CN111716108B - Platform capable of realizing multi-angle precise adjustment and working method thereof - Google Patents
Platform capable of realizing multi-angle precise adjustment and working method thereof Download PDFInfo
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- CN111716108B CN111716108B CN202010523933.4A CN202010523933A CN111716108B CN 111716108 B CN111716108 B CN 111716108B CN 202010523933 A CN202010523933 A CN 202010523933A CN 111716108 B CN111716108 B CN 111716108B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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Abstract
The invention provides a platform capable of realizing multi-angle precise adjustment and a working method thereof. According to the invention, through the combination of the vertical adjusting sub-platform capable of rotating along the horizontal shaft and the horizontal adjusting sub-platform capable of rotating along the vertical shaft, the multi-angle adjustment of the whole platform is realized; the corresponding sub-platform is driven to rotate by adopting the screw rod, so that the rotation angle can be precisely controlled; the platform can be used in any field needing precise control of the rotation angle, especially the field needing remote alignment or calibration, and has wide application range.
Description
Technical Field
The invention relates to the technical field of transmission mechanisms, in particular to a platform capable of realizing multi-angle precise adjustment and a working method thereof.
Background
To realize the multi-angle of platform and rotate, current mode is usually through motor direct drive, and this kind of driving method precision is low, can't satisfy the accurate control to turned angle, especially to the equipment that needs remote alignment or calibration, the deviation of turned angle millicentimetre all can cause the condition of "thousandths of millicentimetre of difference" to take place, how the turned angle of accurate control platform is the problem that awaits the solution at present.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly creatively provides a platform capable of realizing multi-angle precise adjustment and a working method thereof.
In order to achieve the purpose, the invention provides a platform capable of achieving multi-angle precise adjustment, which comprises a base, wherein a vertical adjusting sub-platform capable of rotating along a horizontal shaft is arranged on the base, a horizontal adjusting sub-platform capable of rotating along a vertical shaft is arranged on the vertical adjusting sub-platform, driving mechanisms are arranged on the base and the vertical adjusting sub-platform, and the two driving mechanisms can respectively drive the vertical adjusting sub-platform and the horizontal adjusting sub-platform to rotate by utilizing respective screw rods, so that multi-angle adjustment of the horizontal adjusting sub-platform is achieved.
In a preferred embodiment of the present invention, the driving mechanism further includes a transmission member, the transmission member is slidably mounted on the corresponding sub-platform and is respectively rotatably connected to the nuts of the corresponding lead screws, and a sliding direction of the transmission member forms an included angle with the corresponding lead screws; a nut proximity switch is arranged on the supporting seat for supporting the screw rod, and the signal output end of the nut proximity switch is connected with the nut proximity signal input end of the controller;
when the screw rod rotates, the nut is driven to move linearly along the screw rod, the nut drives the transmission piece to slide on the sub-platform and simultaneously drives the sub-platform to rotate, and therefore the sub-platform is driven to rotate through the screw rod. By adopting the structure, the driving mechanism realizes the precise rotation of the sub-platform driven by the screw rod through a smart transmission device; the loss of force in the transmission process is small, and the transmission efficiency is high; the structure is stable and reliable, the acquisition is easy, and the cost is low.
In a preferred embodiment of the present invention, the rotation plane of each sub-platform, the sliding plane between the transmission member and the corresponding sub-platform, and the central axis of the corresponding screw rod are parallel to each other. By adopting the structure, the device is reasonable in arrangement, stable and reliable in mounting structure and beneficial to efficient force transmission.
In a preferred embodiment of the present invention, a horizontal axis of the vertical adjustment sub-platform intersects with a vertical axis of the horizontal adjustment sub-platform, a spherical hinge is disposed at an intersection point of the horizontal axis and the vertical axis, the spherical hinge is mounted on the base through a limit shaft penetrating through a center of the horizontal adjustment sub-platform, an outer cover is disposed outside the spherical hinge, an upper end of the outer cover is fixedly connected with a ball seat of the spherical hinge, a lower end of the outer cover is fixedly connected with the horizontal adjustment sub-platform, and an annular gap is formed between the horizontal adjustment sub-platform and the limit shaft. The structure more than adopting has effectively improved the equilibrium of platform, makes the platform more steady when rotating, and simultaneously, spacing axle plays spacing effect to vertical regulation sub-platform.
