CN104633407A - Three-degree-of-freedom rotating platform - Google Patents
Three-degree-of-freedom rotating platform Download PDFInfo
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- CN104633407A CN104633407A CN201310563004.6A CN201310563004A CN104633407A CN 104633407 A CN104633407 A CN 104633407A CN 201310563004 A CN201310563004 A CN 201310563004A CN 104633407 A CN104633407 A CN 104633407A
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Abstract
The invention discloses a three-degree-of-freedom rotating platform. The three-degree-of-freedom rotating platform comprises a Z-axis driving module, a Z-axis transmission module, a Y-axis driving module, a Y-axis transmission module, an X-axis driving module, an X-axis transmission module and a base (1) which is used for bearing all the driving modules and the transmission modules, wherein the Z-axis driving module and the Z-axis transmission module are used for driving a rotating platform body (22) to rotate around the Z axis, the Y-axis driving module and the Y-axis transmission module are used for driving the rotating platform body (22) to rotate around the Y axis, and the X-axis driving module and the X-axis transmission module are used for driving the rotating platform body (22) to rotate around the X axis. The X axis, the Y axis and the Z axis are perpendicular to each other in a pairwise mode and are orthogonal at one point as coordinate axes. The three-degree-of-freedom rotating platform has the advantages of being simple in structure, easy to control, and meanwhile capable of meeting the high precision and high efficiency requirements for testing and calibrating of a precise instrument.
Description
Technical field
The invention belongs to mechanical field, be specifically related to a kind of novel rotating platform mechanism.
Background technique
Precision type instrument in the course of the work, often needs accurate calibration, such as photoreceptor, in use, very high to required precision; These precision type instrument, before dispatching from the factory, to itself carrying out a series of work such as accuracy test, calibration, will ensure precision and the service behaviour of precision type instrument with this.
The test job of precision type instrument and calibration operation need to have come by the device of more complicated usually, and Three Degree Of Freedom rotation platform is exactly wherein important one.In prior art, Three Degree Of Freedom rotation platform common both at home and abroad mainly contains hydraulic driving in driving mode, air pressure drives and motor drives three kinds of driving mode.Wherein hydraulic driving thrust is large, stable movement, but kinematic accuracy is low and with certain environmental pollution; Air pressure drives and is easy to realize, but thrust is relatively little, and precision controlling not easily.Meanwhile, hydraulic driving and air pressure drive and all need independently equipment room, and make whole system become more complicated, automaticity is not high.And motor drives noise little, pollution-free, easily to be automated and control system is relatively simple, be developing direction main both at home and abroad always.
But, the present inventor finds in the practice of the invention, and in prior art, the 3-dimensional freedom platform being applied to the work such as precision type instrument calibration and test still exists complex structure, very flexible, the problems such as efficiency is low.
Summary of the invention
Still there is complex structure, very flexible, the technical problems such as efficiency is low for solving 3-dimensional freedom platform in prior art in the present invention, provides a kind of novel Three Degree Of Freedom rotation platform.It is simple that this novel Three Degree Of Freedom rotation platform has structure, controls the feature that is easy to, and this device meets the test of precision type instrument and the highi degree of accuracy of calibration and high efficiency requirement simultaneously.
Three Degree Of Freedom rotation platform provided by the invention comprises:
The Z axis driver module driving rotation platform (22) to rotate around Z axis and Z-axis transmission module; The Y-axis driver module driving rotation platform (22) to rotate around Y-axis and Y-axis transmission module; The X-axis driver module driving rotation platform (22) to rotate around X-axis and X-axis transmission module; And carry the pedestal (1) of each driver module and transmission module; Described X-axis, Y-axis and Z axis are mutually vertical between two, and are orthogonal to the coordinate axes of a bit.
Wherein, described Z axis driver module comprises: Z axis motor (3), Z axis small gear (31); Described Z-axis transmission module comprises: Z axis rotating disc (4), Z axis internal-gear (41), Z-direction axle (5);
Wherein, Z axis motor (3) is arranged on pedestal end cap (2), the output terminal of Z axis motor (3) is connected with Z axis small gear (31), described Z axis small gear (31) by with Z axis internal-gear (41) engagement driving on Z axis rotating disc (4), Z axis rotating disc (4) is rotated around Z axis, and wherein Z axis rotating disc (4) is connected by Z-direction axle (5) with pedestal end cap (2).
