CN102721520B - Vibrating platform with precise driving mechanism - Google Patents
Vibrating platform with precise driving mechanism Download PDFInfo
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- CN102721520B CN102721520B CN201210217395.1A CN201210217395A CN102721520B CN 102721520 B CN102721520 B CN 102721520B CN 201210217395 A CN201210217395 A CN 201210217395A CN 102721520 B CN102721520 B CN 102721520B
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Abstract
A vibrating platform with a precise driving mechanism in the technical field of precise driving comprises a support frame, at least one driving mechanism arranged in the support frame and a vibrating platform body connected with the driving mechanism. The driving mechanism comprises a driver, a driver outputting rod, a drive displacement amplifying mechanism, an amplifying displacement output end rod and a direct displacement output end rod, wherein the driver, the driver outputting rod and the drive displacement amplifying mechanism are sequentially arranged from bottom to top, and the amplifying displacement output end rod and the direct displacement output end rod are respectively arranged on the drive displacement amplifying mechanism and the driver outputting rod. The vibrating platform with the precise driving mechanism produces direct displacement driving vibration based on flexible deformation of an intelligent material, is simple in structure, high in reliability and drive efficiency, accurate and controllable in amplitude and capable of achieving wide amplitude particularly from nanometer to a plurality of millimeters and achieving a wideband from a quasi-static state to high frequency, and has heavy-load vibrating capability.
Description
The application is that application number is 201110039211.2, and the applying date is 2011.2.17, and denomination of invention is the divisional application of " the accurate shaking table that drives ".
Technical field
What the present invention relates to is the device in a kind of accurate Driving technique field, specifically a kind of shaking platform with precise-motion mechanism.
Background technology
In the last few years, due to the development of micro-nano device and super hot investment casting art, be used for micro-nano and disturbed Active Vibration Control shaking platform in the urgent need to one, for solving micro-vibration problem of micro-nano device and ultraprecise process.At present because vibratory equipment is mainly realized by hydraulic pressure, pneumatic, electromagnetism and mechanical vibration mode.These vibratory equipments are owing to being to be realized by hydraulic pressure, pneumatic and mechanical vibration behavior, it is many that its vibratory drive realizes integral link, multi-part drive gap, the dimensional accuracy error of each parts etc., make this base part in the realization driving, can not realize the vibration performance of micro-nano amplitude, therefore can not make micro/nano level Active Vibration Control shaking platform.
Through the retrieval of prior art is found, China Patent No. 200520036395, authorize open day within on 01 24th, 2007, to disclose " a kind of shaking table ", this technology comprises: vibrating motor, vibration table and spring, vibrating motor is installed between stand and vibration table, spring(-supported) mount is located between stand and vibration table, offers multiple screw pilot holes etc. on vibration table.This shaking table is simple and reliable for non-accurate large amplitude displacement vibration, but can not realize for micro-nano precision vibration, because its vibration source, vibrating motor self can not produce micro-nano and vibration.So the vibratory equipment based on traditional approach will be realized micro-nano magnitude vibration equipment and be difficult to realize.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of shaking platform with precise-motion mechanism is provided, produce direct displacement drive vibration based on intellectual material dilatation, it is a kind of simple in structure, reliability and drive efficiency is high, amplitude is accurately controlled, can realize the wide cut to some millimeters by nanometer, and can realize the wideband from quasistatic to high frequency and there is the platform of heavy load vibration ability.
The present invention is achieved by the following technical solutions.
A shaking platform with precise-motion mechanism, comprises bracing frame, is arranged at least one driving mechanism in bracing frame and is attached thereto the shaking platform connecing;
Described driving mechanism comprises: driver, driver take-off lever and the drive displacement enlarger from bottom to top setting gradually and be arranged at respectively drive displacement enlarger and driver take-off lever on displacement enlargement output terminal bar and direct displacement output terminal bar.
Between described driver and driver take-off lever, be provided with piezoelectric type pull pressure sensor.
