CN114670083B - Bearing platform for non-contact driving three-rotational-freedom-degree displacement output - Google Patents
Bearing platform for non-contact driving three-rotational-freedom-degree displacement output Download PDFInfo
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- CN114670083B CN114670083B CN202210435594.3A CN202210435594A CN114670083B CN 114670083 B CN114670083 B CN 114670083B CN 202210435594 A CN202210435594 A CN 202210435594A CN 114670083 B CN114670083 B CN 114670083B
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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
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
Abstract
The invention discloses a non-contact type bearing platform for driving three-rotational-freedom-degree displacement output, which consists of a displacement output module and four rotational actuators; the displacement output module consists of a spherical hinge support, a rotating hemisphere, a columnar support rod, a three-degree-of-freedom limiting support and a positioning disc; the four rotary actuators are symmetrically distributed at 90 degrees, are fixed on the positioning disc and comprise two horizontal rotary actuators and two vertical rotary actuators which are oppositely arranged; the rotary actuator pushes the boosting circular ring sleeve through the diamond ring to convert linear displacement into rotary displacement, and then the rotary displacement is converted into linear displacement through the ball screw, and all parts are precisely embedded and buckled with each other through the ring sleeve, so that accurate transmission is guaranteed; the boosting circular ring sleeve and the positioning circular ring sleeve tightly press the ball screw to prevent the nut from generating linear displacement when transmitting motion; the piezoelectric ceramic is used as a driving mechanism, induction current is generated by rapidly cutting the magnetic induction line, so that the ring bearing platform is controlled to output micro displacement in a non-contact mode, the transmission efficiency is high, and the output displacement is accurate.
Description
Background
In the traditional actuator, the contact surface is inevitably worn during the working process, and the physical and mechanical characteristics of the friction contact are changed, so that the output characteristic of the actuator is changed and the failure of the actuator is caused. The time-varying property of a friction pair of a traditional linear inertia piezoelectric actuator influences the high stability and the high precision of the inertia type actuator.
Technical progress in the scientific and engineering fields makes researchers focus on developing miniaturized equipment and systems with high precision and precision, and requirements for radian and smoothness of optical lenses are higher and higher, so that a bearing platform for outputting precise rotary displacement is urgently needed to carry a grinding tool to process the lenses, however, the invention in related fields is in a vacant state, and the existing devices which are put into use are difficult to meet requirements.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a non-contact type bearing platform for driving three-rotational-freedom-degree displacement output.
In order to achieve the purpose, the invention adopts the following technical scheme:
a non-contact type bearing platform for driving three-rotational-freedom-degree displacement output is composed of a displacement output module 1 and four rotational actuators 2; the displacement output module 1 is composed of a spherical hinge support 1-1, a rotating hemisphere 1-2, a cylindrical support rod 1-3, a three-degree-of-freedom limiting support 1-4 and a positioning disc 1-5, wherein the rotating hemisphere 1-2 is a poor magnetic conductor thin hemisphere shell, a vertical through hole is processed through the spherical center, the upper end of the rotating hemisphere is a ring plane capable of bearing, the bottom surface of the rotating hemisphere is processed and cut into a plane, an inverted spherical hinge support 1-1 is arranged above a hollow area of the rotating hemisphere 1-2, an end face is arranged below an upper mandrel, a mandrel of the spherical hinge support 1-1 leads out a plurality of supporting legs which are symmetrically distributed downwards, the end face of a spherical hinge support 1-1 is fixedly connected with a columnar support rod 1-3 penetrating through a vertical through hole of the rotating hemisphere 1-2, the radius of the columnar support rod 1-3 is smaller than that of the vertical through hole of the rotating hemisphere 1-2, the lower end of the columnar support rod penetrates through a three-freedom-degree limiting support 1-4 and is fixedly connected with a static end face of the columnar support rod, the three-freedom-degree limiting support 1-4 is fixed in the center of a positioning disc 1-5, three same flexible hinges are symmetrically distributed at 120 degrees, and two ends of the three-freedom-degree limiting support are respectively connected with a movable end face and a static end face;
the four rotary actuators 2 are symmetrically distributed at 90 degrees and fixed on the positioning discs 1-5, and comprise two horizontal rotary actuators 2A arranged oppositely and two vertical rotary actuators 2B arranged oppositely; the ball screws 2-4 of the horizontal rotation actuators 2A are axially parallel to the positioning discs 1-5, and the two horizontal rotation actuators 2A are centrosymmetric with respect to the positioning discs 1-5; the ball screws 2-4 of the vertical rotary actuators 2B are axially perpendicular to the positioning discs 1-5, and the two vertical rotary actuators 2B are in mirror symmetry with respect to the columnar supporting rods 1-3.
