CN108161854B - Four-degree-of-freedom platform applied to radiation environment - Google Patents
Four-degree-of-freedom platform applied to radiation environment Download PDFInfo
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- CN108161854B CN108161854B CN201711368445.5A CN201711368445A CN108161854B CN 108161854 B CN108161854 B CN 108161854B CN 201711368445 A CN201711368445 A CN 201711368445A CN 108161854 B CN108161854 B CN 108161854B
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- 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
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- 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
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- 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
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Abstract
The invention discloses a four-degree-of-freedom platform applied to a radiation environment, and relates to the field of radiation protection; the self-adaptive clamping device comprises an X-axis displacement shaft, a Y-axis displacement shaft, a Z-axis displacement shaft, an R-axis rotating mechanism and a self-adaptive clamping mechanism. The X-axis displacement shaft, the Y-axis displacement shaft and the Z-axis displacement shaft are of a fully-closed structure, a stepping motor and an LVDT are fixedly installed at the end part and the side surface respectively, a measuring rod of the LVDT moves along with the moving slide block, so that the actual coordinate parameter of each moving slide block of the displacement shafts is measured, and the controller and the stepping motor form closed-loop control of the position. The front end of the R-axis rotating mechanism is fixedly connected with the self-adaptive clamping mechanism; the self-adaptive clamping mechanism is connected with an output shaft of the R shaft rotating mechanism through a coupler, and the self-adaptive clamping mechanism performs circumferential rotating motion under the driving of the stepping motor. The invention has stronger irradiation resistance, meets the requirements on precision and multi-adaptability, is suitable for clamping workpieces with different shapes and different dimensions, and has adjustable clamping torque.
Description
Technical Field
The invention relates to the field of radiation protection, in particular to a four-degree-of-freedom platform applied to a radiation environment.
Background
At present, when the existing equipment is used for clamping a workpiece and performing fixed-point high-precision moving operation, a grating ruler is generally used for being matched with a motor to perform closed-loop control on the position, as shown in fig. 1, a common photoelectric switch is used for performing starting point limiting, and the grating ruler and the photoelectric switch are easily damaged in an environment with ionizing radiation, so that the normal operation of the equipment is influenced.
In addition, the conventional equipment needs to prepare clamping tools of various specifications aiming at workpieces of different sizes and specifications, so that the cost is increased, and the working efficiency is reduced.
Disclosure of Invention
Aiming at the problems, the invention designs a universal card installing mechanism capable of self-adapting to workpieces with different specifications and sizes, selects an LVDT (differential variable voltage displacement sensor) to replace a grating ruler to be matched with a motor to carry out closed-loop control, and utilizes a mechanical limit switch to replace a photoelectric switch to carry out stroke limit, thereby reducing the number of electronic components of equipment and increasing the irradiation resistance of the electronic components, and particularly relates to a four-degree-of-freedom platform applied to a radiation environment.
The four-degree-of-freedom platform comprises: an X-axis displacement axis, a Y-axis displacement axis, a Z-axis displacement axis, an R-axis rotation mechanism and an adaptive clamping mechanism.
The X-axis displacement axis, the Y-axis displacement axis and the Z-axis displacement axis have the same structure, are respectively positioned on different horizontal layers and are three linear displacement axes; the X-axis displacement shaft is positioned at the lowest part and is vertically connected with the Y-axis displacement shaft through a movable slide block; the Y-axis displacement shaft is connected with the Z-axis displacement shaft through a movable sliding block; meanwhile, the Z-axis displacement shaft is fixedly connected with the R-axis rotating mechanism through a sliding block; the R-axis rotating mechanism moves in the vertical direction along with the Z-direction slide block.
The X-axis displacement shaft, the Y-axis displacement shaft and the Z-axis displacement shaft are of a fully-closed structure, a stepping motor and an LVDT are fixedly installed at the end part and the side surface respectively, a measuring rod of the LVDT moves along with the moving slide block, so that the actual coordinate parameter of each moving slide block of the displacement shafts is measured, and the controller and the stepping motor form closed-loop control of the position.
Each stepping motor drives a respective linear displacement shaft, and the movable sliding block is driven to linearly move along the crossed roller guide rail through the transmission of a precise lead screw; and limit switches are arranged at the starting position and the ending position of the stroke in each direction of the linear displacement shaft, so that the function of stroke limit protection is achieved.
The front end of the R-axis rotating mechanism is fixedly connected with the self-adaptive clamping mechanism; the self-adaptive clamping mechanism is connected with an output shaft of the R shaft rotating mechanism through a coupler, and the self-adaptive clamping mechanism performs circumferential rotating motion under the driving of the stepping motor.
