft is attached by shaft coupling, and adaptive clamping device carries out the movement that rotates in a circumferential direction under stepper motor driving.
Adaptive clamping device includes pneumatic gripping device, import/exhaust pipeline and holding finger；Pneumatic gripping device is by pressing
Contracting gas is driven, and compressed gas is entered by import/exhaust pipeline inside pneumatic gripping device, driving internal piston bar fortune
It is dynamic, finally make holding finger closure or openness, complete the release to being clamped workpiece or clamping function.
Meanwhile origin switch and limit switch is fixedly mounted in the front panel of R axis rotating mechanisms, to adaptive clamping device
Rotation angle limited.
Advantages of the present invention and advantage are：
1) a kind of, four-degree-of-freedom platform applied under radiation environment is realized using LVDT and the position of each offset axis is sat
Mark monitoring, it is more simple compared to existing grating scale structure, and without the elements such as light-sensitive element, electronic chip, resistance to irradiation ability
It is stronger.
2) a kind of, four-degree-of-freedom platform applied under radiation environment, compared to traditional displacement platform, equipment X is to, Y
To, Z-direction straight-line displacement axis and R to rotary shaft using total closed type structure, the contamination of radiation dust can be prevented, is convenient to clean.
3) limit of a kind of, four-degree-of-freedom platform applied under radiation environment, three straight-line displacement axis and R axis rotating mechanisms
Bit switch is using Purely mechanical limit switch, and compared to optoelectronic switch, resistance to irradiation ability is stronger, and each offset axis and rotation
Axis is using stepper motor as driving, and resistance to irradiation ability is more excellent and servo motor.
4) a kind of, four-degree-of-freedom platform applied under radiation environment, passes through the unlatching of compressed gas-driven holding finger
Or be closed, being loaded in different sizes and different shape workpiece is adapted to, and folder is adjusted by controlling the pressure of compressed gas
Holding force prevents chucking power is excessive from being damaged to workpiece.
5) a kind of, four-degree-of-freedom platform applied under radiation environment, by verification in practical application, can meet resistance to spoke
As requested, and reach requirement in terms of precision and flexible, be adaptable to different shapes, different dimensions workpiece folder
It holds, and clamping torque is adjustable.
Description of the drawings
Fig. 1 is that existing equipment uses grating scale schematic diagram；
Fig. 2 is the overall structure diagram of four-degree-of-freedom platform of the present invention；
Fig. 3 is the schematic diagram of each straight-line displacement axis of the invention；
Fig. 4 is the principle diagrammatic cross-section of LVDT that the present invention uses；
Fig. 5 is the schematic diagram of the adaptive clamping device of the present invention；
Fig. 6 is the exploded perspective view of R axis rotating mechanism of the present invention；
Fig. 7 is clamping schematic diagram of the holding finger of the present invention to the workpiece of different-diameter size.
In figure：1-X axial displacement axis；2-Y axial displacement axis；3-Z axial displacement axis；4-R axis rotating mechanisms；The adaptive clamping machines of 5-
Structure；6- stepper motors；7- rotates handle；8-LVDT；9- moves sliding block；10- precision lead screws；11- crossed roller guide rails；
401- dust covers；402- shaft couplings；403- bearing holder (housing, cover)s；404- origin switch；405- rolling bearings；406- limitings are opened
It closes；407- stepper motors；501- pneumatic gripping devices；502- import/exhaust pipelines；503- holding fingers；801- coil racks；
802- primary coils；803- secondary coils；804- iron cores；805- measuring staffs；806- shields shell.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
A kind of four-degree-of-freedom platform applied under radiation environment, as shown in Fig. 2, including X-axis offset axis 1, Y-axis offset axis
2nd, Z axis offset axis 3, R axis rotating mechanism 4 and adaptive clamping device 5；
The X-axis offset axis 1, Y-axis offset axis 2 and Z axis offset axis 3 are located on different level courses respectively, are three
Straight-line displacement axis, three straight-line displacement axis can meet clamped workpiece on tri- change in coordinate axis direction of X, Y, Z by bolt splicing
Movement；X-axis offset axis 1 is located at bottom, passes through mobile 9 vertical connection Y-axis offset axis 2 of sliding block；Y-axis offset axis 2 passes through shifting
Movable slider 9 connects Z axis offset axis 3, and mobile sliding block 9 is followed to move together；Z axis offset axis 3 is fixedly connected with R by sliding block simultaneously
Axis rotating mechanism 4；R axis rotating mechanism 4 follows Z-direction sliding block to be moved in vertical direction.
