CN108081248A - A kind of single motor driving precision is to bit platform - Google Patents
A kind of single motor driving precision is to bit platform Download PDFInfo
- Publication number
- CN108081248A CN108081248A CN201810063182.5A CN201810063182A CN108081248A CN 108081248 A CN108081248 A CN 108081248A CN 201810063182 A CN201810063182 A CN 201810063182A CN 108081248 A CN108081248 A CN 108081248A
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- China
- Prior art keywords
- platform
- branch
- rotation branch
- bar shaped
- shaped notch
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- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005183 dynamical system Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
It is accurate to bit platform the invention discloses a kind of driving of single motor, it can effectively solve the problems, such as that more accurate contraposition device drives element of current micro manufacturing industry, high cost, structure be not compact.The precision is made of bit platform fixed platform, moving platform, rotating disk and three rotation branches.The rotation branch bottom is connected with fixed platform with revolute pair, the rotation branch forms revolute pair by decussation roller collar with moving platform and is connected, the line slideway is connected with lower branch by bolt, it is connected with upper branch by threaded hole, the motor is connected by motor fixing frame and fixed platform by bolt, the rotating disk is connected with motor shaft by shaft coupling, and bar shaped notch is provided in the rotating disk.Single motor driving using the above structure is accurate to bit platform, in platform manufacturing process can current high-accuracy to bit platform of very big simplification, can realize more accurate contraposition during the accurate contraposition of platform.
Description
Technical field
This is specially related to manufacturing equipment technical field, and specific profit is related to a kind of single motor driving precision to bit platform.
Background technology
For some seen both at home and abroad at present in relation to high-accuracy to equipment of bit platform etc., alignment system uses parallel machine mostly
Structure, the upper and lower platform of parallel institution are supported with mutually independent Parallel Component, therefore big with structure stabilization, rigidity relatively
Feature；Due to having annular closed chain to constrain between rack and end effector so that parallel institution has the bearing capacity of bigger；Cause
Accumulation and enlarge-effect there is no the error in each joint, therefore parallel institution error is small, precision is high；The drive part of parallel institution
It is easy to install in alleviating exercise load in rack, there is preferable power performance；Parallel-connection structure is tight with service speed height, structure
Gather, rigidity height, large carrying capacity, good dynamic performance the advantages of, but presently, there are it is accurate to bit platform mostly using more
Motor drive motion branch, and parallel institution working space is small, and it is also that accurate contraposition at present is flat that each branch, which easily interferes,
Platform common problem.
The content of the invention
In order to overcome it is existing it is accurate to bit platform using multi-motor driving so that working space be caused to reduce and each
There is interference in chain, this patent is provided a kind of single motor driving precision to bit platform, combined using macroscopic view with microcosmic phase
Drive Control Technique can be good at realizing precision positioning, big stroke drive displacement.The parallel institution configuration that this patent provides,
It can be very good the requirement for the Precision Position Location System that realization both macro and micro is combined.
To achieve these goals, the technical solution adopted in the present invention is：A kind of driving of single motor is accurate to bit platform,
Rotation branch including fixed platform and moving platform and two or more；The rotation branch is included under being mounted on fixed platform
Rotate branch and the upper rotation branch on moving platform；Fixed platform can be relatively rotated with lower rotation branch；Moving platform with it is upper
Rotation branch can relatively rotate；Lower rotation branch is connected with upper rotation branch, and lower rotation branch can phase with upper rotation branch
To sliding；More than one rotating disc；The rotating disc is connected with drive system, for making drive of the rotating disc in drive system
It is rotated under dynamic with drive system；Rotating disc is equipped with more than one bar shaped notch, and upper rotation branch is by bar shaped notch with turning
Moving plate is connected, and the shape of the bar shaped notch is not parallel to any circumferential circular arc of rotating disc, for make upper rotation branch with
The rotation of rotating disc is slided according to desired trajectory；Total quantity of the bar shaped notch is no less than the quantity of the rotation branch,
For rotation branch on each to be made to be installed in corresponding bar shaped notch.
Further, the lower rotation branch is by line slideway and upper rotation branch chain link, for making upper rotation branch
It is slided along line slideway.
Further, the upper rotation branch is connected by decussation roller collar with moving platform.
Further, the upper rotation branch is equipped with axis pin, and upper rotation branch is mounted on by axis pin in bar shaped notch,
The top of the axis pin is connected by decussation roller collar moving platform.