Wherein, described Z axis rotation platform pedestal (1) is void column body structure, and the main body of Z axis motor (3) is positioned at Z axis rotation platform pedestal (1), and the output terminal of Z axis motor (3) connects Z axis small gear (31) through pedestal end cap (2).
Wherein, described Y-axis driver module comprises: y-axis motor (11); Described Y-axis transmission module comprises: Y-axis rotating disc (6), Y-direction axle (7,8);
Wherein, Y-axis rotating disc (6) is connected with Z axis rotating disc (4) by the Y-direction axle (7,8) in the Y direction of two conllinear, y-axis motor (11) is connected with Y-direction axle (7), y-axis motor (11) drives Y-axis rotating disc (6) to rotate around Y direction, and rotation platform (22) is rotated around Y-axis.
Wherein, Y-direction axle (7,8) is connected with Z axis rotating disc (4) by Y-axis jump ring (9,10).
Wherein, y-axis motor (11) is connected by Y-axis retarder (12) with Y-direction axle (7).
Wherein, described X-axis driver module comprises: X-axis motor (19); Described X-axis transmission module comprises: X-axis rotates paw (13,14), X-direction axle (15,16);
Wherein, one end that X-axis rotates paw (13,14) is connected with Y-axis rotating disc (6) by the X-direction axle (15,16) in the X-direction of two conllinear, the other end and the rotation platform (22) of X-axis rotation paw (13,14) are connected and fixed, X-axis motor (19) is connected with X-direction axle (15), X-axis motor (19) drives X-axis to rotate paw (13,14) and rotates around X-axis direction, and rotation platform (22) is rotated around X-axis.
Wherein, X-axis rotation paw (13,14) is connected and fixed by bolt (21) and rotation platform (22).
Wherein, X-axis motor (19) connects X-direction axle (15) by X-axis retarder (20).
Wherein, described Y-axis rotating disc (6) is rectangular frame structure, and X-direction axle (15,16) is separately positioned on one group of opposite side of Y-axis rotating disc (6), and Y-direction axle (7,8) is not arranged on another group opposite side of Y-axis rotating disc (6).
It is simple that the Three Degree Of Freedom rotation platform that the embodiment of the present invention provides has structure, controls the feature that is easy to, and this device meets the test of precision type instrument and the highi degree of accuracy of calibration and high efficiency requirement simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The Three Degree Of Freedom rotary platform device overall structure schematic diagram that Fig. 1 provides for the embodiment of the present invention;
The rotation platform that Fig. 2 provides for the embodiment of the present invention is around Z-direction rotational structure schematic diagram;
The rotation platform that Fig. 3 provides for the embodiment of the present invention is around Y-direction rotational structure schematic diagram;
The rotation platform that Fig. 4 provides for the embodiment of the present invention is around X-direction rotational structure schematic diagram.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
See Fig. 1, be the Three Degree Of Freedom rotary platform device overall structure schematic diagram that the embodiment of the present invention provides, as shown in the figure, this Three Degree Of Freedom rotation platform comprises:
For carrying the pedestal 1 of all parts, pedestal 1 is equipped with around X, Y, Z tri-orhtogonal axis rotary component.Be specially, by direction shown in Fig. 1, be around Z-direction rotary component (comprising Z axis driver module and Z-axis transmission module) bottom Three Degree Of Freedom rotation platform, middle part is around Y-axis rotary component (comprising Y-axis driver module and Y-axis transmission module), top is that top is rotation platform 22 around X-axis rotary component (comprising X-axis driver module and X-axis transmission module).Described X-axis, Y-axis and Z axis are mutually vertical between two, and are orthogonal to the coordinate axes of a bit.