The self-adaptive clamping mechanism comprises a pneumatic clamping device, an air inlet/outlet pipeline and clamping fingers; the pneumatic clamping device is driven by compressed gas, the compressed gas enters the pneumatic clamping device through the gas inlet/outlet pipeline, the internal piston rod is driven to move, and finally the clamping fingers are opened or closed, so that the function of loosening or clamping a clamped workpiece is completed.
Meanwhile, an original point switch and a limit switch are fixedly installed on a front panel of the R-axis rotating mechanism, and the rotating angle of the self-adaptive clamping mechanism is limited.
The invention has the advantages that:
1) the four-degree-of-freedom platform applied to the radiation environment is used for monitoring the position coordinates of each shift axis by adopting the LVDT, and is simpler in structure compared with the existing grating ruler, and stronger in irradiation resistance without photosensitive elements, electronic chips and other elements.
2) The utility model provides a be applied to four degree of freedom platforms under radiation environment, compare in traditional displacement platform, this equipment X all adopts totally enclosed structure to, Y to, Z to straight line displacement axle and R to the rotation axis, can prevent radiating the be infected with of dust, the clearance of being convenient for.
3) The limit switches of the three linear displacement shafts and the R-axis rotating mechanism are all pure mechanical limit switches, compared with a photoelectric switch, the four-degree-of-freedom platform is stronger in irradiation resistance, and each displacement shaft and each rotating shaft are driven by a stepping motor, so that the four-degree-of-freedom platform is better in irradiation resistance and better in servo motor.
4) The utility model provides a four degree of freedom platforms under being applied to radiation environment, through opening or the closure of compressed gas drive centre gripping finger, can adapt to the dress card of unidimensional and different appearance work pieces, and adjust clamping-force through control compressed gas's pressure, prevent that the clamping-force is too big to cause the damage to the work piece.
5) The four-degree-of-freedom platform applied to the radiation environment is verified in practical application, can meet the requirement of radiation resistance, meets the requirements on precision and adaptability, is suitable for clamping workpieces with different shapes and sizes, and is adjustable in clamping torque.
Drawings
FIG. 1 is a schematic diagram of a prior art device employing a grating ruler;
FIG. 2 is a schematic diagram of the overall structure of the four-DOF platform of the present invention;
FIG. 3 is a schematic view of each of the linear displacement axes of the present invention;
FIG. 4 is a schematic cross-sectional view of an LVDT used in the present invention;
FIG. 5 is a schematic view of the adaptive clamping mechanism of the present invention;
FIG. 6 is an exploded view of the R-axis rotary mechanism of the present invention;
fig. 7 is a schematic view of the gripping fingers of the present invention gripping workpieces of different diameter sizes.
In the figure: 1-X axis displacement axis; 2-Y axis displacement axis; 3-Z axis displacement axis; a 4-R axis rotating mechanism; 5, self-adaptive clamping mechanism; 6-a step motor; 7-rotating the handle; 8-LVDT; 9-moving the slide block; 10-precision lead screw; 11-cross roller guide;
401-a dust cover; 402-a coupling; 403-bearing sleeve; 404-origin switch; 405-a rolling bearing; 406-limit switch; 407-step motor; 501-a pneumatic clamping device; 502-intake/exhaust lines; 503-clamping fingers; 801-coil skeleton; 802-primary coil; 803-secondary coil; 804-iron core; 805-measuring bar; 806-shielding the housing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A four-degree-of-freedom platform applied to a radiation environment is shown in figure 2 and comprises an X-axis displacement shaft 1, a Y-axis displacement shaft 2, a Z-axis displacement shaft 3, an R-axis rotating mechanism 4 and an adaptive clamping mechanism 5;
the X-axis displacement shaft 1, the Y-axis displacement shaft 2 and the Z-axis displacement shaft 3 are respectively positioned on different horizontal layers and are three linear displacement shafts, and the three linear displacement shafts can meet the requirement that a clamped workpiece moves in the directions of three coordinate axes of X, Y, Z through bolt splicing; the X-axis displacement shaft 1 is positioned at the lowest part and is vertically connected with the Y-axis displacement shaft 2 through a movable slide block 9; the Y-axis displacement shaft 2 is connected with the Z-axis displacement shaft 3 through a movable slide block 9 and moves together with the movable slide block 9; meanwhile, the Z-axis displacement shaft 3 is fixedly connected with the R-axis rotating mechanism 4 through a sliding block; the R-axis rotating mechanism 4 moves in the vertical direction following the Z-direction slider.