Further, branch and a rotating disc are rotated including three；It is connected in the middle part of the rotating disc with drive system
It connects；Bar shaped notch there are three being set on rotating disc.
Further, the rotating disc includes turntable, the multi-diameter shaft that is arranged in the middle part of turntable and two or more are arranged on
Bar shaped notch on turntable, the mutual position of the bar shaped notch and shape have using the position of multi-diameter shaft as the circumference in the center of circle
The arrangement feature of array.
Further, any diameter of the shape of the bar shaped notch not with turntable coincides, for reducing extruding force
Component prevents that bar shaped notch and upper rotation branch are mutually stuck.
Further, the drive system includes motor and shaft coupling, and motor is connected by shaft coupling with multi-diameter shaft.
Beneficial effects of the present invention are：By the rotating disk for carrying notch rotation branch is driven to do phase by the notch of design
The rotary motion answered, three bar shaped notches are evenly distributed in rotating disk, and the rotation of disk drives upper branch axis pin in bar shaped notch
It slides, and then it is made to swing back and forth, " dead point " occur in bar shaped notch and upper branch axis pin motion process in order to prevent, subtract simultaneously
Bar shaped notch is not designed to diameter parallel to rotating disk by the component of small extruding force, but is designed into certain
Angle.The rotation of upper branch axis pin drives slip of the straight-line guide rail slide block on linear axis, and the benefit so designed is can be with
Accurately change the radius of gyration of upper branch axis pin.Upper branch axis pin is connected by decussation roller collar with moving platform, can be made
Upper mounting plate precisely rotates, while the use of line slideway and decussation roller collar so that accurate greatly simple to the structure of bit platform
Change, working space greatly increases, and also can preferably realize the high precision high rigidity requirement of platform.The rotating disk passes through shaft coupling
It is driven by servomotor, servomotor can accurately control speed, positional precision very much, can convert voltage signal
It is torque and rotating speed with drive control object, rotating disk is driven by servomotor, can accurately control very much turning for turntable
Dynamic angle.
Description of the drawings
Fig. 1 is the overall structure diagram of this patent.
Fig. 2 is the rotation branch schematic diagram of this patent；
Fig. 3 is the rotating disk schematic diagram of this patent；
Fig. 4 is the drive system schematic diagram of this patent.
In figure：1st, fixed platform；2nd, branch is rotated；2-1, lower rotation branch；2-2, line slideway；2-3, upper rotation branch；
2-4, axis pin；2-5, decussation roller collar；3rd, rotating disc；3-1, multi-diameter shaft；3-2, bar shaped notch；3-3, turntable；4th, driving system
System；4-1, motor；4-2, shaft coupling；5th, moving platform.
Specific embodiment
This patent is described further with example below in conjunction with the accompanying drawings, but the present invention is not limited to following implementation
Example：
This patent is related to a kind of single motor driving precision to bit platform, including fixed platform, lower rotation branch, motor, shaft joint, rotation
Turntable, line slideway component, upper rotation branch, decussation roller collar, moving platform composition.The precision alignment system is by allocating
Platform, rotation system and moving platform composition, the fixed platform are connected with lower rotation branch, the line slideway and lower rotation branch phase
Even, the guide rail with it is upper rotation branch be connected, the moving platform with it is upper rotate branch be connected by decussation roller collar, it is described on
The bar shaped notch clearance fit of branch and rotating disk is rotated, rotation branch movement, the rotating disk and servo electricity can be driven
Machine is connected by shaft coupling, and the servomotor is connected by motor retainer.
Further, a kind of single motor driving is accurate to bit platform, including fixed platform, rotates branch, rotating disk, dynamical system
System, moving platform.The moving platform is connected with fixed platform by being rotated up and down branch, the precision positioning be by with fixed platform, dynamic
The rotation branch that platform is connected rotates moving platform by rotating disc spins, and then accurate contraposition purpose.The rotation
Turntable rotation drives and rotates branch by dynamical system and forms, and the dynamical system is made of motor and shaft joint, described turn
Dynamic component is made of rotation rod piece, line slideway and rotating disk, and the lower rotation branch is linked with fixed platform with revolute, described
Upper rotation branch forms revolute pair with moving platform by decussation roller collar and links, and the rotating disk passes through rotation with rotating rod piece
Sophisticated design bar shaped notch is connected on disk.