The horizontal rotary actuator 2A and the vertical rotary actuator 2B are identical in composition structure and are composed of a permanent magnet 2-1, a cylindrical clamp 2-2, a positioning circular ring sleeve 2-3, a ball screw 2-4, a boosting circular ring sleeve 2-5, a cylindrical roller bearing 2-6, a positioning base 2-7, piezoelectric ceramics 2-8 and a diamond-shaped ring 2-9, a screw rod of the ball screw 2-4 penetrates through the central circular hole of the cylindrical clamp 2-2, the positioning circular ring sleeve 2-3 and the boosting circular ring sleeve 2-5, the central through hole of the cylindrical clamp 2-2 is tightly locked on the screw rod of the ball screw 2-4, the permanent magnet 2-1 is clamped on the side surface, the positioning circular ring sleeve 2-3 is arranged at the concentric position below the cylindrical clamp 2-2, the positioning circular ring sleeve 2-3 is fixed on the upper surface of the ball screw 2-4 nut in an interference manner, the lower end of the ball screw 2-4 nut is nested in an inner ring of the boosting circular ring sleeve 2-5, the tangent plane of the boosting circular ring sleeve 2-5 is matched with the lower end of the cylindrical clamp 2-6, the positioning bearing base 2-7 is nested in the positioning circular ring sleeve 2-7, the positioning circular ring sleeve 2-4 nut, the positioning circular ring 2-7 is fixed on the positioning circular ring 2-7, the positioning circular ring 2-4 rectangular outer ring 2-5, the diamond-2-7 is tangent-2-9 is tangent to the rectangular long axis, and the diamond-2-8 is tangent to the rectangular push long axis of the ceramic sleeve 2-9, and the diamond-long axis is tangent to the diamond-long axis of the diamond-2-9; the rhombic rings 2-9 of the horizontal rotary actuator 2A are positioned at the lower side of the boosting circular ring sleeves 2-5, and the rhombic rings 2-9 of the vertical rotary actuator 2B are positioned at the outer sides of the boosting circular ring sleeves 2-5.
The actuation method of the horizontal rotation actuator 2A realizes actuation of the permanent magnet 2-1 through voltage control of the piezoelectric ceramics 2-8: increasing the voltage of the piezoelectric ceramics 2-8 from zero to full stroke voltage, extending the piezoelectric ceramics 2-8 in the horizontal direction, pushing the diamond ring 2-9 to extend along the long axis direction, contracting in the short axis direction, and retreating in a rectangular section, wherein the diamond ring 2-9 is pushed to rotate in the counterclockwise direction due to the tangency with the outer ring of the boosting ring sleeve 2-5, and the ball screw 2-4 nut synchronously rotates, so that the ball screw 2-4 screw rod makes horizontal linear retreating motion, and the columnar clamp 2-2 and the permanent magnet 2-1 connected with the screw rod are driven to make horizontal linear retreating motion; when the voltage of the piezoelectric ceramic 2-8 is reduced to zero from the full stroke voltage, the piezoelectric ceramic 2-8 horizontally contracts, the diamond ring 2-9 contracts along the long axis direction, the short axis direction extends, the rectangular section is fed, so that the boosting ring sleeve 2-5 and the ball screw 2-4 nut rotate along the clockwise direction, and the screw rod, the columnar fixture 2-2 and the permanent magnet 2-1 perform horizontal linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet 2-1 can perform rapid or slow horizontal linear motion; the actuation method of the vertical rotation actuator 2B realizes actuation of the permanent magnet 2-1 through voltage control of piezoelectric ceramics 2-8: increasing the voltage of the piezoelectric ceramics 2-8 from zero to full stroke voltage, vertically extending the piezoelectric ceramics 2-8, pushing the diamond ring 2-9 to extend along the long axis direction, contracting along the short axis direction, and retreating along the rectangular section, wherein the diamond ring 2-9 is pushed to rotate anticlockwise due to the tangency with the outer ring of the boosting ring sleeve 2-5, the ball screw 2-4 nut synchronously rotates, so that the ball screw 2-4 screw rod makes vertical linear retreating motion, and the columnar clamp 2-2 and the permanent magnet 2-1 which are connected with the screw rod are driven to make vertical linear retreating motion; when the voltage of the piezoelectric ceramic 2-8 is reduced to zero from the full stroke voltage, the piezoelectric ceramic 2-8 contracts vertically, the diamond ring 2-9 contracts along the long axis direction, the diamond ring extends along the short axis direction, and the rectangular section feeds, so that the boosting ring sleeve 2-5 and the ball screw 2-4 nut rotate along the clockwise direction, and the screw rod, the columnar clamp 2-2 and the permanent magnet 2-1 perform vertical linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet 2-1 can perform rapid or slow vertical linear motion;
