CN114762935A

CN114762935A - Angle-adjustable precision sliding table structure

Info

Publication number: CN114762935A
Application number: CN202110047960.3A
Authority: CN
Inventors: 邱毓英; 张嘉杰; 范嘉敏
Original assignee: Chiuan Yan Technology Co ltd
Current assignee: Chiuan Yan Technology Co ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2022-07-19

Abstract

The invention provides a precision sliding table structure capable of adjusting angles, which comprises: compared with the existing sliding table product and mechanism formed by stacking, the linear axis shifting table and the rotating shaft table are designed integrally, the rotating mechanism matched with the rotating shaft table is directly connected with the rotating shaft driving motor to drive and rotate, so that the problems of errors, secant function errors, precision and the like caused by screw or connecting rod transmission can be effectively solved, the rotating shaft table drives displacement through the linear axis driving motor, the rotating mechanism is further built in the rotating shaft table, and the bearing disc is driven by the rotating mechanism to rotate to actuate, so that the precise sliding table not only has the displacement of the linear axis, but also has the function of adjusting the angle through direct rotating transmission of the rotating mechanism, and the practicability of the precise sliding table is greatly improved.

Description

Angle-adjustable precision sliding table structure

Technical Field

The present invention relates to a precision slide table, and more particularly to a precision slide table structure with adjustable angle.

Background

Currently, as shown in fig. 8 to 12 of taiwan patent publication No. I602638, an X-axis moving device and a Y-axis moving device are further installed between a base and a moving seat of a precision slide table with an angle adjusting function, the moving seat is rotatably installed on the Y-axis moving device, and the linear driving device is laterally installed on the Y-axis moving device. A shaft lever is radially extended on the movable seat, and a first bearing and a second bearing are sequentially arranged on the shaft lever; the shaft lever is an L-shaped structure body and comprises a horizontal part and a vertical part, wherein the horizontal part is fixedly connected on the reference surface of the movable seat, and the first bearing and the second bearing are sequentially arranged on the vertical part. The linear driving device comprises a driving rod and a driving seat arranged at the free end part of the driving rod, wherein the axis of the driving rod is vertical to the axis of the vertical part. The driving seat is formed with a groove, and the first bearing and the second bearing are accommodated in the groove at the same time. A first top block and a second top block are fixedly arranged on two sides of the groove respectively. The end parts of the first ejector block and the second ejector block are respectively provided with a first bearing rolling surface and a second bearing rolling surface. The first bearing rolling surface and the second bearing rolling surface are respectively and constantly pressed against the first bearing and the second bearing in an opposite direction.

Therefore, when the driving rod of the linear driving device extends forwards (in the direction indicated by arrow C in fig. 11 of the above patent), the first pushing block pushes the first bearing outwards, so that the shaft rod drives the movable base to rotate relative to the base (in the direction indicated by arrow D in fig. 11 of the above patent), thereby adjusting the rotation angle of the movable base relative to the base. And in the rotating process of the movable seat, the first bearing clings to the first bearing rolling surface of the first ejector pad to roll. As shown in fig. 8, 10 and 12 of the above patent, when the driving rod retracts inward, the second ejecting block is replaced to reversely support the second bearing, so as to reset the movable seat or change the direction of the rotation angle between the reference surface of the movable seat and the base

The known mechanism structure is complex in composition and high in cost, the rotation of the angle and the adjustment are carried out by reciprocating traction action outside a circular tangent line of the movable seat in a matching way with a linear driving device, so that the movable seat can only carry out deflection of a slight angle and cannot achieve the function of rotating for one circle or more circles, the practicability of angle adjustment is greatly reduced, and in addition, an secant function and an accumulated precision error exist, so that the angle adjustment of the movable seat is lack of smoothness, precision and constant speed, and the improvement is necessary.

Disclosure of Invention

The present invention is directed to a precision sliding table structure with adjustable angle, which overcomes the above-mentioned drawbacks of the prior art.