More specifically, see Fig. 2, the rotation platform that the embodiment of the present invention provides is around Z-direction rotary component structural representation.As shown in the figure: rotation platform is specially Z axis driver module and Z-axis transmission module around Z-direction rotary component.Z axis driver module comprises: Z axis motor 3, Z axis small gear 31; Described Z-axis transmission module comprises: Z axis rotating disc 4, Z axis internal-gear 41, Z-direction axle 5;
Concrete, Z axis motor 3 is arranged on pedestal end cap 2, the output terminal of Z axis motor 3 is connected with Z axis small gear 31, described Z axis small gear 31 by with Z axis internal-gear 41 engagement driving on Z axis rotating disc 4, Z axis rotating disc 4 is rotated around Z axis, and wherein Z axis rotating disc 4 is connected by Z-direction axle 5 with pedestal end cap 2.Further, described Z axis rotation platform pedestal 1 is void column body structure, and the main body of Z axis motor 3 is positioned at Z axis rotation platform pedestal 1, and the output terminal of Z axis motor 3 connects Z axis small gear 31 through pedestal end cap 2.
See Fig. 3, the rotation platform that the embodiment of the present invention provides is around Y direction rotary component structural representation.As shown in the figure: rotation platform is specially Y-axis driver module and Y-axis transmission module around Y direction rotary component.
Described Y-axis driver module comprises: y-axis motor 11; Described Y-axis transmission module comprises: Y-axis rotating disc 6, Y-direction axle 7,8; Wherein, Y-axis rotating disc 6 is connected with Z axis rotating disc 4 by the Y-direction axle 7,8 in the Y direction of two conllinear, and y-axis motor 11 is connected with Y-direction axle 7, and y-axis motor 11 drives Y-axis rotating disc 6 to rotate around Y direction, and rotation platform 22 is rotated around Y-axis.Further, Y-direction axle 7,8 is connected with Z axis rotating disc 4 by Y-axis jump ring 9,10.Y-axis motor 11 is connected by Y-axis retarder 12 with Y-direction axle 7.
See Fig. 4, the rotation platform that the embodiment of the present invention provides is around X-axis direction rotary component structural representation.As shown in the figure: rotation platform is specially X-axis driver module and X-axis transmission module around X-axis direction rotary component.Described X-axis driver module comprises: X-axis motor 19; Described X-axis transmission module comprises: X-axis rotate paw 13,14, X-direction axle 15,16.
Concrete, one end that X-axis rotates paw 13,14 is connected with Y-axis rotating disc 6 by the X-direction axle 15,16 in the X-direction of two conllinear, the other end and the rotation platform 22 of X-axis rotation paw 13,14 are connected and fixed, X-axis motor 19 is connected with X-direction axle 15, X-axis motor 19 drives X-axis to rotate paw 13,14 and rotates around X-axis direction, and rotation platform 22 is rotated around X-axis.Further, X-axis rotation paw 13,14 is connected and fixed by bolt 21 and rotation platform 22.X-axis motor 19 connects X-direction axle 15 by X-axis retarder 20.
Preferably, in the present embodiment, described Y-axis rotating disc 6 is rectangular frame structure, and X-direction axle 15,16 is separately positioned on one group of opposite side of Y-axis rotating disc 6, and Y-direction axle 7,8 is not arranged on another group opposite side of Y-axis rotating disc 6.Being designed with like this is beneficial to the mutually orthogonal drive motor of layout two, X-axis motor 19 and y-axis motor 11, makes X-axis driver module and Y-axis driver module be placed in the plane of same rotating disc (Y-axis rotating disc 6), effectively reduces taking up room of drive unit.
Preferably, the retarder with corresponding drive motor concentric selected by the retarder in X, Y direction, and retarder is directly connected with motor, effectively reduces the space that transmission device takies.
Those skilled in the art describe known by the above-mentioned structure to Three Degree Of Freedom rotation platform provided by the invention, the spatially layout of the driver module that Three Degree Of Freedom rotation platform provided by the invention rotates around X, Y, Z axis three orthogonal direction and transmission module closely, therefore the test of small-sized and hypomegetic precision type instrument is used for for Three Degree Of Freedom rotation platform and calibration very favourable.Meanwhile, the structure of this Three Degree Of Freedom rotation platform is simple, so control very easy, meets the test of precision type instrument and the highi degree of accuracy of calibration and high efficiency requirement.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a Three Degree Of Freedom rotation platform, is characterized in that, comprising:
The Z axis driver module driving rotation platform (22) to rotate around Z axis and Z-axis transmission module; The Y-axis driver module driving rotation platform (22) to rotate around Y-axis and Y-axis transmission module; The X-axis driver module driving rotation platform (22) to rotate around X-axis and X-axis transmission module; And carry the pedestal (1) of each driver module and transmission module;
Described X-axis, Y-axis and Z axis are mutually vertical between two, and are orthogonal to the coordinate axes of a bit.
