CN108194607B - High-performance automatic driving device - Google Patents

High-performance automatic driving device Download PDF

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Publication number
CN108194607B
CN108194607B CN201711447644.5A CN201711447644A CN108194607B CN 108194607 B CN108194607 B CN 108194607B CN 201711447644 A CN201711447644 A CN 201711447644A CN 108194607 B CN108194607 B CN 108194607B
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China
Prior art keywords
guide rail
sliding block
guide
disposed
screw rod
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CN201711447644.5A
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Chinese (zh)
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CN108194607A (en
Inventor
储建华
高霞
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Wuxi Lingde Automation Technology Co ltd
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Suzhou Keaijia Automation Technology Co ltd
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Priority to CN201711447644.5A priority Critical patent/CN108194607B/en
Publication of CN108194607A publication Critical patent/CN108194607A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H47/00—Combinations of mechanical gearing with fluid clutches or fluid gearing
    • F16H47/02—Combinations of mechanical gearing with fluid clutches or fluid gearing the fluid gearing being of the volumetric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a high-performance automatic driving device, which comprises a rotary driving mechanism; a first guide rail is arranged in the driving cylinder, a first screw rod connected with a driving shaft of the rotary driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; a second guide rail is arranged in the piston cylinder, and a second sliding block is arranged in the second guide rail in a sliding manner; the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end in the first guide rail and the end in the second guide rail and the sliding block, an accommodating cavity is arranged in the first screw rod, a second screw rod is arranged in the accommodating cavity, a third sliding block is sleeved on the second screw rod, and the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block. The invention solves the technical problem that the driving distance of the driving device is inaccurate.

Description

High-performance automatic driving device
Technical Field
The invention relates to the technical field of automatic control, in particular to a high-performance automatic driving device.
Background
The millimeter wave synthetic aperture imaging radiometer is called as a radiometer for short, an antenna array consisting of small-aperture antennas is used for carrying out high-sensitivity measurement on millimeter wave radiation signals of a target scene, a visibility function of the scene is measured through complex correlation operation among array elements, and a brightness and temperature distribution image of the target scene is inverted. Compared with the traditional real-aperture imaging technology, the synthetic aperture imaging technology has the characteristics of good real-time performance, high spatial resolution and the like, can realize high-resolution real-time imaging of hidden metal targets under severe weather conditions such as haze, night and the like, and is widely applied to the fields of military affairs, navigation, medical treatment, traffic safety inspection and the like. The basic structure of the synthetic aperture imaging system is a binary interferometer, and coherent imaging of a target scene can be realized by means of a two-dimensional antenna scanning platform.
The sliding table on the existing two-dimensional antenna scanning platform is generally directly driven by a motor, the motor has a minimum step angle and is rotated by inertia, so that the sliding table can have a minimum moving distance when advancing at every time, and particularly, the sliding table is aimed at working equipment such as a high-precision scanning platform, so that the position of the sliding table and a target position always have a certain deviation, the sliding table can not be accurately positioned at the target position, the scanning position of an antenna installed on the sliding table generates deviation, and finally, the image distortion is realized.
Therefore, there is a high-performance automatic driving device that reduces the minimum step distance for the sliding table to move, so that the sliding table can be located at the target position accurately.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention aims to provide a high-performance automatic driving device, which is characterized in that a third sliding block for fine adjustment and a first sliding block for main adjustment are arranged to match with the moving process of a sliding table for adjustment, the sliding table is driven to move by an oil pressure system, the sliding table is controlled to quickly reach a target position, the moving accuracy of the sliding table is improved, the adjustment time is accelerated, and the technical problem that the driving distance of the driving device is inaccurate is solved.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a high-performance automated driving apparatus including:
the control end of the rotary driving mechanism is connected with a controller of the driving device, the output end of the rotary driving mechanism is provided with a connecting seat, and a driving shaft of the rotary driving mechanism is provided with a telescopic driving mechanism;
the driving cylinder is transversely arranged on the outer side of the connecting seat, a first guide rail is arranged in the driving cylinder, the first guide rail is of a closed structure, a first screw rod connected with the telescopic driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; and
the piston cylinder is overlapped at the upper end of the driving cylinder, a second guide rail is arranged in the piston cylinder, a second sliding block is arranged in the second guide rail in a sliding mode, the upper end of the second guide rail is covered by a cover plate with a groove, a guide rod extends upwards from the groove at the upper end of the second sliding block, a sliding table is arranged at the upper end of the guide rod and is arranged on the cover plate in a sliding mode, a rolling device is arranged in the guide rod, and the movable end of the rolling device is connected to the end head of the groove;
the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end of the first guide rail and the end of the second guide rail and a sliding block, a linear displacement ball grid ruler is arranged in the second guide rail along the length direction, the second sliding block is sleeved on the linear displacement ball grid ruler, a reading head is arranged in the second sliding block and is enveloped at the periphery of the linear displacement ball grid ruler, and the output end of the reading head is connected with the controller;
the first screw rod is internally provided with an accommodating cavity, the front inner side wall of the first screw rod is provided with first teeth, the whole body of the head end of the first screw rod is at least provided with a hole communicated with the accommodating cavity in a penetrating manner, the front part of the accommodating cavity is telescopically provided with a linkage shaft, the linkage shaft protrudes out of the head end of the first screw rod for a certain distance, the head end of the linkage shaft is connected with a telescopic end of the telescopic driving mechanism, the front part of the linkage shaft is provided with second teeth, the second teeth are selectively jointed with the first teeth, and the tail end of the linkage shaft is provided with third teeth;
still set up a second lead screw in the holding cavity, the second lead screw with the universal driving shaft is in on the same straight line, the cover is equipped with a third slider on the second lead screw, the longitudinal section area of second slider is greater than the longitudinal section area of third slider and is less than the longitudinal section area of first slider, the head end of second lead screw is provided with fourth tooth, fourth tooth with third tooth selective joint, under the normal condition, first tooth keeps joining with the second tooth, third tooth with fourth tooth interval certain distance, flexible actuating mechanism's flexible distance is not less than interval between third tooth and the fourth tooth.