Above-mentioned accurate slip table structure includes: the linear shaft moving platform comprises a base, two linear shaft rails, two linear shaft sliding seats and a linear shaft driving motor, wherein the two parallel sides of the base are respectively fixedly provided with the linear shaft rails, so that the two linear shaft rails are arranged at intervals to form a sliding chute; the rotary shaft platform comprises a base and a bearing disc, the base is assembled on two linear shaft sliding seats of the base and limited in the sliding groove, a threaded hole is formed in one side of the rotary shaft platform to allow the screw to be guided into the threaded hole for threaded rotation, the rotary shaft platform is driven by the rotary shaft driving motor to linearly displace along two linear shaft tracks, the bearing disc is arranged at the top end of the base, and a rotary mechanism is arranged in the rotary shaft platform and connected to drive the bearing disc to rotate so as to enable the bearing disc to have the operation purposes of rotary adjustment and angle.

Preferably, the linear axis moving stage is provided with a side wall protruding from two parallel sides of the base for the two linear axis rails to abut against and assemble.

Preferably, a groove body is further assembled outside one of the side walls of the base, a plurality of detection units are arranged inside the groove body, an examined device is arranged on one side of the base of the rotating shaft table, the examined device is provided with a plurality of detection pins, the plurality of detection pins extend into the groove body, and the positions and the displacement of the linear shaft of the rotating shaft table are detected through the detection pins and the detection units.

Preferably, a nut set is disposed on the base of the rotary pillow block facing the screw hole, and the nut set provides for the screw to pass through and guide into the screw hole, so as to improve the stability of the connection driving of the screw and the screw hole.

Preferably, the bottom surface of the base of the rotary pillow block is provided with a convex rail part, the convex rail part is slidably accommodated in the sliding groove, two sides of the convex rail part are respectively tightly attached to one linear shaft sliding seat, the two linear shaft sliding seats are fixedly connected through the base, the bottom side of the convex rail part is inwards concavely provided with an accommodating groove, one end of the inner wall of the accommodating groove, which is adjacent to the screwing hole, forms a first limiting surface, one end, which is far away from the screwing hole, forms a second limiting surface, the top surface of the base is convexly provided with a circular boss, the circular boss is concavely provided with a combination groove in a gradually reducing manner from top to bottom, the combination groove is formed in a step shape and is at least provided with a first step part and a second step part, and the center of the bottom of the combination groove is provided with a through hole communicated with the accommodating groove.

Preferably, the sliding groove surface of the base is convexly provided with at least two limiting pieces, a connecting line of the two limiting pieces is parallel to the two linear shaft rails, and the first limiting surface and the second limiting surface of the containing groove are provided to abut against through the two limiting pieces, so that the displacement range of the base in the linear shaft direction is limited.

Preferably, the rotating mechanism includes a rotating shaft driving motor, a transferring cover and a connecting upper seat, the rotating shaft driving motor is installed in the containing groove at the bottom of the base, and the rotating shaft driving motor drives a driving shaft to extend into the combining groove from the through hole and drive the transferring cover through the driving shaft connection, the outer diameter of the transferring cover is provided with a ring bearing, the ring bearing is assembled at the first step part in the combining groove, the connecting upper seat is stacked at the top end of the transferring cover, and combines the connecting upper seat and the transferring cover into a whole by using a plurality of lock bolts, and then the connecting upper seat is used for installing the bearing disc, the outer diameter of the connecting upper seat is sleeved with an oil seal, the outer edge of the oil seal is locked and fixed with the second step part of the combining groove through a lock ring, and the lock ring abuts against and limits the ring bearing.

Preferably, the inner diameter of the through hole of the base is provided with a tooth section, the rotating mechanism is also matched with a harmonic wave reducing mechanism, the harmonic wave reducing mechanism comprises a harmonic wave generator, an annular bearing and a flexible gear, wherein a through hole is arranged at the center of the harmonic wave generator and is connected with a driving shaft of the rotating shaft driving motor, the annular bearing is sleeved on the outer diameter of the harmonic wave generator, the flexible gear is sleeved outside the annular bearing and is linked with the flexible gear through the annular bearing, and the outer diameter of the flexible gear is provided with a flexible tooth section which is meshed and linked with the tooth section of the through hole, so as to drive the flexible gear to perform harmonic rotation along the tooth section through the rotating shaft driving motor, the flexible gear is integrated with the switching cover and the connecting upper seat through a plurality of lock bolts, so as to transmit the rotary power to achieve the operation purpose of rotating and adjusting the angle of the bearing disc.

Preferably, the base is provided with a sensor facing the bearing disc, the outer diameter surface of the bearing disc is provided with a scale meter in a surrounding manner, the bearing disc is further provided with a sensing piece, and the sensing piece exceeds the outer diameter of the bearing disc and senses the rotating angle through the sensor.