As shown in figure 3, X-axis offset axis 1, Y-axis offset axis 2 is identical with 3 structure of Z axis offset axis, using total closed type structure,
End is respectively installed with stepper motor 6 and rotation handle 7；Rotation behaviour can be carried out to stepper motor 6 by rotating handle 7
Make；LVDT8 is installed in each offset axis side simultaneously, each stepper motor 6 drives respective straight-line displacement axis, passes through
The transmission of precision lead screw 10 makes mobile sliding block 9 move along a straight line along crossed roller guide rail 11；Stroke opens in each straight-line displacement axis
Beginning and end end, are separately installed with high-precision origin switch and limit switch, play the role of stroke limit protection.Wherein limit
Switch and origin switch are Purely mechanical limit switch.
As shown in figure 4, LVDT8 includes coil rack 801, primary coil 802, secondary coil 803, iron core 804, measuring staff
805 and shielding shell 806；
Shielding shell 806 is located at the outermost of LVDT8；Inside passes through coil rack 801 and primary coil 802 and two
Secondary coil 803 is wrapped on iron core 804, and 804 inside of iron core is measuring staff 805, by the mobile cunning for following each straight-line displacement axis
The movement of block 9 so as to measure the actual coordinate parameter of each mobile sliding block 9, and passes through controller and 6 forming position of stepper motor
Closed-loop control.
The front end of R axis rotating mechanism 4 is fixedly connected with adaptive clamping device 5；As shown in fig. 6, R axis rotating mechanism 4 includes
Dust cover 401；Shaft coupling 402；Bearing holder (housing, cover) 403；Origin switch 404；Rolling bearing 405；Limit switch 406 and stepper motor
407；
Dust cover 401 covers on the periphery of stepper motor 407, and bearing 405 is connected by shaft coupling 402；405 sets of bearing simultaneously
In bearing holder (housing, cover) 403；Origin switch 404 and limit switch 406 is fixedly mounted in the front panel of R axis rotating mechanism 4, to adaptive
The rotation angle of clamping device 5 is limited；Limit the initial position that adaptive clamping device 5 rotates, and the height of origin switch
Repetitive positioning accuracy ensures the consistency of each zero position of adaptive clamping device 5.
The output shaft of the input shaft and R axis rotating mechanism 4 of adaptive clamping device 5 is attached by shaft coupling 402,
Adaptive clamping device 5 carries out the movement that rotates in a circumferential direction under stepper motor 407 drives.
As shown in figure 5, adaptive clamping device includes pneumatic gripping device 501, import/exhaust pipeline 502 and a pair of of clamping
Finger 503；Main function is clamps workpiece；Pneumatic gripping device 501 is driven by compressed gas, and compressed gas is led to
It crosses import/exhaust pipeline 502 to enter inside pneumatic gripping device 501, the bar movement of driving internal piston finally makes holding finger
503 closure or openness complete the release to being clamped workpiece or clamping function.
As shown in fig. 7, the adaptive clamping device 5 can meet the clamping of different size, different shape workpiece；Workpiece is by certainly
After adapting to the secured clamping of clamping device 5, by rotating in a circumferential direction for R axis rotating mechanism 4, reach the direction of requirement, then pass through respectively
The linear motion of tri- coordinate displacement axis of X, Y, Z is crossed, reaches the place that workpiece is specified, the essence of clamped workpiece four-degree-of-freedom can be met
Really movement.
The high precision movement behaviour that the present invention is loaded and is pinpointed in the environment of there are ionising radiation, to workpiece
Work, technological action requirement equipment can meet being loaded for different specification size workpiece, and moving process is controllable, steady, reliable and shifting
Dynamic position coordinates are it is found that and can smooth long term running in the environment of with ionising radiation.
Claims (5)
1. a kind of four-degree-of-freedom platform applied under radiation environment, which is characterized in that including：X-axis offset axis, Y-axis offset axis,
Z axis offset axis, R axis rotating mechanism and adaptive clamping device；
X-axis offset axis, Y-axis offset axis is identical with Z axis displacement axle construction, is three straight lines respectively on different level courses
Offset axis；X-axis offset axis is located at bottom, passes through mobile sliding block vertical connection Y-axis offset axis；Y-axis offset axis is slided by mobile
Block connects Z axis offset axis, while Z axis offset axis is fixedly connected with R axis rotating mechanisms by sliding block, and R axis rotating mechanisms follow Z-direction to slide
Block is moved in vertical direction；
X-axis offset axis, Y-axis offset axis and Z axis offset axis use total closed type structure, and end and side are installed with step respectively
The measuring staff of stepper motor and LVDT, wherein LVDT follow mobile sliding block to move, so as to measure the practical seat of each offset axis movement sliding block
Parameter is marked, and passes through the closed-loop control of controller and stepper motor forming position；
The front end of R axis rotating mechanisms is fixedly connected with adaptive clamping device；The output of adaptive clamping device and R axis rotating mechanisms
Axis is attached by shaft coupling, and adaptive clamping device carries out the movement that rotates in a circumferential direction under stepper motor driving；
Adaptive clamping device includes pneumatic gripping device, import/exhaust pipeline and holding finger；Pneumatic gripping device is by compressed gas
Body is driven, and compressed gas is entered by import/exhaust pipeline inside pneumatic gripping device, the bar movement of driving internal piston,
Finally make holding finger closure or openness, complete the release to being clamped workpiece or clamping function.