Preferably, the rotary driving mechanism is a stepping motor, the telescopic driving mechanism is connected with a driving shaft of the rotary driving mechanism, the telescopic driving mechanism is located in the connecting seat, and the head end of the linkage shaft penetrates through the first guide rail and is in driving connection with a telescopic end of the telescopic driving mechanism.
Preferably, the longitudinal section of the first slider is consistent with the longitudinal section of the inner space of the first guide rail, first guide grooves are formed in two inner side walls of the first guide rail, first guide blocks are correspondingly arranged on the side walls of the first slider, the first guide blocks are slidably arranged in the first guide grooves, a first sealing ring is arranged on the periphery of the end head of the first slider, a first threaded hole is formed in the center of the first slider in a penetrating manner along the length direction, the first slider is sleeved on the first lead screw through the first threaded hole, and a first threaded sealing sleeve is arranged between the first threaded hole and the first lead screw;
the longitudinal section of the second sliding block is consistent with the longitudinal section of the inner space of the second guide rail, second guide grooves are formed in the two inner side walls of the second guide rail, second guide blocks are correspondingly arranged on the side walls of the second sliding block, the second guide blocks are arranged in the second guide grooves in a sliding mode, and second sealing rings are arranged on the periphery of the end head of the second sliding block;
the longitudinal section of the third sliding block is consistent with that of the containing cavity, the containing cavity is a cylindrical cavity, the third sliding block is arranged in the containing cavity in a sliding mode, a third sealing ring is arranged on the periphery of the end of the second sliding block, a second threaded hole is formed in the center of the third sliding block in a penetrating mode along the length direction, the third sliding block is sleeved on the second screw rod through the second threaded hole, and a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod.
Preferably, a through hole is respectively formed in the center of the second sliding block in a penetrating mode along the length direction, a coil of the reading head is arranged on the periphery of the through hole, the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole, and a fourth sealing ring is arranged on the periphery of the end head of the through hole.
Preferably, the piston cylinder is sealed at the upper end of the first guide rail, and the bottom of the end head of the second guide rail is provided with a through hole communicated with the inside of the first guide rail.
Preferably, be provided with the guide way on the apron, the slip table passes through the guide arm slides and sets up on the guide way, the fluting runs through along length direction and sets up the apron center, be provided with third direction recess on the two inside walls of fluting, it is provided with the third guide block to correspond on the guide arm both sides wall, just be provided with sealed cushion in the third direction recess, the third guide block slides and sets up in the sealed cushion.
Preferably, the rolling device is accommodated between the third guide blocks on the two sides, an elastic rolling mechanism is arranged in the rolling device, a plurality of coils of rolling plates are wound on the elastic rolling mechanism, an alignment opening is arranged on the rolling device, the alignment opening is positioned at the same height of the third guide blocks, the width of each rolling plate is between the distance between the third guide blocks on the two sides and the width of the guide rod, the free end of each rolling plate is connected with the end of the corresponding groove through the alignment opening, and the two sides of each rolling plate are slidably arranged in the sealing rubber gasket.
Preferably, first slider both ends are provided with first touch switch, second slider both ends are provided with second touch switch, the slip table both ends are provided with third touch switch, just second guide rail end protrusion is provided with an initial point switch, second guide rail tail end protrusion is provided with a terminal switch, each the switch with the controller is connected.
Preferably, the first lead screw both ends are rotated and are set up first guide rail both ends, set up a location chamber on the inside wall of first lead screw head end, be provided with first bearing on the lateral wall of first lead screw head end, first bearing transversely runs through the location chamber, first tooth sets up the first bearing periphery on the lateral wall of location chamber, the anterior dog that vertically is provided with of holding cavity, the dog center is provided with a third bearing, be provided with the second bearing on the lateral wall of first lead screw tail end.
Preferably, the universal driving shaft rotates flexible setting between first bearing and third bearing, sealed setting between universal driving shaft and the first bearing, universal driving shaft head end protrusion in the first bearing certain distance, just universal driving shaft head end protrusion in first guide rail extends to in the connecting seat with flexible actuating mechanism's flexible end is connected, universal driving shaft periphery cover be equipped with one with location chamber complex locating piece, the setting of second tooth is in on the locating piece lateral wall, between locating piece and the dog a spring is established to the last movable sleeve of universal driving shaft, the second lead screw with the coaxial setting of universal driving shaft, the setting of second lead screw tail end is in the second bearing.