Efficacy against the prior art: the precise sliding table drives the rotating shaft table to move linearly on the linear shaft moving table through the linear shaft driving motor, the rotating mechanism is further arranged in the rotating shaft table, the rotating mechanism drives the bearing disc to rotate and move, the precise sliding table is enabled to have linear shaft displacement, the bearing disc is enabled to have 360-degree rotation stroke through direct rotation transmission of the rotating mechanism, and the practicability of the precise sliding table is greatly improved.

In addition, compared with the existing sliding table product and mechanism formed by stacking, the linear axis shift table and the rotating shaft table of the precision sliding table have the effects of greatly reducing the volume and height, and the rotating mechanism matched with the rotating shaft table is directly connected with the rotating shaft driving motor to drive the rotating shaft, so that the problems of accumulated errors caused by stacking of a plurality of layers, errors caused by screw or connecting rod transmission, errors of a secant function, precision and the like can be effectively avoided, and the accuracy of the rotating action of the structure is favorably improved.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is an exploded view of the present invention.

Fig. 3 is an exploded view of the rotary mechanism and harmonic speed reduction mechanism of the present invention.

Fig. 4 is a top view of the present invention.

Fig. 5 is a cross-sectional view of the present invention corresponding to section a-a in fig. 4.

Fig. 6 is a cross-sectional view of the present invention taken along line B-B of fig. 4.

Fig. 7 is a schematic view of the displacement state of the linear shaft and the rotating shaft of the present invention.

Fig. 8 is a schematic view of an operating state of the harmonic speed reduction mechanism of the present invention.

In the figure:

10, linear axis shift stage; 11, a base; 111, side wall; 112, a boss; 12, a linear shaft track; 121, a chute; 122, a limiting part; 13, a linear shaft sliding seat; a linear axis drive motor; 141, a screw; 15, a groove body; 151, a detection unit; 20, rotating the pillow block; 21, a base; 211, a screw hole; 212, a convex rail part; 213, a containing groove; 214, a first limiting surface; 215 a second limiting surface; 216, circular ring boss; 217, a combination groove; 218, a first step; 219, a second step; 22, a bearing disc; 221, a dial gauge; 23, a nut group; 24, perforating; 241 is a tooth section; 25, a detected device; 251, detecting pin; 26, a sensor; 27, a sensing member; 30, a rotating mechanism; 31, a rotating shaft driving motor; 311, a driving shaft; 32, a switching cover; 321 annular bearing; 33, connecting an upper seat; 331, oil sealing; 332, a locking ring; 34, a lock bolt; 40, a harmonic wave speed reducing mechanism; 41, a harmonic generator; 411, shaft through hole; 42, an annular bearing; 43 flexible gear; 431, a flexible tooth section.

Detailed Description

The present invention is further described below in conjunction with the drawings and the embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