the actuating method of the displacement output module 1 is that when the piezoelectric ceramics 2-8 of the two horizontal rotation actuators 2A are controlled by voltage signals to drive the permanent magnet 2-1 to make fast feeding and slow backing motion in the horizontal direction, because the induced current generated when the permanent magnet 2-1 backs slowly is small and is ignored compared with the feeding motion, the permanent magnet 2-1 approaches the rotating hemisphere 1-2 fast, because the rotating hemisphere 1-2 is a bad magnetic conductor, the surface magnetic flux changes to generate induced current, and according to the lenz law, the magnetic field generated by the induced current always obstructs the change of the magnetic flux causing the induced current, so the rotating hemisphere 1-2 receives the force in the horizontal feeding direction of the permanent magnet 2-1 in the circumferential direction to generate the tangential motion trend in the horizontal direction, and the actual motion of the rotating hemisphere 1-2 rotates clockwise around the columnar support rod 1-3; when the piezoelectric ceramics 2-8 of the two horizontal rotation actuators 2A are controlled by voltage signals to drive the permanent magnet 2-1 to perform slow feeding and quick retraction movement in the horizontal direction, the rotating hemisphere 1-2 actually moves to rotate anticlockwise around the columnar supporting rod 1-3; when the piezoelectric ceramics 2-8 of the vertical rotary actuator 2B is controlled by a voltage signal to drive the permanent magnet 2-1 of one vertical rotary actuator 2B to perform vertical fast feeding and slow returning motion, and the permanent magnet 2-1 of the other vertical rotary actuator 2B performs vertical fast returning and slow feeding motion, according to the Lenz law, two sides of the spherical surface of the rotary hemisphere 1-2 are respectively subjected to vertical upward and downward forces, two ends of the surface of the rotary hemisphere 1-2 generate upward and downward motion trends respectively at a front view angle, the actual motion is overturning motion around the center of the spherical hinge support 1-1, and the hour hand motion direction is related to the actuation condition of the two vertical rotary actuators 2B; when the four rotary actuators 2 are actuated simultaneously, the rotary hemisphere 1-2 performs three-degree-of-freedom precise rotary motion by taking the spherical hinge support 1-1 as a spherical center.
The surfaces of the permanent magnets 2-1 of the two horizontal rotation actuators 2A and the vertical rotation actuator 2B, which are close to the rotating hemisphere 1-2, are inclined planes.
In the displacement output module 1, the end face of a spherical hinge support 1-1 and a columnar support rod 1-3 are fixedly connected with a positioning disc 1-5 and are kept still all the time during actuation; the columnar support rod 1-3 is of a hollow structure, a plurality of rectangular open slots are formed in the upper end of the columnar support rod, the support legs of the spherical hinge support 1-1 can conveniently move freely, and a circular table is arranged at the lower end of the columnar support rod to reduce the center of gravity; the mandrel of the spherical hinge support 1-1 can rotate in the columnar support rod 1-3 to drive the support legs to rotate; the supporting legs move along with the rotating hemispheres 1-2 in the moving process and are firmly grabbed to ensure that the rotating hemispheres 1-2 do not deviate from the cylindrical supporting rods 1-3 to keep stable movement; the three-degree-of-freedom limiting support 1-4 provides multidirectional initial rigidity for the rotating hemisphere 1-2 through the symmetrically distributed flexible hinges and resists disturbance in a static state; the rotating hemisphere 1-2 keeps stable in motion and keeps static during power failure, so that power failure locking is realized.
The permanent magnets 2-1 of the horizontal rotation actuator 2A and the vertical rotation actuator 2B are positioned on the same spherical surface with the center of the spherical hinge support 1-1 as the spherical center and tangent to the surface of the rotating hemisphere 1-2, so that induced current generated by cutting a magnetic induction line is the largest, and the distance from the end surface of the permanent magnet 2-1 to the surface of the rotating hemisphere 1-2 in the movement process is ensured to be stable.
Compared with the prior art, the invention has the following advantages:
1) The rotary actuator 2 pushes the boosting ring sleeve 2-5 through the diamond ring 2-9 to convert linear displacement into rotary displacement, and then the rotary displacement is converted into linear displacement through the ball screw 2-4, and all the parts are precisely nested and ring-buckled with each other, so that accurate transmission is guaranteed; the boosting ring sleeve 2-5 and the positioning ring sleeve 2-3 compress the ball screw 2-4, so that the nut is prevented from generating linear displacement during motion transmission, and the rotation efficiency is improved.
2) The piezoelectric ceramics 2-8 of the rotary actuator 2 are controlled through voltage signals to drive the permanent magnet 2-1 to perform feeding and returning motions, so that the rotary hemisphere 1-2 is subjected to non-contact force, non-contact control over the rotary hemisphere 1-2 is realized, three-rotational-degree-of-freedom motion is performed, and energy loss and device abrasion are low; because the driving element is 2-8 of piezoelectric ceramics, the output displacement is small, and the output frequency is high, the bearing plane does small and quick rotary motion, and the device is suitable for precision use such as mirror surface smoothness adjustment.