Compared with the prior art, the invention has the following beneficial effects:
1. on the premise of only using one rotary driving mechanism, the main adjusting slide block and the fine adjusting slide block are matched for use, so that the moving precision of the sliding table is improved, the operation is simple and convenient, and the stability is good;
2. the invention has the characteristics of high precision, simple and convenient operation, good stability, high safety and the like, and provides a necessary platform foundation for industrial production and research;
3. the moving process of the sliding table is more accurate and rapid, and the shaking of the sliding table is eliminated.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the construction of the drive cylinder of the present invention;
FIG. 3 is a schematic view of the internal structure of the driving cylinder;
FIG. 4 is a schematic view of the internal structure of the piston cylinder;
FIG. 5 is a schematic view of a piston cylinder top structure;
FIG. 6 is a schematic view of an assembled structure of the slider;
FIG. 7 is a schematic structural view of a first lead screw;
FIG. 8 is a schematic view of the linkage rod engaged with the first lead screw;
FIG. 9 is a schematic view of the linkage rod engaged with the second lead screw;
FIG. 10 is a schematic view of the guide bar;
FIG. 11 is a schematic diagram of a scrolling device;
fig. 12 is a schematic structural view of the first slider.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.
As shown in fig. 1 to 12, the present invention provides a high performance automatic driving device, which includes a rotary driving mechanism, a driving cylinder, a piston cylinder and a sliding table, wherein a first sliding block for main adjustment and a third sliding block for fine adjustment are disposed in the driving cylinder, and other working devices such as a scanning device and the like are disposed on the sliding table and move synchronously with the sliding table to complete scanning operation.
This embodiment will be described by taking the present invention as an example for use in a scanning apparatus.
The whole driving device is arranged on a mounting base 100, wherein the rotary driving mechanism 310 drives the driving cylinder 320 to act, the driving cylinder 320 drives the piston cylinder 420 and the sliding table 700 synchronously mounted on the piston cylinder 420 to move, and finally the driving device completes displacement work and completes scanning work by matching with other working equipment such as scanning equipment mounted on the sliding table 700.
The rotary driving mechanism 310 employs a stepping motor to facilitate precise adjustment of the scanning step for each time. The control end of the rotary drive mechanism 310 is connected to a controller of the drive device, which controls the operation of the rotary drive mechanism 310.
The output end of the rotary driving mechanism 310 is provided with a connecting seat 311, a telescopic driving mechanism 313 is arranged on the driving shaft of the rotary driving mechanism 310, and the telescopic driving mechanism 313 synchronously rotates along with the rotary driving mechanism 310; the telescopic driving mechanism 313 is located in the connecting seat 311.
A driving cylinder 320 is transversely arranged on the mounting base 100 outside the connecting base and transversely located outside the second end of the connecting base 311, the head end of the connecting base 311 is arranged at the second end of the rotary driving mechanism 310, a first guide rail 312 is arranged in the driving cylinder 320, the first guide rail 312 is of a closed structure, an accommodating space is arranged inside the first guide rail 312, a first lead screw 340 connected with the telescopic driving mechanism 313 is arranged in the first guide rail 312 along the length direction, specifically, the first lead screw 340 is connected to the telescopic end of the telescopic driving mechanism 313, the rotary driving mechanism 310 selectively drives the first lead screw 340 to rotate, and the first lead screw 340 is located at the center of the inner space of the first guide rail 312.
The first screw 340 is sleeved with a first slider 330, the first slider 330 is slidably disposed in the first guide rail 312, and when the rotary driving mechanism 310 drives the first screw 340 to rotate, the first slider 330 can be controlled to move back and forth in the first guide rail 312.
The piston cylinder 420 overlaps and sets up the upper end of actuating cylinder 320, simultaneously, for seal first guide rail 312, be provided with second guide rail 412 in the piston cylinder 420, and the inside accommodation space that is provided with of second guide rail 412, it is provided with a second slider 430 to slide in the second guide rail 412, second guide rail 412 upper end is with a apron 500 closing cap that has a fluting 510, follow second slider 430 upper end upwards extend a guide arm 520 in the fluting 510, the guide arm 520 upper end is provided with a slip table 700, just the slip table 700 slides and sets up on the apron 500 to make slip table 700 along with second slider 430 synchronous motion, working facilities such as scanning set up on slip table 700, progressively change the position of slip table 700 can accomplish scanning facilities etc. to the scanning work of target object.
The first screw 340 is a hollow structure, an accommodating cavity is arranged in the first screw 340, the accommodating cavity is a cylindrical cavity structure, which is arranged along the length direction of a first screw rod, a first tooth 344 is arranged on the front inner side wall of the first screw rod 340, an opening 343 communicated with the accommodating cavity is at least arranged on the periphery of the head end of the first screw 340 in a penetrating way, so that the inner space of the first guide rail is communicated with the accommodating cavity, a linkage shaft 210 is telescopically arranged at the front part of the accommodating cavity, the linkage shaft 210 is rotatably arranged in the front space of the accommodating cavity, and can be extended and contracted forwards and backwards, the linkage shaft 210 protrudes out of the head end of the first screw rod 340 by a certain distance, the head end of the linkage shaft 210 is connected with the telescopic end of the telescopic driving mechanism, the rotary driving mechanism 310 drives the linkage shaft 210 to synchronously rotate, and the telescopic driving mechanism drives the linkage shaft 210 to stretch back and forth. Meanwhile, a second tooth 231 is arranged at the front part of the linkage shaft 210, the second tooth 231 is selectively engaged with the first tooth 344, and a third tooth 211 is arranged at the tail end of the linkage shaft 210.