First, referring to fig. 1, 2 and 3, an angle-adjustable precision sliding table structure includes: a linear axis shift stage 10, a rotary stage 20 and a rotary mechanism 30, wherein the linear axis shift stage 10 includes a base 11, two linear axis rails 12, two linear axis sliding bases 13, and a linear axis driving motor 14, a side wall 111 is convexly provided on both parallel sides of the base 11 for the two linear axis rails 12 to abut against and assemble, so that the two linear axis rails 12 are arranged at intervals and form a sliding slot 121, at least two limiting members 122 are convexly provided on the surface of the sliding slot 121, the connecting line of the two limiting members 122 is parallel to the two linear axis rails 12, the two linear axis sliding bases 13 respectively slide along the two linear axis rails 12, and the base 11 is provided with a boss 112 facing the sliding slot, the outer side of the boss 112 is provided with the linear axis driving motor 14, the linear axis driving motor 14 links a screw 141, and the screw 141 penetrates through the boss 112 and faces the inner side of the sliding slot 121; the rotary pillow block 20 comprises a base 21 and a support plate 22, wherein one side of the base 21 is provided with a screw hole 211, and a nut set 23 is provided facing the screw hole 211 for the screw rod 141 to pass through and be guided into the screw hole for screw rotation transmission, the base 21 has a raised rail portion 212 on the bottom surface, a receiving groove 213 is formed on the bottom side of the raised rail portion 212, a first position-limiting surface 214 is formed on an end of the inner wall of the receiving groove 213 adjacent to the screw hole 211, and a second position-limiting surface 215 is formed on an end away from the screw hole 211, the top surface of the base 21 is protruded with a circular boss 216, the circular boss 216 is gradually contracted from top to bottom and is concavely provided with a combination groove 217, the combination groove 217 is formed in a step shape and at least has a first step 218 and a second step 219, and a through hole 24 is formed at the center of the bottom of the combination groove 217 to communicate with the accommodation groove 213, the supporting plate 22 is assembled on the top of the base 21, and the rotating mechanism 30 is built in the rotating pillow block 20 to drive the supporting plate 22 to rotate; the rotating mechanism 30 includes a rotating shaft driving motor 31, a transferring cover 32 and a connecting upper seat 33, the rotating shaft driving motor 31 is installed in the receiving slot 213 at the bottom of the base 21, and the rotating shaft driving motor 31 drives a driving shaft 311 to extend into the combining slot 217 from the through hole 24, and drives the transferring cover 32 by the driving shaft 311 connection, the outer diameter of the transferring cover 32 is provided with a ring bearing 321, the ring bearing 321 is assembled at the first step 218 in the combining slot 217, the connecting upper seat 33 is stacked on the top of the transferring cover 32, and combines the connecting upper seat 33 and the transferring cover 32 into a whole by using a plurality of bolts 34, and then the connecting upper seat 33 is used for installing the bearing disc 22, the outer diameter of the connecting upper seat 33 is sleeved with an oil seal 331, the outer edge of the oil seal 331 is further locked and fixed with the second step 219 of the combining slot 217 by a lock ring 332, and the lock ring 332 is abutted against and limits the ring bearing 321, thereby achieving the rotation of the support tray 22 by the rotation mechanism 30.

In addition, in the embodiment of the present invention, the rotating mechanism 30 is further matched with a harmonic reducing mechanism 40, the inner diameter of the through hole 24 of the base 21 is provided with a tooth section 241, the harmonic reducing mechanism 40 includes a harmonic generator 41, a ring bearing 42 and a flexible gear 43, a through hole 411 is provided at the center of the harmonic generator 41 and connected to the driving shaft 311 of the rotating shaft driving motor 31, the outer diameter of the harmonic generator 41 is sleeved with the ring bearing 42, the flexible gear 43 is sleeved outside the ring bearing 42 and drives the flexible gear 43 through the ring bearing 42, the outer diameter of the flexible gear 43 is annularly provided with a flexible tooth section 431, the flexible tooth section 431 is meshed with the tooth section 241 of the through hole 24 and is linked, so that the rotating shaft driving motor 31 drives the flexible gear 43 to perform harmonic rotation along the tooth section 241, and the flexible gear 43 is integrated with the adapting cover 32 and the connecting upper seat 33 through a plurality of the locking bolts 34, so as to transmit the rotation power to the bearing disc 22 to achieve the operation purpose of rotation and angle adjustment, thereby having higher precision compared with the conventional gear mechanism.

Referring to fig. 1, 2, 3 and 4, 5, 6, the rotating mechanism 30 and the harmonic speed reducing mechanism 40 are installed in the rotating shaft stage 20, the rotating shaft stage 20 is installed on the linear shaft moving stage 10, the bottom protruding rail portion 212 of the rotating shaft stage 20 is slidably assembled in the sliding slot 121 of the linear shaft moving stage 10, two sides of the protruding rail portion 212 are tightly attached to the two linear shaft sliding bases 13, and the two linear shaft sliding bases 13 are connected and fixed through the base 21, so that the linear displacement state of the rotating shaft stage 20 is achieved by the cooperation of the two linear shaft sliding bases 13 and the two linear shaft rails 12, the nut set 23 installed at one end of the base 21 is further used for guiding the screw rod 141 into the screw hole 211 to be locked, so as to provide the power for the displacement of the rotating shaft stage 20 through the linear shaft driving motor 14, at least two protruding position-limiting members 122 installed on the surface of the sliding slot 121 are limited in the accommodating slot 213 of the rotating shaft stage 20, the two position-limiting members 122 are used as the first position-limiting surface 214 and the second position-limiting surface 215 of the accommodating groove 213 to abut against each other, so as to limit the displacement range of the rotating shaft stage 20 in the linear axis direction, thereby completing the precision sliding stage structure.