In a preferred embodiment of the present invention, the vertical regulator platform is installed on a first arc-shaped guide rail of the base, the vertical regulator platform includes two arc-shaped support frames which are symmetrical in front and back, two ends of the two arc-shaped support frames are respectively connected with a horizontal mounting plate, and the two arc-shaped support frames are respectively installed on corresponding sub-guide rails of the first arc-shaped guide rail;
the horizontal adjusting sub-platform is installed on a second arc-shaped guide rail of the vertical adjusting sub-platform, two sub-guide rails of the second arc-shaped guide rail are respectively arranged on two horizontal installation plates, the horizontal adjusting sub-platform is horizontally arranged, and the left end and the right end of the horizontal adjusting sub-platform are respectively installed on the corresponding sub-guide rails of the second arc-shaped guide rail. By adopting the structure, the mounting structure of each sub-platform is stable and reliable, the supporting performance is good, and the stability of the platform during rotation is effectively ensured.
In a preferred embodiment of the present invention, a screw rod of one of the driving mechanisms is disposed between two arc-shaped support frames, first slide rails are respectively disposed on opposite sides of the two arc-shaped support frames, the two first slide rails are arranged in parallel, a nut of the screw rod and the two first slide rails are respectively connected through a transmission member, and the screw rod is tangent to the first arc-shaped guide rails;
the screw rod of the other driving mechanism is arranged on one horizontal mounting plate, two parallel second slide rails are arranged on the horizontal adjusting sub-platform and are positioned between the screw rod and the corresponding second arc-shaped guide rail, the nut of the screw rod is also connected with the second slide rails through a transmission part, and the screw rod is tangent to the second arc-shaped guide rail. By adopting the structure, the sub-platforms are ensured to be stressed evenly and operate stably when rotating; the screw rod is tangent to the arc-shaped guide rail, so that the transmission efficiency is higher, and the force loss is reduced.
In a preferred embodiment of the present invention, the nut is provided with a connecting shaft, the transmission member is provided with a mounting hole which is matched with a shaft hole of the connecting shaft, and the nut is rotatably mounted in the mounting hole of the transmission member through the connecting shaft and is provided with a bearing. By adopting the structure, the mounting structure is stable and reliable, the friction force between the nut and the transmission part is reduced, and the transmission efficiency is improved.
In a preferred embodiment of the invention, the screws are all ball screws. By adopting the structure, the roller screw rod has high precision and high efficiency.
In a preferred embodiment of the present invention, an equipment mounting seat is disposed on an end of the horizontal adjustment sub-platform away from the driving mechanism. By adopting the structure, the equipment mounting seat can be used for mounting equipment.
In a preferred embodiment of the invention, a counter for counting the number of rotation turns of a driving shaft of a driving motor for driving the screw rod to rotate is arranged on the supporting seat, a counting output end of the counter is connected with a counting input end of the controller, and a forward and reverse rotation signal control end of the driving motor is connected with a forward and reverse rotation signal output end of the controller. And the travel displacement of the nut on the screw rod is accurately controlled.
The invention also discloses a working method of the platform capable of realizing multi-angle precise adjustment, which comprises the following steps:
s1, initializing the system;
s2, inputting a horizontal adjusting sub-platform command and a vertical adjusting sub-platform command;
and S3, the controller controls the first driving motor and the second driving motor to work, so that the horizontal adjusting sub-platform and the vertical adjusting sub-platform can be adjusted.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, establishing an XYZ coordinate system:
taking a point A on the base as an origin of an XYZ coordinate system; the method for taking the point A comprises the following steps:
s111, performing orthographic projection of the first screw rod on the base to obtain a line segment B;
s112, performing orthographic projection of the second screw rod on the base to obtain a line segment C;
s113, making a vertical bisector for the line segment B obtained in the step S111 to obtain a straight line D;
s114, making a vertical bisector on the line segment C obtained in the step S112 to obtain a straight line E;
s115, the intersection point of the straight line D and the straight line E is the origin of an XYZ coordinate system;
s12, obtaining the position coordinate of the current equipment mounting seat, if the position coordinate of the current equipment mounting seat is (X)1,Y1,Z1) The coordinates of the starting point are (X)0,Y0,Z0)；
S13, if (Z)1-Z0) If the rotation number of the driving shaft of the second driving motor is more than 0, the controller sends a positive rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the rotation number of the driving shaft of the second driving motor is as follows:
wherein, L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of the driving shaft of the second driving motor, n represents the number of rotation turns of the driving shaft of the second driving motor, and k represents the ratio of the number of rotation turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)1-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a reverse rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the opposite direction of the second driving motor:
s14, if (X)1-X0) > 0 and (Y)1-Y0) If the rotation number of the driving shaft of the first driving motor is more than 0, the controller sends a positive rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the rotation number of the driving shaft of the first driving motor is as follows:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of rotation turns of the driving shaft of the first driving motor, and k' represents the ratio of the number of rotation turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)1-X0) > 0 and (Y)1-Y0) If the number of the rotation turns of the driving shaft of the first driving motor is less than 0, the controller sends a reverse rotation control signal to the first driving motor to control the nut on the first screw rod to move in the opposite direction of the first driving motor:
the step S3 includes the following steps:
s31, acquiring the coordinates of the device mounting seat to be rotated to the position, if the coordinates of the device mounting seat to be rotated to the position are (X)2,Y2,Z2) The coordinates of the starting point are (X)0,Y0,Z0)；
S32, if (Z)2-Z0) If the number of the to-be-rotated circles of the driving shaft of the second driving motor is more than 0, the controller sends a reverse control signal to the second driving motor to control the nut on the second screw rod to move in the direction opposite to the direction of the second driving motor:
wherein L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of a driving shaft of the second driving motor, n' represents the number of turns to be rotated of the driving shaft of the second driving motor, and k represents the ratio of the number of turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)2-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a forward rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the number of the rotation turns of the driving shaft of the second driving motor is as follows:
s33, if (X)2-X0) > 0 and (Y)2-Y0) If the number of the to-be-rotated circles of the driving shaft of the first driving motor is more than 0, the controller sends a reverse control signal to the first driving motor to control the nut on the first screw rod to move in the direction opposite to the direction of the first driving motor:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of turns to be rotated of the driving shaft of the first driving motor, and k' represents the ratio of the number of turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)2-X0) > 0 and (Y)2-Y0) If the number of the turns to be rotated of the driving shaft of the first driving motor is less than 0, the controller sends a forward rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the number of the turns to be rotated of the driving shaft of the first driving motor is as follows:
in a preferred embodiment of the present invention, when the controller receives a signal output by the first proximity switch of the nut, the controller sends a reverse rotation stopping signal to the first driving motor, and then the controller can only send a forward rotation signal to the first driving motor;
when the controller receives a signal output by the second proximity switch of the nut, the controller sends a forward rotation stopping signal to the first driving motor, and then the controller can only send a reverse rotation signal to the first driving motor;
when the controller receives a signal output by the third proximity switch of the nut, the controller sends a reverse rotation stopping signal to the second driving motor, and then the controller can only send a forward rotation signal to the second driving motor;
when the controller receives a signal output by the fourth proximity switch of the nut, the controller sends a forward rotation stopping signal to the second driving motor, and then the controller can only send a reverse rotation signal to the second driving motor. Prevent that the nut on the lead screw from reaching the supporting seat and wearing parts.
In summary, due to the adoption of the technical scheme, the invention can: 1. the combination of a vertical adjusting sub-platform capable of rotating along a horizontal shaft and a horizontal adjusting sub-platform capable of rotating along a vertical shaft realizes the multi-angle adjustment of the whole platform; 2. the corresponding sub-platform is driven to rotate by adopting the screw rod, so that the rotation angle can be precisely controlled; 3. the platform can be used in any field needing precise control of the rotation angle, especially the field needing remote alignment or calibration, and has wide application range.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an enlarged view of a portion a of fig. 1.
Figure 3 top view of the invention.
Fig. 4 is a sectional view taken along line B-B in fig. 3.
Fig. 5 is a schematic structural view of the nut.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in figures 1 to 5, the platform capable of realizing multi-angle precise adjustment mainly comprises a base 5, a horizontal adjustment sub-platform 1, a vertical adjustment sub-platform 7, a first arc-shaped guide rail 8, a limiting shaft 9, a spherical hinge 10, an outer cover 11, a first slide rail 12, a second slide rail 13, an equipment mounting base 14 and a driving mechanism.