Specifically, two ends of the first lead screw 340 are rotatably disposed at two ends of the first guide rail, and can freely rotate to drive the first slider to move back and forth in the first guide rail, a positioning cavity 345 is formed in the inner side wall of the head end of the first lead screw 340, a first bearing 341 is disposed on the side wall of the head end of the first lead screw 340, the first bearing 341 transversely penetrates through the positioning cavity 345, the first tooth 344 is disposed on the side wall of the positioning cavity 345 at the periphery of the first bearing 341, a stopper 346 is longitudinally disposed at the front of the accommodating cavity, a third bearing is disposed at the center of the stopper 346, and a second bearing 342 is disposed on the side wall of the tail end of the first lead screw 340.
The linkage shaft 210 is rotatably and telescopically arranged between the first bearing 341 and the third bearing, the linkage shaft 210 protrudes out of the third bearing for a certain distance, the linkage shaft 210 and the first bearing 341 are arranged in a sealing manner, the head end of the linkage shaft 210 protrudes out of the first bearing 341 for a certain distance, the head end of the linkage shaft 210 protrudes out of the first guide rail and extends into the connecting seat to be connected with the telescopic end of the telescopic driving mechanism, a positioning block 230 matched with the positioning cavity 345 is sleeved on the periphery of the linkage shaft 210, the second tooth 231 is arranged on the side wall of the positioning block 230, a spring 240 is movably sleeved on the linkage shaft 210 between the positioning block 230 and the stop block 346, the linkage shaft 210 is pushed forwards under the action of the spring 240 to keep the positioning block 230 in the positioning cavity 345, and at the moment, the first tooth and the second tooth are in a joint state, when the rotary driving mechanism drives the linkage shaft to rotate, the linkage shaft drives the first screw rod to synchronously rotate, so that the position of the first sliding block in the first guide rail is changed. The positioning cavity 345 limits the shaking of the positioning block 230 and reduces the shaking of the first lead screw and the linkage shaft.
A second screw rod 220 is further arranged in the accommodating cavity, the second screw rod 220 and the linkage shaft 210 are in the same straight line, a third slider 347 is sleeved on the second screw rod 220, the third slider 347 is attached to the accommodating cavity to move in the accommodating cavity, the longitudinal sectional area of the second slider 430 is larger than that of the third slider 347 and smaller than that of the first slider 330, a fourth tooth 221 is arranged at the head end of the second screw rod 220, the fourth tooth 221 is selectively engaged with the third tooth 211, in a normal state, under the action of a spring 240, the first tooth 344 is engaged with the second tooth 231, the third tooth 211 is spaced from the fourth tooth 221, the telescopic distance of the telescopic driving mechanism is not smaller than the distance between the third tooth 211 and the fourth tooth 221, when the telescopic driving mechanism drives the linkage shaft to move backwards, and the first teeth 344 and the second teeth 231 are separated by the compression spring until the third teeth 211 are jointed with the fourth teeth 221, at the moment, the linkage shaft and the first lead screw are in a separated state, the linkage shaft is linked with the second lead screw, and when the linkage shaft is driven to rotate by the rotary driving mechanism, the linkage shaft drives the second lead screw to synchronously rotate, so that the position of the third slider in the accommodating cavity is changed.
Specifically, the piston cylinder 420 is sealed at the upper end of the first guide rail 312, and the bottom of the end of the second guide rail 412 is provided with a through hole 413 communicated with the inside of the first guide rail 312, so that the end positions of the first guide rail 312 and the second guide rail 412 are communicated with each other, and meanwhile, hydraulic oil is filled between the end of the first guide rail 312 and the end of the second guide rail 412 and the slider, so that the volume of oil between the end of the first guide rail 312 and the slider in the second guide rail 412 and the slider are fixed, and meanwhile, the accommodating cavity is communicated with the first guide rail, so that the accommodating cavity in front of the third slider is also filled with hydraulic oil, and the total oil volume in the whole driving device is fixed. The hydraulic oil capacity in the second guide rail where the second slider 430 is located can be changed by changing the position of the first slider 330 in the corresponding first guide rail or changing the position of the third slider 347 in the corresponding accommodating cavity through the rotary driving mechanism 310, so that the position of the second slider 430 in the second guide rail, namely the position of the sliding table, can be changed.
In the above technical solution, a longitudinal cross section of the first sliding block 330 is consistent with a longitudinal cross section of an inner space of the first guide rail 312, so that the first sliding block 330 is just movably attached to the inner space of the first guide rail 312 to move, the two inner side walls of the first guide rail 312 are provided with first guide grooves 321, the side wall of the first sliding block 330 is correspondingly provided with first guide blocks 335, the first guide blocks 335 are slidably arranged in the first guide grooves 321 to provide guidance for the sliding of the first sliding block 330, and at the same time, the first sliding block 330 is ensured to strictly move linearly along the direction of the first guide rail, so as to reduce a longitudinal offset and finally reduce the longitudinal shaking of the first sliding block, meanwhile, the periphery of the end head of the first sliding block 330 is provided with a first sealing ring 331, and the first sliding block 330 is in sliding contact with the peripheral side walls of the inner space of the first guide rail 312 through the first sealing ring 331, the sealing performance of the contact position of the first sliding block 330 and the inner space of the first guide rail 312 is ensured, and the hydraulic oil between the first sliding block 330 and the end of the inner space of the first guide rail 312 is prevented from leaking between the first sliding block 330 and the tail end of the inner space of the first guide rail 312.