In the actual state of the structure, as shown in fig. 6, 7 and 8, when the precision slide platform performs displacement in the linear axis direction, the linear axis driving motor 14 drives the screw rod 141 to screw in the screw hole 211 of the rotary axis platform 20, so that the rotary axis platform 20 generates a moving force, and the linear axis sliding bases 13 at two sides of the bottom of the rotary axis platform 20 linearly slide along the two linear axis rails 12, so as to achieve the purpose of linear axis displacement of the rotary axis platform 20 in the sliding slot 121 of the base 11, and the rotary axis platform 20 is further limited within the sliding range defined by at least two limiting members 122 during linear displacement, so as to prevent the rotary axis platform 20 from exceeding the stroke movement in the linear axis direction, so as to achieve displacement operation in the linear axis direction precisely and smoothly, the harmonic speed reducing mechanism 40 is driven by the rotary axis driving motor 31, the flexible tooth section 431 with the outer diameter of the flexible gear 43 rotates along the tooth section 241 with the inner diameter of the through hole 24, and further transmits the rotation power to the adapter cap 32 and the connection upper seat 33, so that the bearing disc 22 has the operation purpose of rotation angle, and the precision sliding table has the displacement in the direction of the straight axis and the displacement of 360 degrees rotation, thereby greatly improving the practicability of the structure.

Furthermore, a groove body 15 is further assembled outside the side wall 111 of the base 11, please refer to fig. 5, a plurality of detecting units 151 are disposed inside the groove body 15, a detected device 25 is disposed on one side of the base 21, the detected device 25 is disposed with a plurality of detecting pins 251, the plurality of detecting pins 251 extend into the groove body 15, and the detecting pins 251 and the detecting units 151 sense the displacement amount and the displacement direction of the rotating pillow 20 on the linear axis, and the base 21 of the rotating pillow 20 is further provided with a sensor 26 facing the bearing plate 22, please refer to fig. 2 and fig. 6, a scale 221 is annularly disposed on the outer diameter surface of the bearing plate 22, and the bearing plate 22 is further provided with a sensing element 27, the sensing element 27 exceeds the outer diameter of the bearing plate 22 and extends into the sensor 26, so as to sense the rotation angle through the sensing element 27 corresponding to the sensor 26.

With the structure of the above embodiment, the following benefits can be obtained: the precise sliding table drives the rotary shaft table 20 to move on the linear shaft of the linear shaft moving table 10 through the linear shaft driving motor 14, and the rotary mechanism 30 is further built in the rotary shaft table 20, and drives the bearing disc 22 to rotate through the rotary mechanism 30, so that the precise sliding table not only has the displacement of the linear shaft, but also enables the bearing disc 22 to have a 360-degree rotation stroke through the direct rotation transmission of the rotary mechanism 30, and greatly improves the practicability of the precise sliding table.

Furthermore, the linear axis shift stage 10 and the rotary axis stage 20 of the precision slide platform are designed integrally, compared with the existing slide platform product and mechanism formed by stacking, the size and height of the slide platform product and mechanism are greatly reduced, and the rotary mechanism 30 matched with the rotary axis stage 20 is directly connected with the rotary shaft driving motor 31 to be driven to rotate, so that the problems of accumulated error caused by stacking of a plurality of layers, error caused by screw or connecting rod transmission, error of secant function, precision and the like can be effectively avoided, and the accuracy of the rotary actuation of the structure is favorably improved.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1. The utility model provides a but angle of adjustment's accurate slip table structure which characterized in that includes:

a linear axis moving platform, which comprises a base, two linear axis rails, two linear axis sliding seats and a linear axis driving motor, wherein two parallel sides of the base are respectively and fixedly provided with the linear axis rails, so that the two linear axis rails are arranged at intervals and form a sliding chute, the two linear axis sliding seats respectively slide along the two linear axis rails and move, the base is provided with a boss facing the sliding chute, the outer side surface of the boss is provided with the linear axis driving motor, the linear axis driving motor is linked with a screw, and the screw penetrates through the inner side surface of the boss and faces the sliding chute;

the rotary shaft platform comprises a base and a bearing disc, the base is assembled on the two linear shaft sliding seats of the base and limited in the sliding groove, a threaded hole is formed in one side of the rotary shaft platform to enable the screw to be guided into the threaded hole for threaded rotation, the rotary shaft platform is driven to linearly displace along the two linear shaft tracks through the rotary shaft driving motor, the bearing disc is arranged at the top end of the base, and a rotary mechanism is arranged in the rotary shaft platform and connected with the bearing disc to drive the bearing disc to rotate.

