CN105099072B - Double dynamical driving mobile device - Google Patents
Double dynamical driving mobile device Download PDFInfo
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- CN105099072B CN105099072B CN201510599804.2A CN201510599804A CN105099072B CN 105099072 B CN105099072 B CN 105099072B CN 201510599804 A CN201510599804 A CN 201510599804A CN 105099072 B CN105099072 B CN 105099072B
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Abstract
Double dynamical driving mobile device, belongs to smelting equipment technical field.There is larger bearing capacity, the speed of service higher, larger operation acceleration, more stable dynamic property, larger impact resistance, compacter overall structure, running precision higher the invention enables mobile device.Support of the present invention is arranged on fixed pan, and guide rail and rotary motion linear motion conversion mechanism are installed on support；Guide rail is two secondary, is arranged in parallel along the length direction of support；Rotary motion linear motion conversion mechanism is two, is arranged in parallel along the length direction of support；Mobile platform bottom is provided with multiple directive wheels, two motors are installed at the top of mobile platform, directive wheel is fitted on guide rail, and each motor is hinged with independent rotary motion linear motion conversion mechanism respectively, two motors reversely, be synchronized with the movement.The present invention is for carrying smelting equipment.
Description
Technical field
The present invention relates to a kind of mobile device, belong to smelting equipment technical field.
Background technology
Common mobile device is typically driven using single-power, and driving force is arranged in moving parts side, then opposite side is
Free state, can apply a torsional moment when moving parts acceleration and deceleration on moving parts, hinder moving parts
Trouble-free operation, very big challenge is there is also to guiding mechanism and moving parts, and the driving force that single-power drives is limited, increase
The volume of driver may be increased while driving force, be not easy to install and structure design.
The content of the invention
It has been given below on brief overview of the invention, to provide on the basic of certain aspects of the invention
Understand.It should be appreciated that this general introduction is not on exhaustive general introduction of the invention.It is not intended to determine pass of the invention
Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides some concepts in simplified form,
In this, as the preamble in greater detail discussed after a while.
In consideration of it, according to an aspect of the invention, there is provided a kind of double dynamical driving mobile device, with least so that moving
Dynamic device has a larger bearing capacity, the speed of service higher, larger operation acceleration, more stable dynamic property, compared with
Big impact resistance, compacter overall structure, running precision higher.
Double dynamical driving mobile device proposed by the present invention, including support, guide rail, rotary motion-linear motion interpreter
Structure, directive wheel, mobile platform and motor；Support is arranged on fixed pan, and guide rail and rotary motion-linear motion are changed
Mechanism is installed on support；Mobile platform bottom is provided with multiple directive wheels, and two drivings are provided with the top of mobile platform
Motor, directive wheel is fitted on guide rail, and each motor cuts with scissors with independent rotary motion-linear motion conversion mechanism respectively
Connect, two motors reversely, be synchronized with the movement.
In the program it is double dynamical driving mobile device using dual drive motor driving, each motor respectively with it is independent
Rotary motion-linear motion conversion mechanism connection, dual drive motor uses more advanced synchronous control technique, is synchronized with the movement, together
Step uniform output, automatic deviation correction, the enhancing of overall driving force, compact conformation, it is to avoid single motor-driven unbalance loading problem, while
Improve the dynamic property of mobile platform motion.
In the program it is double dynamical drive mobile device guiding rail use double parallel guide rail mechanism, can effectively offset because
The turning moment that complicated applied force situation is produced, it is ensured that the fluency that mobile platform is moved forward and backward, without clamping stagnation, while to the peace of guide rail
Dress precision is it is also proposed that requirement higher.
Further：The directive wheel of mobile platform bottom is divided into upper and lower two parts, above the directive wheel and guide rail on top
Laminating, the directive wheel of bottom is fitted with the lower surface of support upper rail installation portion.The directive wheel on top primarily serves guide effect,
The directive wheel of bottom plays a part of equilibrium torsion torque.
Further：Rotary motion-the linear motion conversion mechanism includes tooth bar, and tooth bar is two parallel arrangements, often
Individual motor is connected by decelerator with a gear, and gear is engaged with corresponding tooth bar.The rotary motion of motor
Be eventually converted into the linear motion of mobile platform, can control motor speed and torque so as to control the straight of mobile platform
Line movement velocity and the impulsive force in the direction of motion, moving assembly high-speed motion when impulsive force is needed, by driving electricity
The torque and mobile platform that machine is provided inertia force in itself provide an impulsive force for needs in the movement direction.
Further：The guide rail is semicircle long guideway.
Further：The motor is servomotor, using full closed loop control.Flexible movements, repetitive positioning accuracy
With movement locus precision controlling precisely, compact conformation, floor space is small, it is easy to safeguard, is easy to operation.
Further：Double dynamical driving mobile device also includes soft limiter, and soft limiter distribution on a mobile platform, is used
In the moving range for limiting mobile platform.