3) The permanent magnets 2-1 of the four rotary actuators 2 are positioned on the same spherical surface which takes the center of the spherical hinge support 1-1 as the spherical center and are tangent to the surface of the rotary hemisphere 1-2, so that induced current generated by cutting a magnetic induction line is the largest, and the distance from the end surface of the permanent magnet 2-1 to the surface of the rotary hemisphere 1-2 is kept stable in the movement process; as the motion track of the rotating hemisphere 1-2 is also the same spherical surface with the same center and the radius is slightly smaller, the rotating hemisphere is prevented from touching the rotating actuator by mistake in the motion process.
4) The three-degree-of-freedom limiting support 1-4 fully utilizes the elastic deformation of a flexible hinge of the three-degree-of-freedom limiting support to improve the movement performance of the mechanism, so that the transmission and conversion of the movement and force of the compliant mechanism are realized, the flexible hinge can provide the initial rigidity of three degrees of freedom of x, y and z through the elastic deformation, and the static locking of a displacement output module is realized; the adopted flexible hinge has larger difference with the actuator, and avoids the displacement output module from generating resonance coupling.
Drawings
Fig. 1 is an overall schematic view of a non-contact type driving three-rotational-degree-of-freedom displacement output bearing platform.
Fig. 2 is an exploded view of a rotary actuator of a non-contact type driving three-rotational-degree-of-freedom displacement output carrying platform.
Fig. 3 is an exploded view of a displacement output module of a non-contact driven three-rotational-degree-of-freedom displacement output bearing platform.
Fig. 4 is a side view of a three-degree-of-freedom limit bracket of a non-contact type driving three-rotational-degree-of-freedom displacement output bearing platform.
FIG. 5 is a schematic top view of the assembly of the actuator and the device of the displacement output module of the supporting platform for non-contact driving three-rotational-degree-of-freedom displacement output.
Fig. 6 is a schematic view of a ball-and-socket joint support of a non-contact type driving three-rotational-degree-of-freedom displacement output bearing platform.
Fig. 7 is a schematic diagram of the non-contact type driving three-rotational-degree-of-freedom displacement output of the bearing platform rotating around the column-shaped support rod in the hour direction.
Fig. 8 is a schematic diagram of the overturning motion of the bearing platform around the center of the spherical hinge support, which is output by the non-contact driving three-rotational-degree-of-freedom displacement.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in figures 1, 5 and 2, the invention relates to a non-contact type bearing platform for driving three-rotational-freedom displacement output, which consists of a displacement output module 1 and four rotary actuators 2, wherein the four rotary actuators 2 are symmetrically distributed at 90 degrees and fixed on positioning discs 1-5, and have the same composition structure, the rotary actuators 2 consist of permanent magnets 2-1, cylindrical clamps 2-2, positioning circular rings 2-3, ball screws 2-4, boosting circular rings 2-5, cylindrical roller bearings 2-6, positioning bases 2-7, piezoelectric ceramics 2-8 and diamond rings 2-9, the screw rods of the ball screws 2-4 penetrate through central circular holes of the cylindrical clamps 2-2, the positioning circular rings 2-3 and the boosting circular rings 2-5, the centers of the components are positioned on the same straight line, the central through hole of a columnar clamp 2-2 is tightly locked on a screw rod of a ball screw 2-4 through threads, the side surface of the columnar clamp is positioned and clamped with a permanent magnet 2-1 through a bolt, a positioning ring sleeve 2-3 is concentrically arranged below the columnar clamp 2-2, the positioning ring sleeve 2-3 is fixed on the upper surface of a ball screw 2-4 nut through a screw, the lower end of the ball screw 2-4 nut is nested in an inner ring of a boosting ring sleeve 2-5, the lower end of the boosting ring sleeve 2-5 is matched with a cylindrical roller bearing 2-6 and is nested in a positioning through hole of a positioning base 2-7, the upper end surface of the positioning base 2-7 is fixed with a diamond ring 2-9 through threads, a convex rectangular section is processed on the side surface of a long shaft of the diamond ring 2-9 and is tangent to an outer ring of the boosting ring sleeve 2-5, piezoelectric ceramics 2-8 are in interference fit in the long shaft. The rhombic rings 2-9 of the horizontal rotary actuator 2A are positioned at the lower side of the boosting circular ring sleeves 2-5, and the rhombic rings 2-9 of the vertical rotary actuator 2B are positioned at the outer sides of the boosting circular ring sleeves 2-5.