Described shaking platform comprises: drive platform, elastic support, driving platform guidepost, electromagnetic control clamping releasing mechanism, wherein, drive platform guidepost, elastic support and driving platform to be set in turn in the top of bracing frame, drive platform to be connected with driving platform guidepost, displacement enlargement output terminal bar and direct displacement output terminal bar respectively, electromagnetic control clamping releasing mechanism is positioned at and drives platform and be connected in displacement enlargement output terminal bar and direct displacement output terminal bar outside.
Described electromagnetic control clamping releasing mechanism comprises: the trapezoidal hole of even number that mirror image arranges and corresponding solenoid and steel ball thereof, wherein, the trapezoidal hole of even number is symmetricly set in to be positioned at and drives platform and be positioned at displacement enlargement output terminal bar or the periphery of direct displacement output terminal bar, solenoid correspondence is arranged between the upper base or bottom and two holes in trapezoidal hole, and steel ball is movably set in trapezoidal hole.
The width on the upper base in described trapezoidal hole is greater than steel ball and take-off lever diameter sum, and the width of bottom is less than steel ball and take-off lever diameter sum.
Described drive displacement enlarger is mechan-amplifier structure or hydraulic pressure structure for amplifying, wherein:
Described mechan-amplifier structure be respectively with displacement enlargement output terminal bar and hinged lever or the lever group of driver take-off lever, the input arm of force of described lever or lever group is less than the output arm of force;
Described hydraulic pressure structure for amplifying be respectively with displacement enlargement output terminal bar and the hinged hydraulic pump of driver take-off lever, the input pressure area of described hydraulic pump is greater than output pressure area.
For the shaking platform with precise-motion mechanism proposed by the invention, can also be that some like this shaking platforms with precise-motion mechanism are used in combination, and drive the large platform of a branched point, multifreedom motion.Comprise: large platform, cross-garnet butt, large linear bearing, overall framework, spherical linkage and spherical linkage push rod.Wherein several displacement enlargement output terminal bars or direct displacement output terminal bar are connected with corresponding cross-garnet butt through overall framework.Cross-garnet butt is connected with large platform again.Between displacement enlargement output terminal bar or directly displacement output terminal bar and overall framework, large linear bearing can be installed.Spherical linkage is installed in center, large platform lower surface, and spherical linkage push rod is through the large linear bearing being arranged on overall framework.
Compared with prior art, the electromagnetic permanent magnet combined excited vibration platform of this power control type has the following advantages:
1. realized combination vibration shaking table micro-nano and millimeter higher level; Easily realizing large amplitude drives; Also easily realize small amplitude; Vibration displacement is accurately controlled.
2, oscillating movement drives and is direct driving, and mechanism is simple, good rigidly, good reliability;
3, drive vibration frequency to apply electric signal control by outside completely, can realize the wideband vibration of quasistatic to high frequency;
4, there is structure sensing link, in vibratory drive process, be applied to driving force on measured piece and can be implemented and monitor, thereby conveniently realize the closed-loop control of vibration-testing.
5, convenient combination realizes the combination multiple degrees of freedoms that drive more and drives large shaking table.This multiple degrees of freedom drives and can be used for controlling platform pivot angle orientation.
Mechanism of the present invention can be used for manufacture claim and produces wideband, wide cut, high precision vibratory drive vibration testing instrument and equipment, is widely used in various vibration-testings or platform pivot angle orientation control field.
Brief description of the drawings
Fig. 1 has the shaking platform structural representation of precise-motion mechanism;
Fig. 2 is provided with power sensor and has the structural representation of the shaking platform of precise-motion mechanism;
Fig. 3 electromagnetism clamping releasing means schematic diagram;
Wherein: (a) with the device schematic diagram that (b) is respectively the trapezoidal hole with different installation forms;
Fig. 4 lever displacement structure for amplifying schematic diagram;
Fig. 5 hydraulic displacement structure for amplifying schematic diagram;
The integrated drives structure schematic diagram of Fig. 6 drive amplification;
The integrated drives structure of Fig. 7 drive amplification is arranged on the mounting structure schematic diagram in the shaking platform with precise-motion mechanism as driver;
The shaking platform combination that tri-of Fig. 8 have precise-motion mechanism drives Three Degree Of Freedom platform structure schematic diagram;
Fig. 9 spherical linkage syndeton is related to schematic diagram;
Figure 10 cross-garnet butt structural representation.
Embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented under taking technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present embodiment comprises: bracing frame 1, be arranged at a driving mechanism 2 in bracing frame 1 and be attached thereto the shaking platform 3 connecing.
Described driving mechanism 2 is: driver 4, driver take-off lever 5 and the drive displacement enlarger 6 from bottom to top setting gradually and be arranged at respectively drive displacement enlarger 6 and driver take-off lever 5 on displacement enlargement output terminal bar 7 and direct displacement output terminal bar 8.
As shown in Figure 2, between described driver 4 and driver take-off lever 5, be provided with piezoelectric type pull pressure sensor 9;
Described shaking platform 3 comprises: drive platform 10, elastic support 11, driving platform guidepost 12, electromagnetic control clamping releasing mechanism 13, wherein: drive platform guidepost 12, elastic support 11 and drive platform 10 to be set in turn in the top of bracing frame 1, drive platform 10 to be connected with driving platform guidepost 12, displacement enlargement output terminal bar 7 and direct displacement output terminal bar 8 respectively, electromagnetic control clamping releasing mechanism 13 is positioned at and drives platform 10 and be connected in displacement enlargement output terminal bar 7 and direct displacement output terminal bar 8 outsides.
As shown in Fig. 3 (a) and Fig. 3 (b), described electromagnetic control clamping releasing mechanism 13 comprises: the trapezoidal hole 14 of even number that mirror image arranges and corresponding solenoid 15 and steel ball 16 thereof, wherein: the trapezoidal hole 14 of even number is symmetricly set in to be positioned at and drives platform 10 and be positioned at displacement enlargement output terminal bar 7 or the periphery of direct displacement output terminal bar 8, solenoid 15 correspondences are arranged at upper base or the bottom in trapezoidal hole 14, and steel ball 16 is movably set in trapezoidal hole 14.
The width on the upper base in described trapezoidal hole 14 is greater than the diameter of steel ball 16, and the width of bottom is less than the diameter of steel ball 16.
Described drive displacement enlarger 6 is mechan-amplifier structure or hydraulic pressure structure for amplifying, wherein:
As shown in Figure 4, mechan-amplifier structure be respectively with displacement enlargement output terminal bar 7 and hinged lever or the lever group 17 of driver take-off lever 5, the input arm of force of this lever group 17 is less than the output arm of force.
As shown in Figure 5, hydraulic pressure structure for amplifying be respectively with displacement enlargement output terminal bar 7 and the hinged hydraulic pump 18 of driver take-off lever 5, the input pressure area of this hydraulic pump 18 is greater than output pressure area.
The course of work of the present embodiment is:
The shaking table of the present embodiment, when work, driving mechanism 2 is by external drive effect, driver 4 is wherein encouraged, driver 4 extends, this elongation displacement is exported by driver take-off lever 5 simultaneously, after being delivered to drive displacement enlarger 6 simultaneously and then having enlarger effect that this displacement is amplified, be delivered on displacement enlargement output terminal bar 7, in this process, the output displacement of driver take-off lever 5 is also directly delivered on the direct displacement output terminal bar 8 of rigidity.Afterwards, displacement enlargement output terminal bar 7 and directly displacement output terminal bar 8 are through the electromagnetic control clamping releasing mechanism 13 in shaking platform 3, if only conveying the electromagnetic control clamping releasing mechanism 13 that displacement enlargement output terminal bar 7 contacts works, it will be stuck displacement enlargement output terminal bar 7, now be equivalent to displacement enlargement output terminal bar 7 and be connected with shaking platform 3, platform 3 will produce the displacement that is applied and amplified through drive displacement enlarger 6 by driver 4 so.Now, if cancel the excitation to driver 4, driver 4 is retracted for clearance, this contraction drive displacement by along before same displacement bang path, the shaking platform of just now raising 3 is pulled back, simultaneously shaking platform 3 also this process of pulling back by promotion of conducting oneself with dignity.Like this, apply and cancel the process of external drive for driving mechanism 2, shaking platform 3 has been realized the process of a lifting and drop-down reset.Repeat to apply excitation, shaking platform 3 will produce repeatedly the action of reciprocal up-down vibration so, and this vibration be amplify through displacement compared with large-amplitude vibration.