As shown in fig. 3, the X-axis displacement shaft 1, the Y-axis displacement shaft 2 and the Z-axis displacement shaft 3 have the same structure, and are of a totally-enclosed structure, and the end parts are respectively and fixedly provided with a stepping motor 6 and a rotating handle 7; the stepping motor 6 can be rotated by rotating the handle 7; meanwhile, an LVDT8 is fixedly installed on one side of each displacement shaft, each stepping motor 6 drives the respective linear displacement shaft, and the movable sliding block 9 is driven by a precise lead screw 10 to perform linear motion along the crossed roller guide rail 11; the high-precision origin switch and the limit switch are respectively installed at the beginning and the end of the inner stroke of each linear displacement shaft, and the function of stroke limit protection is achieved. Wherein, the limit switch and the origin switch are all purely mechanical limit switches.
As shown in fig. 4, the LVDT8 includes a bobbin 801, a primary coil 802, a secondary coil 803, a core 804, a stylus 805, and a shield 806;
the shield housing 806 is located outermost of the LVDT 8; the inside is wound on an iron core 804 through a coil skeleton 801, a primary coil 802 and two secondary coils 803, a measuring rod 805 is arranged inside the iron core 804, and the actual coordinate parameters of each moving slide 9 are measured through the movement of the moving slide 9 following each linear displacement shaft, and the controller and the stepping motor 6 form closed-loop control of the position.
The front end of the R-axis rotating mechanism 4 is fixedly connected with an adaptive clamping mechanism 5; as shown in fig. 6, the R-axis rotating mechanism 4 includes a dust cover 401; a coupling 402; a bearing housing 403; an origin switch 404; a rolling bearing 405; a limit switch 406 and a stepper motor 407;
the dust cover 401 covers the periphery of the stepping motor 407 and is connected with the bearing 405 through the coupler 402; meanwhile, a bearing 405 is sleeved in the bearing sleeve 403; an origin switch 404 and a limit switch 406 are fixedly installed on the front panel of the R-axis rotating mechanism 4 to limit the rotating angle of the adaptive clamping mechanism 5; the rotation starting position of the self-adaptive clamping mechanism 5 is limited, and the consistency of the zero position of the self-adaptive clamping mechanism 5 every time is ensured due to the high repeated positioning precision of the original point switch.
The input shaft of the adaptive clamping mechanism 5 is connected with the output shaft of the R-axis rotating mechanism 4 through a coupling 402, and the adaptive clamping mechanism 5 performs circumferential rotation motion under the driving of a stepping motor 407.
As shown in fig. 5, the adaptive clamping mechanism includes a pneumatic clamping device 501, an air inlet/outlet pipeline 502 and a pair of clamping fingers 503; the clamping fixture is mainly used for clamping a workpiece; the pneumatic clamping device 501 is driven by compressed gas, the compressed gas enters the pneumatic clamping device 501 through the gas inlet/outlet pipeline 502, the internal piston rod is driven to move, and finally the clamping finger 503 is opened or closed, so that the clamped workpiece is loosened or clamped.
As shown in fig. 7, the adaptive clamping mechanism 5 can meet the clamping requirements of workpieces with different specifications and different shapes; after being firmly clamped by the self-adaptive clamping mechanism 5, the workpiece reaches the required direction through the circumferential rotation of the R-axis rotating mechanism 4, then reaches the appointed place of the workpiece through the linear motion of the X, Y, Z three-coordinate displacement shaft, and can meet the four-degree-of-freedom precise motion of the clamped workpiece.
The invention carries out clamping and fixed-point high-precision moving operation on the workpiece in the environment with ionizing radiation, the process action requires equipment to meet the clamping of workpieces with different specifications and sizes, the moving process is controllable, stable and reliable, the moving position coordinate is known, and the equipment can stably run for a long time in the environment with ionizing radiation.