As shown in fig. 3, the displacement output module 1 is composed of a spherical hinge support 1-1, a rotating hemisphere 1-2, a column-shaped support rod 1-3, a three-degree-of-freedom limit bracket 1-4 and a positioning disc 1-5, wherein the rotating hemisphere 1-2 is a thin hemisphere shell of a bad magnetic conductor, a vertical through hole is processed through the center of a sphere, the upper end is a ring plane capable of bearing, the bottom surface is processed and cut into a plane, an inverted spherical hinge support 1-1 is arranged above a hollow area of the rotating hemisphere 1-2, as shown in fig. 6, the end surface is arranged below an upper mandrel, three symmetrically distributed support legs are led out downwards from the mandrel of the spherical hinge support 1-1, the end face of the spherical hinge support 1-1 is fixedly connected with a cylindrical support rod 1-3 penetrating through a vertical through hole of the rotating hemisphere 1-2, the radius of the cylindrical support rod 1-3 is slightly smaller than that of the vertical through hole of the rotating hemisphere 1-2, the lower end of the cylindrical support rod penetrates through a three-freedom-degree limiting support 1-4 and is fixedly connected with a static end face of the three-freedom-degree limiting support, the three-freedom-degree limiting support 1-4 is fixed in the center of a positioning disc 1-5, three same flexible hinges are symmetrically distributed at 120 degrees, and two ends of the three-freedom-degree limiting support are respectively connected with a movable end face and a static end face.
As shown in figure 1, the ball screw 2-4 of the horizontal rotation actuator 2A is axially parallel to the positioning disc 1-5, the two horizontal rotation actuators 2A are centrosymmetric with respect to the positioning disc 1-5, the surface, close to the rotating hemisphere 1-2, of the permanent magnet 2-1 is an inclined surface, the ball screw 2-4 of the vertical rotation actuator 2B is axially perpendicular to the positioning disc 1-5, the two vertical rotation actuators 2B are mirror-symmetric with respect to the columnar supporting rod 1-3, and the surface, close to the rotating hemisphere 1-2, of the permanent magnet 2-1 is an inclined surface.
As shown in FIG. 3, in a non-contact type bearing platform for driving three-rotational-freedom displacement output, in a displacement output module 1, the end surface of a spherical hinge support 1-1 and a columnar support rod 1-3 are fixedly connected with a positioning disc 1-5 and are kept still all the time during the action; the columnar support rod 1-3 is of a hollow structure, three rectangular open grooves are formed in the upper end of the columnar support rod, so that the support legs of the spherical hinge support 1-1 can move freely, and the lower end of the columnar support rod is a round table to reduce the center of gravity; the mandrel of the spherical hinge support 1-1 can rotate in the columnar support rod 1-3 to drive the three support legs to rotate; the supporting legs move along with the rotating hemispheres 1-2 in the moving process, and are firmly grabbed to ensure that the rotating hemispheres 1-2 do not deviate from the cylindrical supporting rods 1-3, so that the movement stability is kept; as shown in fig. 4, the three-degree-of-freedom limiting support 1-4 provides multidirectional initial stiffness for the rotating hemisphere 1-2 through the symmetrically distributed flexible hinges to resist static disturbance; other devices of the displacement output module 1 enable the rotating hemisphere 1-2 to keep stable in motion, and the rotating hemisphere keeps static during power failure, so that power failure locking is achieved.
As shown in fig. 2, in a non-contact type bearing platform for driving three-rotational-degree-of-freedom displacement output, an actuation method of a horizontal rotation actuator 2A of the bearing platform realizes actuation of a permanent magnet 2-1 by voltage control of piezoelectric ceramics 2-8: increasing the voltage of the piezoelectric ceramics 2-8 from zero to full stroke voltage, extending the piezoelectric ceramics 2-8 in the horizontal direction, pushing the diamond ring 2-9 to extend along the long axis direction, contracting in the short axis direction, and retreating in a rectangular section, wherein the diamond ring 2-9 is pushed to rotate in the counterclockwise direction due to the tangency with the outer ring of the boosting ring sleeve 2-5, and the ball screw 2-4 nut synchronously rotates, so that the ball screw 2-4 screw rod makes horizontal linear retreating motion, and the cylindrical clamp 2-2 connected with the screw rod and the permanent magnet 2-1 are driven to make horizontal linear retreating motion; when the voltage of the piezoelectric ceramic 2-8 is reduced to zero from the full stroke voltage, the piezoelectric ceramic 2-8 horizontally contracts, the diamond ring 2-9 contracts along the long axis direction, the short axis direction extends, the rectangular section is fed, so that the boosting ring sleeve 2-5 and the ball screw 2-4 nut rotate along the clockwise direction, and the screw rod, the columnar fixture 2-2 and the permanent magnet 2-1 perform horizontal linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet 2-1 can perform rapid or slow horizontal linear motion; the actuation method of the vertical rotation actuator 2B realizes actuation of the permanent magnet 2-1 through voltage control of piezoelectric ceramics 2-8: increasing the voltage of the piezoelectric ceramics 2-8 from zero to full stroke voltage, vertically extending the piezoelectric ceramics 2-8, pushing the diamond ring 2-9 to extend along the long axis direction, contracting along the short axis direction, and retreating along the rectangular section, wherein the diamond ring 2-9 is pushed to rotate anticlockwise due to the tangency with the outer ring of the boosting ring sleeve 2-5, the ball screw 2-4 nut synchronously rotates, so that the ball screw 2-4 screw rod makes vertical linear retreating motion, and the columnar clamp 2-2 and the permanent magnet 2-1 which are connected with the screw rod are driven to make vertical linear retreating motion; when the voltage of the piezoelectric ceramic 2-8 is reduced to zero from the full stroke voltage, the piezoelectric ceramic 2-8 contracts vertically, the diamond ring 2-9 contracts along the long axis direction, the short axis direction extends, the rectangular section feeds, so that the boosting ring sleeve 2-5 and the ball screw 2-4 nut rotate clockwise, and the screw rod, the columnar clamp 2-2 and the permanent magnet 2-1 perform vertical linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet 2-1 can perform rapid or slow vertical linear motion.