2. The adjustable angle precision sliding table structure of claim 1, wherein the linear axis shift stage is provided with a side wall protruding from two parallel sides of the base for the two linear axis rails to abut against and assemble.

3. The adjustable angle precision sliding table structure of claim 2, wherein a groove is further assembled outside one of the side walls of the base, a plurality of detecting units are disposed inside the groove, and an inspection device is disposed on one side of the base of the rotating shaft table, the inspection device has a plurality of detecting pins, the plurality of detecting pins extend into the groove, and the position and displacement of the linear axis of the rotating shaft table are detected by the detecting pins and the detecting units.

4. The adjustable angle precision slide platform of claim 1, wherein the base of the rotating pillow block is provided with a nut set facing the threaded hole, the nut set providing passage and introduction of the screw into the threaded hole.

5. The precision sliding table structure according to claim 1, wherein a convex rail portion is disposed on a bottom surface of the base of the rotating shaft table, the convex rail portion is slidably received in the sliding groove, two sides of the convex rail portion are respectively closely attached to one of the linear shaft sliding seats, and the two linear shaft sliding seats are connected and fixed by the base, a receiving groove is recessed inward from a bottom side of the convex rail portion, a first limiting surface is formed at an end of an inner wall of the receiving groove adjacent to the screwing hole, a second limiting surface is formed at an end away from the screwing hole, a circular boss is protruded on a top surface of the base, a combining groove is recessed from top to bottom in a tapered manner, the combining groove is formed in a step shape and is provided with at least a first step portion and a second step portion, and a through hole is disposed at a center of a bottom of the combining groove and is communicated with the receiving groove.

6. The precision sliding table structure according to claim 5, wherein at least two position-limiting members are protruded from the surface of the sliding slot of the base, and the connecting line of the two position-limiting members is parallel to the two linear axis rails, and the two position-limiting members provide the first position-limiting surface and the second position-limiting surface of the receiving slot for abutting against each other, so as to limit the displacement range of the base in the linear axis direction.

7. The adjustable precision sliding table structure of claim 5 wherein the rotating mechanism includes a rotating shaft driving motor, a coupling cover and a connecting upper seat, the rotating shaft driving motor is arranged in the accommodating groove at the bottom of the base and drives a driving shaft to extend into the combination groove from the through hole and drive the adapter cover through the driving shaft, the outer diameter of the adapter cover is provided with an annular bearing which is assembled on the first step part in the combination groove, the upper connecting seat is superposed on the top end of the switching cover, and a plurality of lock bolts are utilized to combine the upper connecting seat and the switching cover into a whole, and then the upper connecting seat is used for installing the bearing plate, the outer diameter of the upper connecting seat is sleeved with an oil seal, the outer edge of the oil seal is locked and fixed with the second step part of the combined groove through a locking ring, and the locking ring abuts against and limits the annular bearing.

8. The adjustable precision slipway structure of claim 7, wherein the inner diameter of the through hole of the base is provided with a tooth section, the rotating mechanism is also matched with a harmonic wave reducing mechanism which comprises a harmonic wave generator, an annular bearing and a flexible gear, a shaft hole is arranged at the center of the harmonic generator and is connected with a driving shaft of the rotating shaft driving motor, the annular bearing is sleeved on the outer diameter of the harmonic generator, the flexible gear is sleeved outside the annular bearing and is linked with the flexible gear through the annular bearing, and the outer diameter of the flexible gear is provided with a flexible tooth section which is meshed and linked with the tooth section of the through hole, so as to drive the flexible gear to perform harmonic rotation along the tooth section through the rotating shaft driving motor, and the flexible gear is combined with the switching cover and the connecting upper seat into a whole through a plurality of lock bolts.

9. The sliding table structure of claim 1, wherein the base has a sensor facing the supporting plate, the outer surface of the supporting plate has a scale, and the supporting plate has a sensor that exceeds the outer diameter of the supporting plate and senses the rotation angle of the supporting plate.