Similarly, the longitudinal section of the second slider 430 is identical to the longitudinal section of the inner space of the second guide rail 412, the two inner side walls of the second guide rail 412 are provided with second guide grooves 421, the side walls of the second slider 430 are correspondingly provided with second guide blocks, the second guide blocks are slidably arranged in the second guide grooves 321, and the periphery of the end head of the second slider 330 is provided with a second sealing ring.
The longitudinal section of the third slider 347 is consistent with the longitudinal section of the accommodating cavity, the accommodating cavity is a cylindrical cavity, the third slider 347 is slidably arranged in the accommodating cavity, and a third sealing ring is arranged on the periphery of the end head of the second slider 430.
According to the invention, the scanning working equipment such as the antenna and the like arranged on the sliding table is indirectly arranged on the ball screw guide rail sliding table through the hydraulic system, the position of the working equipment is adjusted through the hydraulic system, the scanning step pitch is changed through changing the volume of hydraulic oil by the hydraulic system, the minimum step pitch is smaller, the adjustment accuracy is higher, and the deviation between the working equipment such as the antenna and the like and a target position is eliminated, wherein the third sliding block plays a role in fine adjustment of distance, and the first sliding block plays a role in main adjustment of distance, so that the working equipment arranged on the sliding table can accurately reach the target position, and the adjustment time is faster. The hydraulic system absorbs the shake of the rotary driving mechanism during starting and stopping, so that the moving process of working equipment such as the antenna is more accurate and controllable, the shake of the sliding table in the longitudinal direction is eliminated through the hydraulic system, and the scanning imaging quality of scanning working equipment such as the antenna is finally improved.
A first threaded hole 334 is formed in the center of the first sliding block 330 in a penetrating manner along the length direction, the first sliding block 330 is sleeved on the first screw rod 340 through the first threaded hole, and a first threaded sealing sleeve 333 is arranged between the first threaded hole and the first screw rod 340; a first thread sealing sleeve is arranged between the first threaded hole and the first screw rod, so that the sealing effect between the first threaded hole and the first screw rod is achieved, and hydraulic oil is prevented from stretching into the first threaded hole.
A second threaded hole is formed in the center of the third sliding block 347 in a penetrating mode along the length direction, the third sliding block 347 is sleeved on the second screw rod 220 through the second threaded hole, a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod 220, the second threaded sealing sleeve plays a role in sealing between the second threaded hole and the second screw rod, and hydraulic oil is prevented from stretching into the second threaded hole.
In the above technical solution, a linear displacement ball grid ruler 440 is arranged in the second guide rail 412 along the length direction, the second slider 430 is sleeved on the linear displacement ball grid ruler 440, a reading head is arranged in the second slider 430, the reading head is enveloped at the periphery of the linear displacement ball grid ruler 440, the output end of the reading head is connected with a controller of the moving device, the linear displacement ball grid ruler 440 is of a hollow structure and is filled with a high-precision magnetic steel ball, the linear displacement ball grid ruler 440 provides a guiding effect for the movement of the second slider 430, and meanwhile, the linear displacement ball grid ruler 440 is used for measuring the moving distance and the position of the linear displacement ball grid ruler 440, and when the reading head moves along with the second slider 430, the moving distance and the position of the third slider on the linear displacement ball grid ruler 440 can be read, that is the moving distance and the position of the sliding table can be known. The invention adopts the linear displacement ball grid to measure the moving distance of the working equipment such as scanning equipment and the like, thereby improving the measurement precision, simplifying the structure of the scanning device and improving the measurement reliability.
In the technical scheme, a through hole is formed in the center of the second sliding block 430 in a penetrating mode along the length direction, the coil of the reading head is arranged on the periphery of the through hole, the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole, a fourth sealing ring is arranged on the periphery of the end head of the through hole, the sealing effect between the through hole and the linear displacement ball grid ruler 440 is achieved, and hydraulic oil is prevented from extending into the through hole.
The cover plate 500 is provided with a guide groove 540, the direction of the guide groove 540 is consistent with the length direction of the second guide rail, the sliding table 700 is arranged on the guide groove 540 through the guide rod 520 in a sliding manner, so that the sliding of the sliding table 700 is guided, meanwhile, the sliding table 700 is ensured to strictly move linearly along the length direction of the second guide rail, the longitudinal offset is reduced, and finally, the longitudinal shaking of the sliding table 700 is reduced, the groove 510 penetrates through the center of the cover plate 500 along the length direction, third guide grooves are formed in two inner side walls of the groove 510, third guide blocks 521 are correspondingly arranged on two side walls of the guide rod 520, a sealing rubber gasket is arranged in each third guide groove and transversely protrudes out of the third guide groove for a certain distance, the third guide blocks 521 are arranged in the sealing rubber gasket in a sliding manner, so that the contact position between the guide rod 520 and the groove 510 is ensured to be sealed, and hydraulic oil between the second sliding block and the end head of the inner space of the second guide rail is prevented from leaking out of the groove.