The effect that is reached of the present invention is：
It is of the invention it is double dynamical driving mobile device using dual drive motor driving, each motor respectively with it is independent
Rotary motion-linear motion conversion mechanism is hinged, and dual drive motor uses more advanced synchronous control technique, is synchronized with the movement, together
Step uniform output, automatic deviation correction, the enhancing of overall driving force, compact conformation, it is to avoid single motor-driven unbalance loading problem, while
Improve the dynamic property of mobile platform motion.Guiding rail uses double parallel guide rail mechanism, can effectively offset because complexity is received
The turning moment that power situation is produced, it is ensured that the fluency that mobile platform is moved forward and backward, without clamping stagnation, while to the installation accuracy of guide rail
It is also proposed that requirement higher.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is the arrangement and the fiting relation figure with each part of directive wheel；
Fig. 3 is the fiting relation figure of wheel and rack.
In figure：1 support；2 guide rails；3 rotary motions-linear motion conversion mechanism；4 directive wheels；5 mobile platforms；6 drive electricity
Machine；7 decelerators；8 gears；9 soft limiters.
Specific embodiment
One exemplary embodiment of the invention is described hereinafter in connection with accompanying drawing.For clarity and conciseness,
All features of actual implementation method are not described in the description.It should be understood, however, that developing any this actual implementation
Many decisions specific to implementation method must be made during example, to realize the objectives of developer, for example, symbol
Those restrictive conditions related to system and business are closed, and these restrictive conditions may have with the difference of implementation method
Changed.Additionally, it also should be appreciated that, although development is likely to be extremely complex and time-consuming, but to having benefited from the present invention
For those skilled in the art of disclosure, this development is only routine task.
Herein, in addition it is also necessary to which explanation is a bit, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings
Apparatus structure and/or the process step closely related with scheme of the invention is illustrate only, and is eliminated and the present invention
The little other details of relation.
As illustrated in the accompanying drawings from 1 to 3 The embodiment provides a kind of double dynamical driving mobile device, including support 1, lead
Rail 2, rotary motion-linear motion conversion mechanism 3, directive wheel 4, mobile platform 5 and motor 6；Support 1 is arranged on fixed flat
On face, guide rail 2 and rotary motion-linear motion conversion mechanism 3 are installed on support 1；Guide rail 2 is two secondary, along the length of support 1
Degree direction parallel arrangement；Rotary motion-linear motion conversion mechanism 3 is two, is arranged in parallel along the length direction of support 1；Move
The bottom of moving platform 5 is provided with multiple directive wheels 4, and the top of mobile platform 5 is provided with two motors 6, and directive wheel 4 is fitted in
On guide rail 2, each motor 6 is hinged with independent rotary motion-linear motion conversion mechanism 3 respectively, two motors 6
Reversely, it is synchronized with the movement.
In addition, according to a kind of implementation, as shown in Figures 2 and 3,4 points of the directive wheel of the bottom of mobile platform 5 is upper and lower two
Part, the directive wheel on top is fitted with above guide rail 2, the directive wheel of bottom and the lower surface 1-1 of support upper rail installation portion
Laminating.The directive wheel on top primarily serves guide effect, and the directive wheel of bottom plays a part of equilibrium torsion torque.
In addition, according to a kind of implementation, as illustrated in the accompanying drawings from 1 to 3, the rotary motion-linear motion conversion mechanism includes
Tooth bar, tooth bar is two parallel arrangements, and each motor 6 is connected by decelerator 7 with a gear 8, gear 8 with it is corresponding
Tooth bar engagement.The rotary motion of motor is eventually converted into the linear motion of mobile platform, can control motor
Speed and torque so as to control the point-to-point speed and the impulsive force in the direction of motion of mobile platform, need impulsive force when
Moving assembly high-speed motion is waited, torque and mobile platform the inertia force in itself provided by motor are carried in the movement direction
For an impulsive force for needs.
In addition, according to a kind of implementation, as shown in Figure 2, the guide rail is semicircle long guideway.
In addition, according to a kind of implementation, as shown in Figure 1, the motor 6 is servomotor, using closed-loop
Control.Precisely, compact conformation, floor space is small, it is easy to tie up for flexible movements, repetitive positioning accuracy and movement locus precision controlling
Shield, is easy to operation.
In addition, according to a kind of implementation, as shown in Figure 1, double dynamical driving mobile device also includes soft limiter 9,
Soft limiter is distributed on a mobile platform, the moving range for limiting mobile platform 5.Mobile platform 5 is moved into soft spacing
Region meeting automatic steady stops, and system forbidden moves platform 5 moves on, and only allows to retract, it is to avoid produce hardware collisions.