As shown in fig. 1 to 4, a vertical adjusting sub-platform 7 capable of rotating along a horizontal axis is arranged on the base 5, and a horizontal adjusting sub-platform 1 capable of rotating along a vertical axis is arranged on the vertical adjusting sub-platform 7. The base 5 includes the curb plate of bottom plate and two longitudinal symmetries, be provided with the mounting bracket between two curb plates, be provided with first ARC rail 8 on the base 5, two branch guide rails of first ARC rail 8 are installed respectively on two curb plates, vertical regulator platform 7 includes two ARC supports 701 of longitudinal symmetry, two ARC supports 701's both ends are connected with a horizontal installation board 702 respectively, two ARC supports 701 install respectively on first ARC rail 8's the corresponding branch guide rail. The horizontal adjustment sub platform 1 is horizontally arranged and is of a bilaterally symmetrical plate-shaped structure, a second arc-shaped guide rail 6 is arranged on the vertical adjustment sub platform 7, two sub guide rails of the second arc-shaped guide rail 6 are respectively arranged on the two horizontal mounting plates 702, and the left end and the right end of the horizontal adjustment sub platform 1 are respectively arranged on the corresponding sub guide rails of the second arc-shaped guide rail 6. The mounting structures of the vertical adjusting sub-platform 7 and the horizontal adjusting sub-platform 1 are stable and reliable, and the supporting performance is good. An equipment mounting seat 14 is arranged at one end of the horizontal adjusting sub-platform 1 far away from the driving mechanism, and the equipment mounting seat 14 is used for mounting equipment needing to be accurately adjusted in angle or position.
Further, the horizontal axis of vertical regulation sub-platform 7 is crossing with the vertical axle of horizontal regulation sub-platform 1, it is provided with ball pivot 10 to locate at the nodical of horizontal axis and vertical axle, be provided with spacing axle 9 on the mounting bracket of base 5, spacing axle 9 lower extreme is fixed on the mounting bracket, the centre bore of horizontal regulation sub-platform 1 is passed to the upper end, annular space has between horizontal regulation sub-platform 1 and the spacing axle 9, the bulb of ball pivot 10 is fixed on spacing axle 9 top, be provided with dustcoat 11 outside ball pivot 10, the upper end of dustcoat 11 and the ball seat fixed connection of ball pivot 10, lower extreme and horizontal regulation sub-platform 1 fixed connection, ball pivot 10 can effectively improve the equilibrium of whole platform, it is more steady when making the platform rotate, and simultaneously, spacing axle 9 plays spacing effect to the rotation of vertical regulation sub-platform 7.
As shown in fig. 1 to 5, all be provided with actuating mechanism on base 5 and on vertical regulation sub-platform 7, two actuating mechanism can utilize respective lead screw 3 drive vertical regulation sub-platform 7 and horizontal regulation sub-platform 1 to rotate respectively, thereby realize the multi-angle modulation of horizontal regulation sub-platform 1, actuating mechanism includes driving medium 2 and lead screw 3, lead screw 3 is ball screw, driving medium 2 slidable mounting is on the sub-platform that corresponds, and rotate with the nut 301 that corresponds lead screw 3 respectively and be connected, the slip direction of driving medium 2 is the contained angle with the lead screw 3 that corresponds. A nut approach switch is arranged on the supporting seat for supporting the screw rod 3, and the signal output end of the nut approach switch is connected with the nut approach signal input end of the controller; the detection end of the nut proximity switch faces the nut; the two supporting seats are arranged on the horizontal mounting plate and respectively comprise a first supporting seat and a second supporting seat; the supporting seats installed on the base 5 are two, the supporting seats are respectively a third supporting seat and a fourth supporting seat, a nut proximity switch arranged on the first supporting seat is a nut first proximity switch, the signal output end of the nut first proximity switch is connected with the first nut proximity signal input end of the controller, the nut proximity switch arranged on the second supporting seat is a nut second proximity switch, the signal output end of the nut second proximity switch is connected with the second nut proximity signal input end of the controller, the nut proximity switch arranged on the third supporting seat is a nut third proximity switch, the signal output end of the nut third proximity switch is connected with the third nut proximity signal input end of the controller, the nut proximity switch arranged on the fourth supporting seat is a nut fourth proximity switch, and the signal output end of the nut fourth proximity switch is connected with the fourth nut proximity signal input end of the controller. A counter for counting the number of rotating turns of a driving shaft of a driving motor for driving the screw rod 3 to rotate is arranged on the supporting seat, and the counting output end of the counter is connected with the counting input end of the controller; the number of the counters is two, the counters are respectively a first counter and a second counter, the first counter counts the number of the rotating turns of a driving shaft of a first driving motor, the first driving motor is used for driving a screw rod arranged between a first supporting seat and a second supporting seat, the screw rod is a first screw rod, the counting output end of a first counter is connected with the counting first input end of a controller, the positive and negative rotation signal control end of a first driving motor is connected with the positive and negative rotation signal output end of a first driving motor of the controller, a second counter counts the rotating turns of a driving shaft of a second driving motor, the second driving motor is used for driving the screw rod arranged between a third supporting seat and a fourth supporting seat, the screw rod is a second screw rod, the counting output end of a second counter is connected with the counting second input end of the controller, and the forward and reverse rotation signal control end of a second driving motor is connected with the forward and reverse rotation signal output end of the second driving motor of the controller; the rotating plane of each sub-platform, the sliding plane between the transmission part 2 and the corresponding sub-platform and the central axis of the corresponding screw rod 3 are parallel to each other.