A rolling device 530 is arranged in the guide rod 520, and the movable end of the rolling device 530 is connected to the end of the slot 510. Specifically, the rolling device 530 is accommodated between the third guide blocks 521 at two sides, an elastic rolling mechanism 533 is arranged in the rolling device 530, a plurality of rolling plates 531 are wound on the elastic rolling mechanism 533, the rolling plates 531 are wound on the periphery of the elastic rolling device 533, the rolling plates 531 keep a contraction state under the elastic force of the elastic rolling device 533, an alignment opening 532 is arranged on the rolling device 530, the alignment opening 532 is located at the same height of the third guide blocks 521, meanwhile, the width of the rolling plates 531 is between the distance between the third guide blocks 521 at two sides and the width of the guide rod 520, as shown in the figure, the alignment opening 532 is arranged between the third guide blocks 521 at two sides, the third guide blocks 521 at two sides are arranged in the fourth guide groove, because the width of the open groove 510 is consistent with the width of the guide rod, the width of the rolling plates 531 is greater than the width of the open groove 510, so that both sides of the rolled plate 531 are also arranged in the fourth guide groove to seal the groove.
The free end of the rolling plate 531 is aligned through the alignment opening 532 and then connected to the end of the open groove 510, when the rolling device 530 moves along with the guide rod, the rolling plate 531 is pulled out, and two sides of the rolling plate 531 are slidably disposed in the sealing rubber gasket. Specifically, after the rolling plate 531 is pulled out, the two sides of the rolling plate are arranged in the sealing rubber mat in a sliding mode, the rolling plate is sealed with the groove through the sealing rubber mat, when the second sliding block slides under the action of force, the guide rod is driven to move in the groove, the guide rod is arranged in the groove in a sealing mode, the groove between the guide rod and the end head of the second guide rail is pulled out in a sealing mode, and therefore the situation that hydraulic oil between the second sliding block and the end head of the inner space of the second guide rail leaks out of the groove is avoided.
First slider 330 both ends are provided with first touch switch 332, second slider 430 both ends are provided with second touch switch, slip table 700 both ends are provided with third touch switch 710, just second guide rail end protrusion is provided with an initial point switch 640, second guide rail tail end protrusion is provided with a terminal switch 360, each the switch with the controller is connected.
Specifically, the second guide rail end is provided with first baffle 650, origin switch 640 sets up on first baffle 650, the second guide rail tail end is provided with second baffle 370, terminal switch 360 sets up on second baffle 370, touch switch produces contact signal, send to in the controller, corresponding slider of controller control or slip table stop motion, namely touch switch is used for restricting the removal stroke of slider, avoid slider and guide rail end or tail end direct impact, origin switch 640 and terminal switch 360 are used for carrying out the calibration of origin and terminal to the removal route of slip table, improve scanning device's removal precision, eliminate the accumulative total error of removal stroke.
In the above technical solution, the longitudinal sectional area of the second slider 430 is larger than the longitudinal sectional area of the third slider 347 and smaller than the longitudinal sectional area of the first slider 330, and when the first slider is driven to move independently, the volume of the hydraulic oil changed per unit stroke is the largest; when the second sliding block moves, the volume of the hydraulic oil changed in unit stroke is less than that of the hydraulic oil; when the third sliding block is driven to move independently, the volume of the hydraulic oil changed in unit stroke is the minimum; that is, when the first slider is driven to move by a unit stroke, the moving distance of the second slider is greater than the unit moving distance, and when the third slider is driven to move by a unit stroke alone, the moving distance of the second slider is less than the unit moving distance.
According to the invention, the third sliding block moves independently to be used for fine adjustment of the volume of hydraulic oil in the second guide rail, namely fine adjustment of the position of the second sliding block, so that the third sliding block acts as a fine adjustment switch independently, fine adjustment of the position is carried out through the volume of the hydraulic oil, the adjustment step pitch is smaller, and the adjustment distance is more accurate and controllable. First slider is used for carrying out the primary control to the inside hydraulic oil capacity of second guide rail, namely carries out the primary control to the position of second slider, therefore the whole effect that acts as a primary control switch of first slider, carries out the regulation of position through the volume of hydraulic oil, and the accommodation process is rapider.
The position and the moving distance of the sliding table are changed to realize scanning imaging of a target object, specifically, the controller controls the linkage shaft to be jointed with the first lead screw, the moving stroke of the second slide block can be controlled by controlling the moving stroke of the first slide block through the rotary driving mechanism, the first slide block plays a role in master regulation of the position of the second slide block, when the linkage shaft is controlled to be jointed with the second lead screw, the moving stroke of the second slide block can be controlled by controlling the moving stroke of the third slide block through the rotary driving mechanism, the third slide block independently plays a role in fine regulation of the position of the sliding table, the first slide block plays a role in master regulation of the position, the second slide block is rapidly moved to the vicinity of the target position by controlling the moving stroke of the first slide block, then the second slide block is accurately moved to the target position by independently controlling the moving stroke of the third slide block, the position regulation speed of the sliding table is accelerated, and the moving, thereby improving the scanning quality of the scanning device.