As shown in fig. 1 and fig. 3, an actuating method of a displacement output module 1 of a non-contact type bearing platform for driving three-rotational-degree-of-freedom displacement output is that, when piezoelectric ceramics 2-8 of two horizontal rotary actuators 2A are controlled by voltage signals to drive a permanent magnet 2-1 to make fast feeding and slow returning motion in a horizontal direction, induced current generated when the permanent magnet 2-1 slowly returns is small and can be ignored compared with feeding motion, the permanent magnet 2-1 is fast close to a rotating hemisphere 1-2, and because the rotating hemisphere 1-2 is a poor magnetic conductor, surface magnetic flux changes to generate induced current, and according to lenz's law, magnetic field generated by the induced current always obstructs to cause change of magnetic flux of the induced current, so that the rotating hemisphere 1-2 is subjected to force in the horizontal feeding direction of the permanent magnet 2-1 in the circumferential direction to generate a tangential motion trend in the horizontal direction, as shown in fig. 7, actual motion of the rotating hemisphere 1-2 rotates clockwise around a columnar support rod 1-3; when the piezoelectric ceramics 2-8 of the two horizontal rotation actuators 2A are controlled by voltage signals to drive the permanent magnet 2-1 to make slow feeding and fast returning motion in the horizontal direction, the actual motion of the rotating hemisphere 1-2 is anticlockwise rotation around the columnar supporting rod 1-3; when the piezoelectric ceramics 2-8 of the vertical rotary actuators 2B are controlled by a voltage signal to drive the permanent magnet 2-1 of one vertical rotary actuator 2B to perform vertical fast feeding and slow retracting movement, and the permanent magnet 2-1 of the other vertical rotary actuator 2B performs vertical fast retracting and slow feeding movement, according to the Lenz's law, the two sides of the spherical surface of the rotary hemisphere 1-2 are respectively subjected to vertical upward and downward forces, as shown in FIG. 8, the two ends of the surface of the rotary hemisphere 1-2 generate upward and downward movement trends respectively at the front view angle, the actual movement is the turning movement around the center of the spherical hinge support 1-1, and the hour hand movement direction is related to the actuation conditions of the two vertical rotary actuators 2B; when the four rotary actuators 2 are actuated simultaneously, the rotary hemisphere 1-2 performs three-degree-of-freedom precise rotary motion by taking the spherical hinge support 1-1 as a spherical center.
Claims (6)
1. The utility model provides a three rotational degree of freedom displacement output's of non-contact drive load-bearing platform which characterized in that: the device consists of a displacement output module (1) and four rotary actuators (2); the displacement output module (1) is composed of a spherical hinge support (1-1), a rotating hemisphere (1-2), a columnar support rod (1-3), a three-degree-of-freedom limiting support (1-4) and a positioning disc (1-5), wherein the rotating hemisphere (1-2) is a poor magnetic conductor thin hemisphere shell, a vertical through hole is processed in a spherical center, a ring plane capable of bearing is arranged at the upper end, the bottom surface is cut into a plane, an inverted spherical hinge support (1-1) is arranged above a hollow area of the rotating hemisphere (1-2), the end surface is arranged below an upper mandrel, a mandrel of the spherical hinge support (1-1) leads out a plurality of supporting legs which are symmetrically distributed downwards, the spherical hinge support is tightly attached to the inner spherical surface of a rotating hemisphere (1-2) to enhance the motion stability, the end surface of the spherical hinge support (1-1) is fixedly connected with a column-shaped support rod (1-3) penetrating through a vertical through hole of the rotating hemisphere (1-2), the radius of the column-shaped support rod (1-3) is smaller than that of the vertical through hole of the rotating hemisphere (1-2), the lower end of the column-shaped support rod penetrates through a three-degree-of-freedom limiting support (1-4) and is fixedly connected with a static end surface of the column-shaped support rod, the three-degree-of-freedom limiting support (1-4) is fixed in the center of a positioning disc (1-5), three same flexible hinges are symmetrically distributed at 120 degrees, and two ends of the three same flexible hinges are respectively connected with the static end surface and the dynamic end surface;
the four rotary actuators (2) are symmetrically distributed at 90 degrees and are fixed on the positioning discs (1-5), and each rotary actuator comprises two horizontal rotary actuators (2A) which are oppositely arranged and two vertical rotary actuators (2B) which are oppositely arranged; the ball screws (2-4) of the horizontal rotary actuators (2A) are axially parallel to the positioning disks (1-5), and the two horizontal rotary actuators (2A) are centrosymmetric about the positioning disks (1-5); the ball screws (2-4) of the vertical rotary actuators (2B) are axially perpendicular to the positioning discs (1-5), and the two vertical rotary actuators (2B) are in mirror symmetry with respect to the column-shaped support rods (1-3).