2. Three Degree Of Freedom rotation platform as claimed in claim 1, it is characterized in that, described Z axis driver module comprises: Z axis motor (3), Z axis small gear (31); Described Z-axis transmission module comprises: Z axis rotating disc (4), Z axis internal-gear (41), Z-direction axle (5);
Wherein, Z axis motor (3) is arranged on pedestal end cap (2), the output terminal of Z axis motor (3) is connected with Z axis small gear (31), described Z axis small gear (31) by with Z axis internal-gear (41) engagement driving on Z axis rotating disc (4), Z axis rotating disc (4) is rotated around Z axis, and wherein Z axis rotating disc (4) is connected by Z-direction axle (5) with pedestal end cap (2).
3. Three Degree Of Freedom rotation platform as claimed in claim 2, it is characterized in that, described Z axis rotation platform pedestal (1) is void column body structure, the main body of Z axis motor (3) is positioned at Z axis rotation platform pedestal (1), and the output terminal of Z axis motor (3) connects Z axis small gear (31) through pedestal end cap (2).
4. Three Degree Of Freedom rotation platform as claimed in claim 2, it is characterized in that, described Y-axis driver module comprises: y-axis motor (11); Described Y-axis transmission module comprises: Y-axis rotating disc (6), Y-direction axle (7,8);
Wherein, Y-axis rotating disc (6) is connected with Z axis rotating disc (4) by the Y-direction axle (7,8) in the Y direction of two conllinear, y-axis motor (11) is connected with Y-direction axle (7), y-axis motor (11) drives Y-axis rotating disc (6) to rotate around Y direction, and rotation platform (22) is rotated around Y-axis.
5. Three Degree Of Freedom rotation platform as claimed in claim 4, it is characterized in that, Y-direction axle (7,8) is connected with Z axis rotating disc (4) by Y-axis jump ring (9,10).
6. Three Degree Of Freedom rotation platform as claimed in claim 4, it is characterized in that, y-axis motor (11) is connected by Y-axis retarder (12) with Y-direction axle (7).
7. Three Degree Of Freedom rotation platform as claimed in claim 4, it is characterized in that, described X-axis driver module comprises: X-axis motor (19); Described X-axis transmission module comprises: X-axis rotates paw (13,14), X-direction axle (15,16);
Wherein, one end that X-axis rotates paw (13,14) is connected with Y-axis rotating disc (6) by the X-direction axle (15,16) in the X-direction of two conllinear, the other end and the rotation platform (22) of X-axis rotation paw (13,14) are connected and fixed, X-axis motor (19) is connected with X-direction axle (15), X-axis motor (19) drives X-axis to rotate paw (13,14) and rotates around X-axis direction, and rotation platform (22) is rotated around X-axis.
8. Three Degree Of Freedom rotation platform as claimed in claim 7, is characterized in that, X-axis is rotated paw (13,14) and is connected and fixed by bolt (21) and rotation platform (22).
9. Three Degree Of Freedom rotation platform as claimed in claim 7, is characterized in that, X-axis motor (19) connects X-direction axle (15) by X-axis retarder (20).
10. the Three Degree Of Freedom rotation platform according to any one of claim 7 to 9, it is characterized in that, described Y-axis rotating disc (6) is rectangular frame structure, X-direction axle (15,16) is separately positioned on one group of opposite side of Y-axis rotating disc (6), and Y-direction axle (7,8) is not arranged on another group opposite side of Y-axis rotating disc (6).