Further, a screw rod 3 of one of the driving mechanisms is disposed between the two arc-shaped support frames 701, first slide rails 12 are respectively disposed on opposite sides of the two arc-shaped support frames 701, the two first slide rails 12 are arranged in parallel, a nut 301 of the screw rod 3 and the two first slide rails 12 are respectively connected through a transmission member 2, and the screw rod 3 is tangent to the first arc-shaped guide rail 8. Referring to fig. 5(a), the nut 301 is provided with connecting shafts 301a at the front and rear sides thereof, the two transmission members 2 are provided with mounting holes respectively matched with the shaft holes of the corresponding connecting shafts 301a, and the nut 301 is rotatably mounted in the mounting hole of the corresponding transmission member 2 through the connecting shaft 301a and is equipped with a bearing.
Further, a screw rod 3 of another driving mechanism is arranged on one of the horizontal mounting plates 702 and is positioned above the horizontal adjusting sub-platform 1, two parallel second sliding rails 13 are arranged on the horizontal adjusting sub-platform 1, the nut 301 of the screw rod 3 is connected with the second sliding rails 13 through a transmission piece 2, and the screw rod 3 is tangent to the second arc-shaped guide rail 6. Referring to fig. 5(b), a connecting shaft 301a is provided below the nut 301, a mounting hole matched with the shaft hole of the connecting shaft 301a is provided on the transmission member 2, and the nut 301 is rotatably mounted in the mounting hole of the transmission member 2 through the connecting shaft 301a and is equipped with a bearing. The arc-shaped guide rail 6, the transmission piece 2 and the screw rod 3 are all close to the edge of the horizontal adjusting sub-platform 1, so that the horizontal adjusting sub-platform 1 is easier to rotate, and the energy consumption is reduced.
Further, when the screw rod 3 rotates, the nut 301 is driven to move linearly along the screw rod 3, and the nut 301 drives the transmission member 2 to slide on the sub-platform and simultaneously drive the sub-platform to rotate, so that the sub-platform is driven to rotate through the screw rod 3. In the driving process, the resultant force received by the nut 301 is decomposed into three component forces, namely the rotating friction force between the nut 301 and the transmission member 2, the sliding friction force for driving the transmission member 2 to slide on the sub-platform by the nut 301 and the driving force for driving the sub-platform to rotate by the nut 301 through the transmission member 2.
In a preferred embodiment of the invention, a counter for counting the number of rotation turns of a driving shaft of a driving motor for driving the screw rod to rotate is arranged on the supporting seat, a counting output end of the counter is connected with a counting input end of the controller, and a forward and reverse rotation signal control end of the driving motor is connected with a forward and reverse rotation signal output end of the controller. And the travel displacement of the nut on the screw rod is accurately controlled.
The invention also discloses a working method of the platform capable of realizing multi-angle precise adjustment, which comprises the following steps:
s1, initializing the system;
s2, inputting the commands of the horizontal adjusting sub-platform 1 and the vertical adjusting sub-platform 7;
and S3, the controller controls the first driving motor and the second driving motor to work, so that the horizontal adjusting sub-platform 1 and the vertical adjusting sub-platform 7 can be adjusted.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, establishing an XYZ coordinate system:
taking a point A on the base 5 as an origin of an XYZ coordinate system; the method for taking the point A comprises the following steps:
s111, performing orthographic projection of the first screw rod on the base 5 to obtain a line segment B;
s112, performing orthographic projection of the second screw rod on the base 5 to obtain a line segment C;
s113, making a vertical bisector for the line segment B obtained in the step S111 to obtain a straight line D;
s114, making a vertical bisector on the line segment C obtained in the step S112 to obtain a straight line E;
s115, the intersection point of the straight line D and the straight line E is the origin of an XYZ coordinate system; the direction of the straight line D pointing to the first screw rod is taken as an X axis, the direction of the straight line E pointing to the opposite direction of the second driving motor is taken as a Y axis, and the direction which is perpendicular to the base and points to the spherical hinge is taken as a Z axis;
s12, obtaining the current position coordinates of the device mounting base 14, if the current position coordinates of the device mounting base 14 are (X)1,Y1,Z1) The coordinates of the starting point are (X)0,Y0,Z0)；
S13, if (Z)1-Z0) If the rotation number of the driving shaft of the second driving motor is more than 0, the controller sends a positive rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the rotation number of the driving shaft of the second driving motor is as follows:
wherein, L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of the driving shaft of the second driving motor, n represents the number of rotation turns of the driving shaft of the second driving motor, and k represents the ratio of the number of rotation turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)1-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a reverse rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the opposite direction of the second driving motor:
s14, if (X)1-X0) > 0 and (Y)1-Y0) If the rotation number of the driving shaft of the first driving motor is more than 0, the controller sends a positive rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the rotation number of the driving shaft of the first driving motor is as follows:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of rotation turns of the driving shaft of the first driving motor, and k' represents the ratio of the number of rotation turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)1-X0) > 0 and (Y)1-Y0) If the number of the rotation turns of the driving shaft of the first driving motor is less than 0, the controller sends a reverse rotation control signal to the first driving motor to control the nut on the first screw rod to move in the opposite direction of the first driving motor:
the step S3 includes the following steps:
s31, acquiring equipment installationThe coordinates of the seat 14 to be rotated to the position if the coordinates of the equipment mounting seat 14 to be rotated to the position are (X)2,Y2,Z2) The coordinates of the starting point are (X)0,Y0,Z0)；
S32, if (Z)2-Z0) If the number of the to-be-rotated circles of the driving shaft of the second driving motor is more than 0, the controller sends a reverse control signal to the second driving motor to control the nut on the second screw rod to move in the direction opposite to the direction of the second driving motor:
wherein L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of a driving shaft of the second driving motor, n' represents the number of turns to be rotated of the driving shaft of the second driving motor, and k represents the ratio of the number of turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)2-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a forward rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the number of the rotation turns of the driving shaft of the second driving motor is as follows:
s33, if (X)2-X0) > 0 and (Y)2-Y0) If the number of the to-be-rotated circles of the driving shaft of the first driving motor is more than 0, the controller sends a reverse control signal to the first driving motor to control the nut on the first screw rod to move in the direction opposite to the direction of the first driving motor:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of turns to be rotated of the driving shaft of the first driving motor, and k' represents the ratio of the number of turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)2-X0) > 0 and (Y)2-Y0) If the number of the turns to be rotated of the driving shaft of the first driving motor is less than 0, the controller sends a forward rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the number of the turns to be rotated of the driving shaft of the first driving motor is as follows:
in a preferred embodiment of the present invention, when the controller receives a signal output by the first proximity switch of the nut, the controller sends a reverse rotation stopping signal to the first driving motor, and then the controller can only send a forward rotation signal to the first driving motor;
when the controller receives a signal output by the second proximity switch of the nut, the controller sends a forward rotation stopping signal to the first driving motor, and then the controller can only send a reverse rotation signal to the first driving motor;
when the controller receives a signal output by the third proximity switch of the nut, the controller sends a reverse rotation stopping signal to the second driving motor, and then the controller can only send a forward rotation signal to the second driving motor;
when the controller receives a signal output by the fourth proximity switch of the nut, the controller sends a forward rotation stopping signal to the second driving motor, and then the controller can only send a reverse rotation signal to the second driving motor. Prevent that the nut on the lead screw from reaching the supporting seat and wearing parts.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A platform capable of realizing multi-angle precise adjustment comprises a base and is characterized in that a vertical adjusting sub-platform capable of rotating along a horizontal shaft is arranged on the base, a horizontal adjusting sub-platform capable of rotating along a vertical shaft is arranged on the vertical adjusting sub-platform, and driving mechanisms are arranged on the base and the vertical adjusting sub-platform;
the driving mechanism comprises a transmission piece, the transmission piece is slidably mounted on the corresponding sub-platform and is respectively and rotatably connected with the nut of the corresponding screw rod, and the sliding direction of the transmission piece forms an included angle with the corresponding screw rod; a nut proximity switch is arranged on the supporting seat for supporting the screw rod, and the signal output end of the nut proximity switch is connected with the nut proximity signal input end of the controller;
a horizontal shaft of the vertical adjusting sub-platform is intersected with a vertical shaft of the horizontal adjusting sub-platform, a spherical hinge is arranged at the intersection point of the horizontal shaft and the vertical shaft, the spherical hinge is installed on the base through a limiting shaft penetrating through the center of the horizontal adjusting sub-platform, an outer cover is arranged outside the spherical hinge, the upper end of the outer cover is fixedly connected with a ball seat of the spherical hinge, the lower end of the outer cover is fixedly connected with the horizontal adjusting sub-platform, and an annular gap is formed between the horizontal adjusting sub-platform and the limiting shaft;
when the screw rods rotate, the corresponding nuts are driven to move linearly along the screw rods, and the nuts drive the transmission part to slide on the sub-platform and simultaneously drive the sub-platform to rotate, so that the sub-platform is driven to rotate through the screw rods.