2. The bearing platform for non-contact driving three-rotational-freedom displacement output according to claim 1, wherein: the horizontal rotary actuator (2A) and the vertical rotary actuator (2B) are identical in composition structure and comprise permanent magnets (2-1), cylindrical clamps (2-2), positioning circular ring sleeves (2-3), ball screws (2-4), boosting circular ring sleeves (2-5), cylindrical roller bearings (2-6), positioning bases (2-7), piezoelectric ceramics (2-8) and diamond rings (2-9), the lead screws of the ball screws (2-4) penetrate through the cylindrical clamps (2-2), the positioning circular ring sleeves (2-3) and the central circular holes of the boosting circular ring sleeves (2-5), the central through holes of the cylindrical clamps (2-2) are tightly locked on the lead screws of the ball screws (2-4), the permanent magnets (2-1) are clamped on the side faces, the positioning circular ring sleeves (2-3) are arranged at concentric positions below the cylindrical clamps (2-2), the positioning circular ring sleeves (2-3) are fixed on the upper surfaces of the ball screws (2-4), the lower ends of the ball screws (2-4) are nested in the boosting circular ring sleeves (2-5), the positioning circular ring sleeves (2-3) are nested in the positioning circular ring sleeves (2-5), and the positioning circular ring sleeves (2-4) are nested in the positioning circular ring sleeves (7) and the cylindrical roller bearings (2-5), a rhombic ring (2-9) is fixed on the upper end face of the positioning base (2-7), a convex rectangular section is processed on the side face of a long shaft of the rhombic ring (2-9) and is tangent to an outer ring of the boosting circular ring sleeve (2-5), and piezoelectric ceramics (2-8) are in interference fit in the long shaft; the diamond-shaped ring (2-9) of the horizontal rotation actuator (2A) is located on the lower side of the boosting circular ring sleeve (2-5), and the diamond-shaped ring (2-9) of the vertical rotation actuator (2B) is located on the outer side of the boosting circular ring sleeve (2-5).
3. The carrying platform for non-contact driving three-rotational-freedom displacement output according to claim 2, wherein: the actuating method of the horizontal rotation actuator (2A) realizes the actuation of the permanent magnet (2-1) through the voltage control of the piezoelectric ceramics (2-8): increasing the voltage of the piezoelectric ceramics (2-8) from zero to a full stroke voltage, extending the piezoelectric ceramics (2-8) in the horizontal direction, pushing the diamond ring (2-9) to extend along the long axis direction, contracting along the short axis direction, and retreating by a rectangular section, wherein the diamond ring pushes the boosting ring sleeve (2-5) to rotate anticlockwise due to the tangency with the outer ring of the boosting ring sleeve (2-5), and the ball screw (2-4) nut synchronously rotates, so that the ball screw (2-4) screw rod makes a horizontal linear retreating motion, and drives the columnar clamp (2-2) and the permanent magnet (2-1) connected with the screw rod to make a horizontal linear retreating motion; when the full-stroke voltage of the piezoelectric ceramics (2-8) is reduced to zero voltage, the piezoelectric ceramics (2-8) horizontally contracts, the rhombic rings (2-9) contract along the long axis direction, the short axis direction extends, and the rectangular section feeds, so that the boosting circular ring sleeve (2-5) and the ball screw (2-4) nut rotate clockwise, and the screw, the columnar clamp (2-2) and the permanent magnet (2-1) perform horizontal linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet (2-1) can perform rapid or slow horizontal linear motion; the actuating method of the vertical rotary actuator (2B) realizes the actuation of the permanent magnet (2-1) through the voltage control of the piezoelectric ceramics (2-8): increasing the voltage of the piezoelectric ceramics (2-8) from zero to a full stroke voltage, vertically extending the piezoelectric ceramics (2-8), pushing a diamond-shaped ring (2-9) to extend along the long axis direction, contracting along the short axis direction, and retreating by a rectangular section, wherein the diamond-shaped ring pushes the boosting circular ring sleeve (2-5) to rotate anticlockwise due to the tangency with the outer ring of the boosting circular ring sleeve (2-5), and the ball screw (2-4) nut synchronously rotates, so that the ball screw (2-4) screw rod makes a vertical linear retreating motion, and drives a columnar clamp (2-2) connected with the screw rod and a permanent magnet (2-1) to make a vertical linear retreating motion; when the full-stroke voltage of the piezoelectric ceramics (2-8) is reduced to zero voltage, the piezoelectric ceramics (2-8) vertically contract, the rhombic rings (2-9) contract along the long axis direction, extend along the short axis direction, and feed through a rectangular section, so that the boosting circular ring sleeve (2-5) and the ball screw (2-4) nut rotate clockwise, and the screw rod, the columnar clamp (2-2) and the permanent magnet (2-1) perform vertical linear feeding motion; according to the speed of the change of the control voltage, the permanent magnet (2-1) can perform rapid or slow vertical linear motion;