Claims (3)
1. A four-degree-of-freedom platform applied to a radiation environment is characterized by comprising: an X-axis displacement shaft, a Y-axis displacement shaft, a Z-axis displacement shaft, an R-axis rotating mechanism and an adaptive clamping mechanism;
the X-axis displacement axis, the Y-axis displacement axis and the Z-axis displacement axis have the same structure, are respectively positioned on different horizontal layers and are three linear displacement axes; the X-axis displacement shaft is positioned at the lowest part and is vertically connected with the Y-axis displacement shaft through a movable slide block; the Y-axis displacement shaft is connected with the Z-axis displacement shaft through a movable sliding block, meanwhile, the Z-axis displacement shaft is fixedly connected with the R-axis rotating mechanism through a sliding block, and the R-axis rotating mechanism moves in the vertical direction along with the Z-direction sliding block;
the X-axis displacement shaft, the Y-axis displacement shaft and the Z-axis displacement shaft are of a fully-closed structure, a stepping motor and an LVDT are fixedly installed at the end part and the side surface respectively, a measuring rod of the LVDT moves along with the moving slide block, so that the actual coordinate parameter of the moving slide block of each displacement shaft is measured, and the controller and the stepping motor form closed-loop control of the position;
the front end of the R-axis rotating mechanism is fixedly connected with the self-adaptive clamping mechanism; the self-adaptive clamping mechanism is connected with an output shaft of the R-shaft rotating mechanism through a coupler and is driven by the stepping motor to perform circumferential rotating motion;
the self-adaptive clamping mechanism comprises a pneumatic clamping device, an air inlet/outlet pipeline and clamping fingers; the pneumatic clamping device is driven by compressed gas, the compressed gas enters the pneumatic clamping device through the gas inlet/outlet pipeline and drives the internal piston rod to move, and finally, clamping fingers are opened or closed to finish the function of loosening or clamping a clamped workpiece;
the stepping motors drive respective linear displacement shafts, and the movable sliding blocks are driven to perform linear motion along the crossed roller guide rails through precise lead screw transmission; limit switches are arranged at the starting position and the ending position of the stroke in each direction of the linear displacement shaft, and the function of stroke limit protection is achieved;
an origin switch and a limit switch are fixedly installed on a front panel of the R-axis rotating mechanism, and the rotating angle of the self-adaptive clamping mechanism is limited; the limit switch and the origin switch are all purely mechanical limit switches.
2. The four-degree-of-freedom platform applied to a radiation environment of claim 1, wherein the LVDT comprises a coil framework, a primary coil, a secondary coil, an iron core, a measuring rod and a shielding shell; the shielding shell is positioned at the outermost side of the LVDT; the inside is through coil skeleton and primary coil and two secondary coil windings on the iron core, and the iron core is inside to be the measuring staff, through the removal of the removal slider of following each straight line displacement axle to measure the actual coordinate parameter of each removal slider, and form the closed-loop control of position through controller and step motor.
3. The four-degree-of-freedom platform applied to the radiation environment of claim 1, wherein the R-axis rotating mechanism comprises a dust cover, a coupling, a bearing sleeve, an origin switch, a rolling bearing, a limit switch and a stepping motor;
the dustproof cover covers the periphery of the stepping motor and is connected with the bearing through the coupler; meanwhile, the bearing sleeve is sleeved in the bearing sleeve; an original point switch and a limit switch are fixedly arranged on a front panel of the R-axis rotating mechanism, and the rotating angle of the self-adaptive clamping mechanism is limited; the rotation starting position of the self-adaptive clamping mechanism is limited, and the consistency of the zero position of the self-adaptive clamping mechanism every time is ensured due to the high repeated positioning precision of the original point switch.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017104424800 | 2017-06-13 | ||
| CN201710442480 | 2017-06-13 |
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| Publication Number | Publication Date |
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| CN108161854A CN108161854A (en) | 2018-06-15 |
| CN108161854B true CN108161854B (en) | 2021-03-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109500604B (en) * | 2018-12-06 | 2020-08-11 | 哈尔滨工业大学 | Five-dimensional manual displacement platform, turning auxiliary system comprising five-dimensional manual displacement platform and debugging method of turning auxiliary system |
| CN114216389B (en) * | 2022-02-08 | 2022-04-22 | 北京航空航天大学 | Testing and analyzing device for LVDT displacement sensor |
| CN114950881B (en) * | 2022-08-02 | 2022-11-29 | 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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| CN101241314B (en) * | 2008-03-11 | 2010-06-23 | 上海微电子装备有限公司 | 6 freedom degrees precision positioning station capable of compensating Z-direction position |
| CN102069487B (en) * | 2010-12-22 | 2012-07-04 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102501230A (en) * | 2011-10-28 | 2012-06-20 | 中国工程物理研究院应用电子学研究所 | Multi-degree-of-freedom vibration isolation bearing platform |
| CN103091041B (en) * | 2011-10-28 | 2015-05-20 | 中国科学院沈阳自动化研究所 | Measuring system and measuring method of static balance based on position-restoring principle |
| CN204097568U (en) * | 2014-09-15 | 2015-01-14 | 苏州大学 | A kind of multi-degree-of-freedom workbench |
| CN204868798U (en) * | 2015-07-06 | 2015-12-16 | 深圳市伙伴气动精密机械有限公司 | Poly -dimensional workstation |
| CN106767367A (en) * | 2016-12-08 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | The measuring method and measurement apparatus of heavy caliber primary mirror position and attitude |
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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 |