2. The platform capable of realizing multi-angle precise adjustment according to claim 1, wherein the rotation plane of each sub-platform, the sliding plane between the transmission member and the corresponding sub-platform, and the central axis of the corresponding screw rod are parallel to each other.
3. The platform capable of realizing multi-angle precise adjustment according to claim 1, wherein the vertical adjuster platform is mounted on a first arc-shaped guide rail of the base, the vertical adjuster platform comprises two arc-shaped support frames which are symmetrical front and back, two ends of the two arc-shaped support frames are respectively connected with a horizontal mounting plate, and the two arc-shaped support frames are respectively mounted on corresponding sub-guide rails of the first arc-shaped guide rail;
the horizontal adjusting sub-platform is installed on a second arc-shaped guide rail of the vertical adjusting sub-platform, two sub-guide rails of the second arc-shaped guide rail are respectively arranged on two horizontal installation plates, the horizontal adjusting sub-platform is horizontally arranged, and the left end and the right end of the horizontal adjusting sub-platform are respectively installed on the corresponding sub-guide rails of the second arc-shaped guide rail.
4. The platform capable of realizing multi-angle precise adjustment according to claim 3, wherein a screw rod of one of the driving mechanisms is disposed between two arc-shaped supporting frames, first sliding rails are respectively disposed on opposite sides of the two arc-shaped supporting frames, the two first sliding rails are arranged in parallel, a nut of the screw rod and the two first sliding rails are respectively connected through a transmission member, and the screw rod is tangent to the first arc-shaped guide rails;
the screw rod of the other driving mechanism is arranged on one horizontal mounting plate, two parallel second slide rails are arranged on the horizontal adjusting sub-platform and are positioned between the screw rod and the corresponding second arc-shaped guide rail, the nut of the screw rod is also connected with the second slide rails through a transmission part, and the screw rod is tangent to the second arc-shaped guide rail.
5. The platform capable of realizing multi-angle precise adjustment according to claim 1, wherein the nut is provided with a connecting shaft, the transmission member is provided with a mounting hole matched with the shaft hole of the connecting shaft, the nut is rotatably mounted in the mounting hole of the transmission member through the connecting shaft and is provided with a bearing.
6. The platform capable of realizing multi-angle precision adjustment according to claim 1, wherein the screws are ball screws;
or/and an equipment mounting seat is arranged at one end of the horizontal regulator sub-platform, which is far away from the driving mechanism;
or/and a counter used for counting the number of the rotating circles of a driving shaft of a driving motor for driving the screw rod to rotate is arranged on the supporting seat, the counting output end of the counter is connected with the counting input end of the controller, and the forward and reverse rotation signal control end of the driving motor is connected with the forward and reverse rotation signal output end of the controller.
7. The working method of the platform capable of realizing multi-angle precise adjustment according to any one of claims 1 to 6, characterized by comprising the following steps:
s1, initializing the system;
s2, inputting a horizontal adjusting sub-platform command and a vertical adjusting sub-platform command;
and S3, the controller controls the first driving motor and the second driving motor to work, so that the horizontal adjusting sub-platform and the vertical adjusting sub-platform can be adjusted.