Meanwhile, the moving position and the moving distance of the second sliding block are fed back through the linear displacement ball grid, and the second sliding block and the third sliding block are used for controlling the movement of the first sliding block and the third sliding block in a feedback mode. The operation is accumulated, position deviation can be avoided, once the position of the second sliding block deviates from a target set position, for example, the position of the second sliding block does not reach the target position, at the moment, the controller calculates the deviation distance of the second sliding block, because the longitudinal sectional areas of the first guide rail, the second guide rail and the inner space of the containing cavity are fixed, the deviation volume of hydraulic oil in the inner space of the second guide rail can be calculated, the first sliding block or the third sliding block of the controller independently acts, the hydraulic oil quantity in the inner space of the second guide rail is adjusted, and after the hydraulic oil in the inner space of the second guide rail obtains the hydraulic oil with the deviation volume, the second sliding block can be driven to be linked with the sliding table to reach the specified target position, so that displacement deviation is eliminated in time, and the scanning precision.
In order to verify the effect of the platform, a 5mW laser is used as a testing tool, the 5mW laser is arranged on the sliding table, and the stability of the system during operation and the jitter condition of the sliding table during operation are tested. And recording the set running distance and the actual running distance of the sliding table during running, and testing the accuracy of the system. Finally, the test system outputs a waveform, and the pulse is sent to a subsequent radiometer measurement system to be used as a prompt signal of the radiometer measurement system to analyze the accuracy of the radiometer measurement system.
Tests prove that the shaking of the sliding table during the operation of the system is very small, and the shaking in the vertical direction is much smaller than that in the horizontal direction, which shows that the shaking caused by the operation of the motor is very small and the system is very stable after being absorbed by a hydraulic system. Meanwhile, the error between the set position and the actual position of the system operation is almost zero, so that the system operation accuracy is high.
According to the invention, on the premise of only using one rotary driving mechanism, the main adjusting slide block and the fine adjusting slide block are matched for use, so that the moving precision of the sliding table is improved, the operation is simple and convenient, and the stability is good; meanwhile, the method has the characteristics of high precision, simplicity and convenience in operation, good stability, high safety and the like, and provides a necessary platform foundation for industrial production and research; through the main harmonic and fine adjustment control, the moving process of the sliding table is more accurate and rapid, and the shaking of the sliding table is eliminated.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. A high performance automated actuation device, comprising:
the control end of the rotary driving mechanism is connected with a controller of the driving device, the output end of the rotary driving mechanism is provided with a connecting seat, and a driving shaft of the rotary driving mechanism is provided with a telescopic driving mechanism;
the driving cylinder is transversely arranged on the outer side of the connecting seat, a first guide rail is arranged in the driving cylinder, the first guide rail is of a closed structure, a first screw rod connected with the telescopic driving mechanism is arranged in the first guide rail along the length direction, and a first sliding block is sleeved on the first screw rod; and
the piston cylinder is overlapped at the upper end of the driving cylinder, a second guide rail is arranged in the piston cylinder, a second sliding block is arranged in the second guide rail in a sliding mode, the upper end of the second guide rail is covered by a cover plate with a groove, a guide rod extends upwards from the groove at the upper end of the second sliding block, a sliding table is arranged at the upper end of the guide rod and is arranged on the cover plate in a sliding mode, a rolling device is arranged in the guide rod, and the movable end of the rolling device is connected to the end head of the groove;
the first guide rail and the second guide rail are communicated with each other at end positions, hydraulic oil is filled between the end of the first guide rail and the end of the second guide rail and a sliding block, a linear displacement ball grid ruler is arranged in the second guide rail along the length direction, the second sliding block is sleeved on the linear displacement ball grid ruler, a reading head is arranged in the second sliding block and is enveloped at the periphery of the linear displacement ball grid ruler, and the output end of the reading head is connected with the controller;
the first screw rod is internally provided with an accommodating cavity, the front inner side wall of the first screw rod is provided with first teeth, the whole body of the head end of the first screw rod is at least provided with a hole communicated with the accommodating cavity in a penetrating manner, the front part of the accommodating cavity is telescopically provided with a linkage shaft, the linkage shaft protrudes out of the head end of the first screw rod for a certain distance, the head end of the linkage shaft is connected with a telescopic end of the telescopic driving mechanism, the front part of the linkage shaft is provided with second teeth, the second teeth are selectively jointed with the first teeth, and the tail end of the linkage shaft is provided with third teeth;
a second screw rod is further arranged in the accommodating cavity, the second screw rod and the linkage shaft are in the same straight line, a third sliding block is sleeved on the second screw rod, the longitudinal sectional area of the second sliding block is larger than that of the third sliding block and smaller than that of the first sliding block, a fourth tooth is arranged at the head end of the second screw rod and selectively jointed with the third tooth, the first tooth and the second tooth are kept jointed in a normal state, the third tooth and the fourth tooth are spaced at a certain distance, and the telescopic distance of the telescopic driving mechanism is not smaller than that between the third tooth and the fourth tooth;
the center of the second sliding block is respectively provided with a through hole in a penetrating way along the length direction, the coil of the reading head is arranged on the periphery of the through hole, and the second sliding block is sleeved on the linear displacement ball grid ruler through the through hole.