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| CN201310563004.6A CN104633407A (en) | 2013-11-13 | 2013-11-13 | Three-degree-of-freedom rotating platform |
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| CN201310563004.6A CN104633407A (en) | 2013-11-13 | 2013-11-13 | Three-degree-of-freedom rotating platform |
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| CN201310563004.6A Pending CN104633407A (en) | 2013-11-13 | 2013-11-13 | Three-degree-of-freedom rotating platform |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945841A (en) * | 2016-06-28 | 2016-09-21 | 深圳市顶点视觉自动化技术有限公司 | Three-freedom-degree center oscillation platform |
| CN106092499A (en) * | 2016-07-08 | 2016-11-09 | 重庆大学 | The three axle rotation test devices for wind tunnel model |
| CN106730830A (en) * | 2016-11-17 | 2017-05-31 | 歌尔股份有限公司 | A kind of drive mechanism, multiple degrees of freedom head and VR seats |
| CN106820694A (en) * | 2016-11-23 | 2017-06-13 | 歌尔股份有限公司 | A kind of VR seats drive mechanism and VR seats |
| CN106974461A (en) * | 2017-03-20 | 2017-07-25 | 歌尔科技有限公司 | A kind of multiple degrees of freedom VR seat drive devices and VR seats |
| CN107144939A (en) * | 2017-06-02 | 2017-09-08 | 中山联合光电科技股份有限公司 | A kind of optical lens of super large visual range |
| CN107411393A (en) * | 2017-06-27 | 2017-12-01 | 歌尔股份有限公司 | A kind of two-freedom motion platform and dynamic simulating device |
| CN107628282A (en) * | 2017-11-07 | 2018-01-26 | 内蒙古工业大学 | A kind of large scale synthetic attitude simulator stand |
| CN107727248A (en) * | 2017-09-30 | 2018-02-23 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision luminous power optical wavelength tester table |
| CN108716923A (en) * | 2018-05-07 | 2018-10-30 | 长江大学 | Three-axis attitude dressing plate |
| CN109015562A (en) * | 2018-09-29 | 2018-12-18 | 贵州精工利鹏科技有限公司 | Complete three-dimensional automatic rotation fitter's bench |
| CN109373141A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | It is a kind of based on screw lifter realize three axis without magnetic turntable |
| CN111604869A (en) * | 2020-05-22 | 2020-09-01 | 陕西理工大学 | Rotary platform |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945841A (en) * | 2016-06-28 | 2016-09-21 | 深圳市顶点视觉自动化技术有限公司 | Three-freedom-degree center oscillation platform |
| CN106092499A (en) * | 2016-07-08 | 2016-11-09 | 重庆大学 | The three axle rotation test devices for wind tunnel model |
| CN106730830A (en) * | 2016-11-17 | 2017-05-31 | 歌尔股份有限公司 | A kind of drive mechanism, multiple degrees of freedom head and VR seats |
| CN106820694A (en) * | 2016-11-23 | 2017-06-13 | 歌尔股份有限公司 | A kind of VR seats drive mechanism and VR seats |
| CN106974461B (en) * | 2017-03-20 | 2023-09-12 | 歌尔科技有限公司 | Multi freedom VR seat drive arrangement and VR seat |
| CN106974461A (en) * | 2017-03-20 | 2017-07-25 | 歌尔科技有限公司 | A kind of multiple degrees of freedom VR seat drive devices and VR seats |
| CN107144939A (en) * | 2017-06-02 | 2017-09-08 | 中山联合光电科技股份有限公司 | A kind of optical lens of super large visual range |
| CN107411393A (en) * | 2017-06-27 | 2017-12-01 | 歌尔股份有限公司 | A kind of two-freedom motion platform and dynamic simulating device |
| CN107727248A (en) * | 2017-09-30 | 2018-02-23 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision luminous power optical wavelength tester table |
| CN107628282B (en) * | 2017-11-07 | 2020-03-13 | 内蒙古工业大学 | Large-scale comprehensive attitude simulation test bed |
| CN107628282A (en) * | 2017-11-07 | 2018-01-26 | 内蒙古工业大学 | A kind of large scale synthetic attitude simulator stand |
| CN108716923A (en) * | 2018-05-07 | 2018-10-30 | 长江大学 | Three-axis attitude dressing plate |
| CN109015562A (en) * | 2018-09-29 | 2018-12-18 | 贵州精工利鹏科技有限公司 | Complete three-dimensional automatic rotation fitter's bench |
| CN109373141A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | It is a kind of based on screw lifter realize three axis without magnetic turntable |
| CN111604869A (en) * | 2020-05-22 | 2020-09-01 | 陕西理工大学 | Rotary platform |
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