Operation principle of the invention：
Mobile platform 5 drives mobile platform 5 to do reciprocating linear along guide rail 2 and transports under two drivings of motor 6
It is dynamic, the position specified is reached with specified speed, acceleration, motor 6 is arranged on the both sides of mobile platform 5, two drivings
Motor must be turned to and conversely just can guarantee that mobile platform 5 is moved toward the direction, and motor uses full closed loop control, be used
Synchronous control technique, dual drive motor is synchronized with the movement, and sync equalizing is exerted oneself, automatic deviation correction, overall driving force enhancing, structure
It is compact, operate steadily, acceleration and deceleration speed is fast and steady, and positioning precision is high, and motor 6 itself can be according to itself stressing conditions
Automatically adjust output torque, it is ensured that the speed and acceleration and the synchronism of movement of the movement of mobile platform 5, platform can be offset
Suffered torque, the both sides of platform motion are provided with the protection of soft limiting position, and mobile platform 5 is moved into soft stop zone can be certainly
Dynamic steady to stop, system forbidden moves platform 5 moves on, and only allows to retract, it is to avoid produce hardware collisions, it is soft it is spacing outside
Hard position limitation protection structure can be additionally provided with, double protection is played.The equipment for being carried on a mobile platform is subject to different directions
Power and torque when, the special construction of guide rail and directive wheel can ensure the trouble-free operation of platform.
Although disclosed implementation method is as above, its content is only to facilitate understand technical side of the invention
Case and the implementation method that uses, are not intended to limit the present invention.Any those skilled in the art to which this invention pertains, not
On the premise of departing from disclosed core technology scheme, any modification can be made in the form and details implemented and is become
Change, but the protection domain that the present invention is limited, must be still defined by the scope of appending claims restriction.
Claims (3)
1. double dynamical driving mobile device, including support（1）, guide rail（2）, rotary motion-linear motion conversion mechanism（3）, lead
To wheel（4）, mobile platform（5）And motor（6）；It is characterized in that：Support（1）On fixed pan, guide rail（2）With
Rotary motion-linear motion conversion mechanism（3）It is installed in support（1）On；Mobile platform（5）On directive wheel is installed（4）, move
Moving platform（5）Top two motors are installed（6）, directive wheel（4）It is fitted in guide rail（2）On, each motor（6）
Respectively with independent rotary motion-linear motion conversion mechanism（3）Connection；Mobile platform（5）The directive wheel of bottom（4）It is divided into
Lower two parts, the directive wheel and guide rail on top（2）Above fit, the directive wheel of bottom and the lower end of support upper rail installation portion
Face（1-1）Laminating, the rotary motion-linear motion conversion mechanism includes tooth bar, and tooth bar is two parallel arrangements, each driving
Motor（6）Pass through decelerator（7）With a gear（8）Connection, gear（8）Engaged with corresponding tooth bar.
2. double dynamical driving mobile device according to claim 1, it is characterised in that：The motor（6）It is servo
Motor, using full closed loop control.
3. double dynamical driving mobile device according to claim 1, it is characterised in that：Double dynamical driving mobile device is also wrapped
Include soft limiter（9）, the distribution of soft limiter on a mobile platform, for limiting mobile platform（5）Moving range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510599804.2A CN105099072B (en) | 2015-09-18 | 2015-09-18 | Double dynamical driving mobile device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510599804.2A CN105099072B (en) | 2015-09-18 | 2015-09-18 | Double dynamical driving mobile device |
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| CN105099072A CN105099072A (en) | 2015-11-25 |
| CN105099072B true CN105099072B (en) | 2017-06-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108306450B (en) * | 2018-01-19 | 2019-11-22 | 源秩科技（上海）有限公司 | Line angle coupling driving mechanism |
| CN109093066B (en) * | 2018-08-20 | 2023-09-22 | 黟县新达机械铸造有限公司 | Small-size sand mixer for casting convenient to adjust ejection of compact flow |
| CN110907209A (en) * | 2019-11-27 | 2020-03-24 | 北京强度环境研究所 | Mobile platform system for carrying test equipment |
| CN112654229B (en) * | 2020-12-22 | 2021-12-10 | 合肥欣奕华智能机器有限公司 | Binding equipment and control method thereof |
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| JP2001294149A (en) * | 2000-04-17 | 2001-10-23 | Anzen Sakudo Kk | Motive power device for cableway |
| DE102012004945B4 (en) * | 2012-03-12 | 2017-10-26 | Cargobeamer Ag | Arrangement with a freight car with fold-out wagon side walls and with swiveling and unlocking devices, as well as goods handling device |
| CN103182897B (en) * | 2013-03-21 | 2015-09-30 | 长沙远大住宅工业集团有限公司 | Paste ceramics machine |
| CN103307885B (en) * | 2013-07-01 | 2015-06-10 | 哈尔滨博实自动化股份有限公司 | Automatic robot hearth opening and blocking device |
| CN104891191A (en) * | 2014-03-07 | 2015-09-09 | 营口金辰机械股份有限公司 | Green brick stacking machine |
| CN104816945B (en) * | 2015-05-13 | 2017-04-05 | 中国东方电气集团有限公司 | A kind of workpiece automatic conveying device |
| CN204938216U (en) * | 2015-09-18 | 2016-01-06 | 哈尔滨博实自动化股份有限公司 | There is the double dynamical driving mobile device of larger load-carrying capacity |
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