2. The high-performance automatic driving device according to claim 1, wherein the rotary driving mechanism is a stepping motor, the telescopic driving mechanism is connected to a driving shaft of the rotary driving mechanism, the telescopic driving mechanism is located in the connecting seat, and a head end of the linkage shaft penetrates through the first guide rail and is in driving connection with a telescopic end of the telescopic driving mechanism.
3. The high-performance automatic driving device according to claim 2, wherein a longitudinal cross section of the first slider is consistent with a longitudinal cross section of the inner space of the first guide rail, first guide grooves are formed on two inner side walls of the first guide rail, first guide blocks are correspondingly arranged on the side walls of the first slider, the first guide blocks are slidably arranged in the first guide grooves, a first sealing ring is arranged on the periphery of an end head of the first slider, a first threaded hole is formed in the center of the first slider along the length direction in a penetrating manner, the first slider is sleeved on the first screw rod through the first threaded hole, and a first threaded sealing sleeve is arranged between the first threaded hole and the first screw rod;
the longitudinal section of the second sliding block is consistent with the longitudinal section of the inner space of the second guide rail, second guide grooves are formed in the two inner side walls of the second guide rail, second guide blocks are correspondingly arranged on the side walls of the second sliding block, the second guide blocks are arranged in the second guide grooves in a sliding mode, and second sealing rings are arranged on the periphery of the end head of the second sliding block;
the longitudinal section of the third sliding block is consistent with that of the containing cavity, the containing cavity is a cylindrical cavity, the third sliding block is arranged in the containing cavity in a sliding mode, a third sealing ring is arranged on the periphery of the end of the second sliding block, a second threaded hole is formed in the center of the third sliding block in a penetrating mode along the length direction, the third sliding block is sleeved on the second screw rod through the second threaded hole, and a second threaded sealing sleeve is arranged between the second threaded hole and the second screw rod.
4. The high performance automated driving apparatus of claim 3, wherein the end of the through hole is provided with a fourth sealing ring at its periphery.
5. The high-performance automatic driving device according to claim 4, wherein the piston cylinder is sealed at the upper end of the first guide rail, and a through hole communicated with the inside of the first guide rail is formed at the bottom of the end head of the second guide rail.
6. The high-performance automatic driving device according to claim 5, wherein a guide groove is formed in the cover plate, the sliding table is slidably disposed in the guide groove through the guide rod, the slot is formed in the center of the cover plate and penetrates through the length direction, third guide grooves are formed in two inner side walls of the slot, third guide blocks are correspondingly disposed on two side walls of the guide rod, a sealing rubber pad is disposed in each third guide groove, and the third guide blocks are slidably disposed in the sealing rubber pads.
7. The high performance automated driving device according to claim 6, wherein the rolling device is accommodated between the third guiding blocks on two sides, a flexible rolling mechanism is disposed in the rolling device, a plurality of turns of rolling plates are wound on the flexible rolling mechanism, an alignment opening is disposed on the rolling device, the alignment opening is located at the same height as the third guiding blocks, the width of the rolling plate is between the distance between the third guiding blocks on two sides and the width of the guiding rod, the free end of the rolling plate is connected to the end of the slot through the alignment opening, and two sides of the rolling plate are slidably disposed in the sealing rubber pad.
8. The high-performance automatic driving device according to claim 7, wherein a first touch switch is disposed at two ends of the first sliding block, a second touch switch is disposed at two ends of the second sliding block, a third touch switch is disposed at two ends of the sliding table, an origin switch is disposed at the end of the second guiding rail in a protruding manner, an end switch is disposed at the tail end of the second guiding rail in a protruding manner, and each of the switches is connected with the controller.
9. The high-performance automatic driving device according to claim 8, wherein the two ends of the first lead screw are rotatably disposed at the two ends of the first guide rail, a positioning cavity is formed on an inner side wall of the head end of the first lead screw, a first bearing is disposed on the side wall of the head end of the first lead screw, the first bearing transversely penetrates through the positioning cavity, the first teeth are disposed on a side wall of the positioning cavity at the periphery of the first bearing, a stopper is longitudinally disposed at the front of the receiving cavity, a third bearing is disposed at the center of the stopper, and a second bearing is disposed on the side wall of the tail end of the first lead screw.
10. The high-performance automatic driving device according to claim 9, wherein the linkage shaft is rotatably and telescopically disposed between a first bearing and a third bearing, the linkage shaft and the first bearing are sealingly disposed, a head end of the linkage shaft protrudes from the first bearing for a certain distance, the head end of the linkage shaft protrudes from the first guide rail and extends into the connecting seat to be connected to a telescopic end of the telescopic driving mechanism, a positioning block is sleeved on an outer periphery of the linkage shaft and is matched with the positioning cavity, the second tooth is disposed on a side wall of the positioning block, a spring is movably sleeved on the linkage shaft between the positioning block and the stop block, the second lead screw is coaxially disposed with the linkage shaft, and a tail end of the second lead screw is disposed in the second bearing.
CN201711447644.5A 2017-12-27 2017-12-27 High-performance automatic driving device Active CN108194607B (en)

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Effective date of registration: 20230717

Address after: No. 8, Songshan Industrial Park, Houqiao, Xishan District, Wuxi City, Jiangsu Province, 214000

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Patentee before: SUZHOU KEAIJIA AUTOMATION TECHNOLOGY Co.,Ltd.