8. The method for operating a platform capable of performing multi-angle fine adjustment according to claim 7, wherein step S1 comprises the following steps:
s11, establishing an XYZ coordinate system:
taking a point A on the base as an origin of an XYZ coordinate system; the method for taking the point A comprises the following steps:
s111, performing orthographic projection of the first screw rod on the base to obtain a line segment B;
s112, performing orthographic projection of the second screw rod on the base to obtain a line segment C;
s113, making a vertical bisector for the line segment B obtained in the step S111 to obtain a straight line D;
s114, making a vertical bisector on the line segment C obtained in the step S112 to obtain a straight line E;
s115, the intersection point of the straight line D and the straight line E is the origin of an XYZ coordinate system;
s12, obtaining the position coordinate of the current equipment mounting seat, if the position coordinate of the current equipment mounting seat is (X)1,Y1,Z1) The coordinates of the starting point are (X)0,Y0,Z0)；
S13, if (Z)1-Z0) If the rotation number of the driving shaft of the second driving motor is more than 0, the controller sends a positive rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the rotation number of the driving shaft of the second driving motor is as follows:
wherein, L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of the driving shaft of the second driving motor, n represents the number of rotation turns of the driving shaft of the second driving motor, and k represents the ratio of the number of rotation turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)1-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a reverse rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the opposite direction of the second driving motor:
s14, if (X)1-X0) > 0 and (Y)1-Y0) If the rotation number of the driving shaft of the first driving motor is more than 0, the controller sends a positive rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the rotation number of the driving shaft of the first driving motor is as follows:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of rotation turns of the driving shaft of the first driving motor, and k' represents the ratio of the number of rotation turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)1-X0) > 0 and (Y)1-Y0) If the number of the rotation turns of the driving shaft of the first driving motor is less than 0, the controller sends a reverse rotation control signal to the first driving motor to control the nut on the first screw rod to move in the opposite direction of the first driving motor:
the step S3 includes the following steps:
s31, acquiring coordinates of the equipment mounting seat to be rotated to the end point, if the coordinates of the equipment mounting seat to be rotated to the end point are (X)2,Y2,Z2) The coordinates of the starting point are (X)0,Y0,Z0)；
S32, if (Z)2-Z0) If the number of the to-be-rotated circles of the driving shaft of the second driving motor is more than 0, the controller sends a reverse control signal to the second driving motor to control the nut on the second screw rod to move in the direction opposite to the direction of the second driving motor:
wherein L is the distance between the spherical center of the first arc-shaped guide rail and the midpoint of the second screw rod, R represents the radius of a driving shaft of the second driving motor, n' represents the number of turns to be rotated of the driving shaft of the second driving motor, and k represents the ratio of the number of turns of the driving shaft of the second driving motor to the rotation stroke factor of the nut stroke;
if (Z)2-Z0) If the number of the rotation turns of the driving shaft of the second driving motor is less than 0, the controller sends a forward rotation control signal to the second driving motor to control the nut on the second screw rod to move towards the second driving motor, and the number of the rotation turns of the driving shaft of the second driving motor is as follows:
s33, if (X)2-X0) > 0 and (Y2-Y0) If the number of the to-be-rotated circles of the driving shaft of the first driving motor is more than 0, the controller sends a reverse control signal to the first driving motor to control the nut on the first screw rod to move in the direction opposite to the direction of the first driving motor:
wherein, L 'is the distance between the center of the second arc-shaped guide rail and the midpoint of the first screw rod, R' represents the radius of the driving shaft of the first driving motor, n 'represents the number of turns to be rotated of the driving shaft of the first driving motor, and k' represents the ratio of the number of turns of the driving shaft of the first driving motor to the rotation stroke factor of the nut stroke;
if (X)2-X0) > 0 and (Y)2-Y0) If the number of the turns to be rotated of the driving shaft of the first driving motor is less than 0, the controller sends a forward rotation control signal to the first driving motor to control the nut on the first screw rod to move towards the first driving motor, and the number of the turns to be rotated of the driving shaft of the first driving motor is as follows:
9. the working method of the platform capable of realizing multi-angle precise adjustment according to claim 6, wherein there are two supporting seats installed on the horizontal mounting plate, namely a first supporting seat and a second supporting seat; the device comprises a base, a first support seat, a second support seat, a third support seat and a fourth support seat, wherein the two support seats are arranged on the base, a nut proximity switch arranged on the first support seat is a first nut proximity switch, the signal output end of the first nut proximity switch is connected with the first nut proximity signal input end of a controller, a nut proximity switch arranged on the second support seat is a second nut proximity switch, the signal output end of the second nut proximity switch is connected with the second nut proximity signal input end of the controller, the nut proximity switch arranged on the third support seat is a third nut proximity switch, the signal output end of the third nut proximity switch is connected with the third nut proximity signal input end of the controller, the nut proximity switch arranged on the fourth support seat is a fourth nut proximity switch, and the signal output end of the fourth nut proximity switch is connected with the fourth nut proximity signal input end of the controller;
when the controller receives a signal output by the first proximity switch of the nut, the controller sends a reverse rotation stopping signal to the first driving motor, and then the controller can only send a forward rotation signal to the first driving motor;
when the controller receives a signal output by the second proximity switch of the nut, the controller sends a forward rotation stopping signal to the first driving motor, and then the controller can only send a reverse rotation signal to the first driving motor;
when the controller receives a signal output by the third proximity switch of the nut, the controller sends a reverse rotation stopping signal to the second driving motor, and then the controller can only send a forward rotation signal to the second driving motor;
when the controller receives a signal output by the fourth proximity switch of the nut, the controller sends a forward rotation stopping signal to the second driving motor, and then the controller can only send a reverse rotation signal to the second driving motor.
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