In like manner, if only conveying the electromagnetic control clamping releasing mechanism 13 that direct displacement output terminal bar 8 contacts works, it will be stuck direct displacement output terminal bar 8, and the direct displacement drive vibration processes that generation driving mechanism 2 is implemented, in such cases, although vibration displacement is not exaggerated, can produce small accurate displacement amplitude vibration.
The realization of and dispose procedure stuck to take-off lever for electromagnetic control clamping releasing mechanism 13 is through process implementation as described below:
As Fig. 3 (a) diagram, when upper and lower solenoid 15 being produced to the broadside end of absorption steel ball 16 in magnetic field to upper and lower trapezoidal hole, when now displacement output terminal bar moves up and down, can not be tied, and in release conditions.When middle solenoid 15 being produced to the narrow limit end of absorption steel ball 16 in magnetic field to upper and lower trapezoidal hole, when now displacement output terminal bar moves up and down, displacement output terminal bar will be subject to hole 14 inwall extruding steel balls 16 and retrain, and simultaneously restrained up and down, thereby by stuck shifter output terminal bar.
In like manner, for as Fig. 3 (b) diagram, by electromagnetic action, steel ball 16 is adsorbed onto to the narrow limit end in upper and lower trapezoidal hole, and forms displacement output terminal bar gripping orientation; Steel ball 16 is adsorbed onto to the broadside end in upper and lower trapezoidal hole, and forms displacement output terminal bar release conditions.
For the situation that is provided with piezoelectric type pull pressure sensor 9 between driver 4 and driver take-off lever 5, follow the strain of driver take-off lever 5, there is the variation of stress, this stress can be by 9 perception of piezoelectric type pull pressure sensor, and then the expulsive force producing in shaking table 3 vibration processes can be implemented perception.
So far, the shaking table described in the present embodiment can be realized vibration processes, and can realize the vibration processes that large amplitude and micro-amplitude switch, and the exciting force producing in vibration processes can be perceived.
Embodiment 2
As shown in Figure 6, described driving mechanism 2 is: driver 4, frame-type body and be attached thereto the displacement enlargement output terminal bar 7 and the driver 4 displacement take-off levers that connect, wherein: driver 4 displacement take-off levers are horizontally placed in the frame-type body of ellipsoidal structure and driver 4 is positioned at the middle part of driver 4 displacement take-off levers, and displacement enlargement output terminal bar 7 is arranged at the top of the frame-type body of ellipsoidal structure.
Described driver 4 displacement take-off levers are equipped with snap ring with the position that frame-type body contacts;
The position that described displacement enlargement output terminal bar 7 and driver 4 displacement take-off levers contact with carriage is equipped with linear bearing.
This driving mechanism 2 can act on formation vibration platform apparatus as shown in Figure 7.Its displacement that displacement take-off lever 5 is produced is to act on driver 4 by external drive, driver 4 produces the displacement of horizontal direction, and make the frame-type body of ellipsoidal structure softened in the horizontal direction, shrink at vertical direction simultaneously, and drive displacement take-off lever 5 to decline, and then drive shaking table 3 to move down.Cancel the excitation to driver 4, driver 4 retracted for clearance, and the elastic reset of the frame-type body of ellipsoidal structure, and the frame-type body of ellipsoidal structure is shunk in the horizontal direction, stretch at vertical direction simultaneously, move and drive on displacement take-off lever 5, and then drive shaking table 3 to move up.Repeat this process and will produce shaking table vibration.