Specifically, a kind of single motor driving is accurate to bit platform, including fixed platform and moving platform, installs and drives in the middle part of fixed platform
Dynamic system rotates branch under three and pacifies to be equidistantly equipped on the same circumference that the drive shaft of drive system be axle center on fixed platform
Hole is filled, lower rotation branch is installed respectively in each lower rotation branch mounting hole；The lower rotation branch other end is connected with line slideway
It connects, rotation branch is installed on the track of line slideway；Upper rotation branch is connected with axis pin, and axis pin passes through decussation roller collar
In the upper rotation branch mounting hole of moving platform, the upper rotation branch mounting hole is on moving platform by equilateral triangle
It arranges on three vertex；The drive system includes motor and shaft coupling；Motor passes through the ladder on shaft coupling and rotating disc
Axis is connected；It is rotation axis, shape and distance according to the three of circumference array feature distribution that the rotating disc, which is equipped with using multi-diameter shaft,
A bar shaped notch；Axis pin is mounted in the bar shaped notch, for axis pin being made to be limited be subject to bar shaped notch and with rotating disc one
It rises and rotates.
Further, the servomotor is connected with turntable by shaft joint；
Further, the line slideway is connected with lower rotation branch by bolt, is connected with upper rotation branch by threaded hole；
Further, the upper rotation branch is connected with moving platform by decussation roller collar；
Further, rotate upwardly and downwardly branch and be separately mounted to designated position with fixed platform and moving platform；
Further, rotating disk is connected with upper branch by bar shaped notch on disk, and upper rotation branch follows rotation disc spins and moves
It is dynamic.
The present invention operation principle be：
After platform starts, servomotor drives rotating disk to rotate by shaft coupling, and rotating disk, which drives, rotates the movement of branch axis pin,
Upper rotation branch rotates, while line slideway slide unit is driven to move, and then rotates branch in change while change guide rail displacement
Radius of turn, it is upper rotation branch radius change so that decussation roller collar occur certain angle rotation, three intersect rolling
Axis of a cylinder ring angle change causes moving platform that specific rotation occurs, and moving platform is promoted to be rotated according to the track of design, is finally reached
The purpose of precision contraposition.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063182.5A CN108081248B (en) | 2018-01-23 | 2018-01-23 | Single motor drive precision alignment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063182.5A CN108081248B (en) | 2018-01-23 | 2018-01-23 | Single motor drive precision alignment platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108081248A true CN108081248A (en) | 2018-05-29 |
| CN108081248B CN108081248B (en) | 2023-12-08 |
Family
ID=62182528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810063182.5A Active CN108081248B (en) | 2018-01-23 | 2018-01-23 | Single motor drive precision alignment platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081248B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818456A (en) * | 2018-06-25 | 2018-11-16 | 苏州舍勒智能科技有限公司 | A kind of achievable table top overturning to bit platform |
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|---|---|---|---|---|
| US20080166213A1 (en) * | 2007-01-05 | 2008-07-10 | Bradley Hunter | High-speed substrate manipulator |
| CN103672317A (en) * | 2013-06-27 | 2014-03-26 | 江西理工大学 | Accuracy-adjustable lamination-type space three-horizontal-moving-flexibility precision positioning platform |
| CN105003799A (en) * | 2015-06-26 | 2015-10-28 | 中国矿业大学 | Multi-configuration precision positioning platform |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN106346444A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation |
| US20170221376A1 (en) * | 2014-05-08 | 2017-08-03 | Universite Laval | Parallel mechanism with kinematically redundant actuation |
| CN107139162A (en) * | 2017-06-12 | 2017-09-08 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
-
2018
- 2018-01-23 CN CN201810063182.5A patent/CN108081248B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080166213A1 (en) * | 2007-01-05 | 2008-07-10 | Bradley Hunter | High-speed substrate manipulator |
| CN103672317A (en) * | 2013-06-27 | 2014-03-26 | 江西理工大学 | Accuracy-adjustable lamination-type space three-horizontal-moving-flexibility precision positioning platform |
| US20170221376A1 (en) * | 2014-05-08 | 2017-08-03 | Universite Laval | Parallel mechanism with kinematically redundant actuation |
| CN105003799A (en) * | 2015-06-26 | 2015-10-28 | 中国矿业大学 | Multi-configuration precision positioning platform |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| CN106346444A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation |
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN107139162A (en) * | 2017-06-12 | 2017-09-08 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818456A (en) * | 2018-06-25 | 2018-11-16 | 苏州舍勒智能科技有限公司 | A kind of achievable table top overturning to bit platform |
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| Publication number | Publication date |
|---|---|
| CN108081248B (en) | 2023-12-08 |
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