the actuating method of the displacement output module (1) is that when piezoelectric ceramics (2-8) of two horizontal rotary actuators (2A) are controlled by voltage signals to drive a permanent magnet (2-1) to do fast feeding and slow returning motion in the horizontal direction, induced current generated when the permanent magnet (2-1) slowly returns is small and is ignored compared with feeding motion, the permanent magnet (2-1) is fast close to a rotary hemisphere (1-2), the rotary hemisphere (1-2) is a poor magnetic conductor, surface magnetic flux changes to generate induced current, and according to the lenz law, magnetic field generated by the induced current always obstructs the change of magnetic flux causing the induced current, so that the rotary hemisphere (1-2) is subjected to force in the horizontal feeding direction of the permanent magnet (2-1) in the circumferential direction to generate a tangential motion trend in the horizontal direction, and the actual motion of the rotary hemisphere (1-2) rotates clockwise around a cylindrical support rod (1-3); when the piezoelectric ceramics (2-8) of the two horizontal rotation actuators (2A) are controlled by voltage signals to drive the permanent magnet (2-1) to perform slow feeding and fast returning motion in the horizontal direction, the actual motion of the rotating hemisphere (1-2) is anticlockwise rotation around the columnar supporting rod (1-3); when the piezoelectric ceramics (2-8) of the vertical rotary actuators (2B) are controlled by voltage signals to drive the permanent magnet (2-1) of one vertical rotary actuator (2B) to perform vertical direction fast feeding and slow returning motion, and the permanent magnet (2-1) of the other vertical rotary actuator (2B) performs vertical direction fast returning and slow feeding motion, according to the Lenz law, the two sides of the spherical surface of the rotary hemisphere (1-2) are respectively subjected to vertical upward and downward forces, upward and downward motion trends are respectively generated at the two ends of the surface of the rotary hemisphere (1-2) at a front view angle, the actual motion is an overturning motion around the center of the spherical hinge support (1-1), and the hour hand motion direction is related to the actuation conditions of the two vertical rotary actuators (2B); when the four rotary actuators (2) actuate simultaneously, the rotary hemisphere (1-2) does three-degree-of-freedom precise rotary motion by taking the spherical hinge support (1-1) as a spherical center.
4. The carrying platform for non-contact driving three-rotational-freedom displacement output according to claim 2, wherein: the surfaces of the permanent magnets (2-1) of the two horizontal rotation actuators (2A) and the vertical rotation actuator (2B) close to the rotating hemisphere (1-2) are inclined planes.
5. The bearing platform for non-contact driving three-rotational-freedom displacement output according to claim 1, wherein: in the displacement output module (1), the end face of a spherical hinge support (1-1) and a columnar support rod (1-3) are fixedly connected with a positioning disc (1-5) and are kept still all the time during actuation; the columnar supporting rods (1-3) are of hollow structures, a plurality of rectangular open slots are processed at the upper ends of the columnar supporting rods, so that the supporting legs of the spherical hinge support (1-1) can move freely, and the lower ends of the columnar supporting rods are round tables to reduce the center of gravity; a mandrel of the spherical hinge support (1-1) can rotate in the column-shaped support rod (1-3) to drive the support legs to rotate; the supporting legs move along with the rotating hemispheres (1-2) in the moving process, and are firmly grabbed to ensure that the rotating hemispheres (1-2) do not deviate from the column-shaped supporting rods (1-3), so that the stable movement is kept; the three-degree-of-freedom limiting support (1-4) provides multidirectional initial rigidity for the rotating hemisphere (1-2) through the symmetrically distributed flexible hinges, and static disturbance is resisted; the rotating hemisphere (1-2) keeps stable in motion and keeps static during power failure, so that power failure locking is realized.
6. The bearing platform for non-contact driving three-rotational-freedom displacement output according to claim 1, wherein: the permanent magnets (2-1) of the horizontal rotation actuator (2A) and the vertical rotation actuator (2B) are positioned on the same spherical surface with the center of the spherical hinge support (1-1) as the center of the sphere and tangent to the surface of the rotating hemisphere (1-2), so that induced current generated by cutting magnetic induction lines is the largest, and the distance from the end surface of the permanent magnet (2-1) to the surface of the rotating hemisphere (1-2) in the movement process is ensured to be kept stable.
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