Embodiment 3
As shown in Fig. 7-Fig. 9, the present embodiment comprises: bracing frame 1, be arranged in bracing frame 1 one or three driving mechanisms 2 and be attached thereto the shaking platform 3 connecing.
Described driving mechanism 2 is by driver 4 and the driver take-off lever 5 that is fixedly connected with it, and the top of this driver take-off lever 5 is hinged with driving platform 4.
Described hinged spherical linkage or the cross-garnet butt 19 of all adopting realized.
When work, the three-degree-of-freedom motion of realization is: three of three fulcrum places have moving up and down of shaking platform 4 that the shaking platform of precise-motion mechanism acts on simultaneously; And one of them fulcrum is motionless, the swing form of two other two kinds of minute angles of simultaneously moving; Thereby realize a reciprocal line motion, and two rotation campaigns, like this three degree of freedom motion platform.
Claims (5)
1. a shaking platform with precise-motion mechanism, is characterized in that, comprises bracing frame, is arranged at least one driving mechanism in bracing frame and is attached thereto the shaking platform connecing;
Described driving mechanism comprises: driver, driver take-off lever and the drive displacement enlarger from bottom to top setting gradually and be arranged at respectively drive displacement enlarger and driver take-off lever on displacement enlargement output terminal bar and direct displacement output terminal bar;
Described shaking platform comprises: drive platform, elastic support, driving platform guidepost, electromagnetic control clamping releasing mechanism, wherein, drive platform guidepost, elastic support and driving platform to be set in turn in the top of bracing frame, drive platform to be connected with driving platform guidepost, displacement enlargement output terminal bar and direct displacement output terminal bar respectively, electromagnetic control clamping releasing mechanism is positioned at and drives platform and be connected in displacement enlargement output terminal bar and direct displacement output terminal bar outside.
2. the shaking platform with precise-motion mechanism according to claim 1, is characterized in that, between described driver and driver take-off lever, is provided with piezoelectric type pull pressure sensor.
3. the shaking platform with precise-motion mechanism according to claim 1, it is characterized in that, described electromagnetic control clamping releasing mechanism comprises: the trapezoidal hole of even number that mirror image arranges and corresponding solenoid and steel ball thereof, wherein, the trapezoidal hole of even number is symmetricly set in to be positioned at and drives platform and be positioned at displacement enlargement output terminal bar or the periphery of direct displacement output terminal bar, solenoid correspondence is arranged between the upper base or bottom and two holes in trapezoidal hole, and steel ball is movably set in trapezoidal hole.
4. the shaking platform with precise-motion mechanism according to claim 3, it is characterized in that, the width on the upper base in described trapezoidal hole is greater than steel ball and displacement enlargement output terminal bar or direct displacement output terminal shank diameter sum, and the width of bottom is less than steel ball and displacement enlargement output terminal bar or direct displacement output terminal shank diameter sum.
5. the shaking platform with precise-motion mechanism according to claim 1, is characterized in that, described drive displacement enlarger is mechan-amplifier structure or hydraulic pressure structure for amplifying, wherein:
Described mechan-amplifier structure be respectively with displacement enlargement output terminal bar and hinged lever or the lever group of driver take-off lever, the input arm of force of described lever or lever group is less than the output arm of force;
Described hydraulic pressure structure for amplifying be respectively with displacement enlargement output terminal bar and the hinged hydraulic pump of driver take-off lever, the input pressure area of described hydraulic pump is greater than output pressure area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210217395.1A CN102721520B (en) | 2011-02-17 | 2011-02-17 | Vibrating platform with precise driving mechanism |
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| CN201210217395.1A CN102721520B (en) | 2011-02-17 | 2011-02-17 | Vibrating platform with precise driving mechanism |
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| CN 201110039211 Division CN102156032B (en) | 2011-02-17 | 2011-02-17 | Precisely-driven vibrating platform |
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| CN102721520A CN102721520A (en) | 2012-10-10 |
| CN102721520B true CN102721520B (en) | 2014-12-10 |
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