A kind of 2. four-degree-of-freedom platform applied under radiation environment as described in claim 1, which is characterized in that the step
Stepper motor drives respective straight-line displacement axis, mobile sliding block is made to carry out straight line fortune along crossed roller guide rail by precision lead screw transmission
It is dynamic；Respectively into straight-line displacement axis, stroke starts and end position is mounted on limit switch, plays the role of stroke limit protection.
A kind of 3. four-degree-of-freedom platform applied under radiation environment as described in claim 1, which is characterized in that the R
Origin switch and limit switch is fixedly mounted in the front panel of axis rotating mechanism, and the rotation angle of adaptive clamping device is limited
Position.
4. a kind of four-degree-of-freedom platform applied under radiation environment as described in claim 1, which is characterized in that described
LVDT includes coil rack, primary coil, secondary coil, iron core, measuring staff and shielding shell；Shielding shell is located at the outermost of LVDT
Side；Inside is wrapped in by coil rack and primary coil and two secondary coils on iron core, and core interior is measuring staff, is passed through
The movement of the mobile sliding block of each straight-line displacement axis is followed, so as to measure the actual coordinate parameter of each mobile sliding block, and passes through control
Device and the closed-loop control of stepper motor forming position.
A kind of 5. four-degree-of-freedom platform applied under radiation environment as described in claim 1, which is characterized in that the R
Axis rotating mechanism includes dust cover, shaft coupling, bearing holder (housing, cover), origin switch, rolling bearing, limit switch and stepper motor；
Dust cover covers on the periphery of stepper motor, and bearing is connected by shaft coupling；Bearing holder (housing, cover) is in bearing holder (housing, cover) simultaneously；It is revolved in R axis
Origin switch and limit switch is fixedly mounted in the front panel of rotation mechanism, and the rotation angle of adaptive clamping device is limited；
The initial position of adaptive clamping device rotation, and the high repetitive positioning accuracy of origin switch are limited, ensures adaptive clamping machine
Structure is zeroed the consistency of position every time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710442480 | 2017-06-13 | ||
| CN2017104424800 | 2017-06-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161854A true CN108161854A (en) | 2018-06-15 |
| CN108161854B CN108161854B (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711368445.5A Active CN108161854B (en) | 2017-06-13 | 2017-12-18 | Four-degree-of-freedom platform applied to radiation environment |
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| Country | Link |
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| CN (1) | CN108161854B (en) |
Cited By (3)
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| CN109500604A (en) * | 2018-12-06 | 2019-03-22 | 哈尔滨工业大学 | The adjustment method of five dimension manual displacement platforms, the turning auxiliary system containing five dimension manual displacement platforms and turning auxiliary system |
| CN114216389A (en) * | 2022-02-08 | 2022-03-22 | 北京航空航天大学 | Testing and analyzing device for LVDT displacement sensor |
| CN114950881A (en) * | 2022-08-02 | 2022-08-30 | 之江实验室 | Device and method for uniformly curing endoscope sealant |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109500604A (en) * | 2018-12-06 | 2019-03-22 | 哈尔滨工业大学 | The adjustment method of five dimension manual displacement platforms, the turning auxiliary system containing five dimension manual displacement platforms and turning auxiliary system |
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| CN114950881A (en) * | 2022-08-02 | 2022-08-30 | 之江实验室 | Device and method for uniformly curing endoscope sealant |
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| Publication number | Publication date |
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| CN108161854B (en) | 2021-03-30 |
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Denomination of invention: A four degree of freedom platform for radiation environment Effective date of registration: 20230307 Granted publication date: 20210330 Pledgee: Beijing first financing Company limited by guarantee Pledgor: BEIJING ZHONGTIAN XINGKONG SCIENCE & TECHNOLOGY DEVELOPMENT CO.,LTD. Registration number: Y2023980034251 |