CN115264310A - High-speed precision turntable and method based on parallel compound motion - Google Patents

High-speed precision turntable and method based on parallel compound motion Download PDF

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Publication number
CN115264310A
CN115264310A CN202211027636.6A CN202211027636A CN115264310A CN 115264310 A CN115264310 A CN 115264310A CN 202211027636 A CN202211027636 A CN 202211027636A CN 115264310 A CN115264310 A CN 115264310A
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CN
China
Prior art keywords
output platform
driving motor
driving
base
stick
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Pending
Application number
CN202211027636.6A
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Chinese (zh)
Inventor
闫鹏
江文渊
孟令臣
于海洋
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Shandong University
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Shandong University
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Priority to CN202211027636.6A priority Critical patent/CN115264310A/en
Publication of CN115264310A publication Critical patent/CN115264310A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The invention relates to the technical field of precision driving, in particular to a high-speed precision turntable and a method based on parallel compound motion, which comprises a base; the rotary output platform is connected with the base in a nested and rotary manner through a middle shaft; the stick-slip driving device is arranged between the base and the rotation output platform and used for driving the base and the rotation output platform to rotate at a relatively small angle, and a friction head of the stick-slip driving device keeps a friction state with the rotation output platform; the driving motor is connected with the stick-slip driving device in parallel and independently drives the rotary output platform to rotate in a large angle, and the driving motor is meshed with or separated from the rotary output platform through a transmission gear set to control connection or disconnection of the driving motor and the rotary output platform; the invention combines and applies the high-speed drive of the driving motor and the high-precision drive of the stick-slip driving device, and can achieve the aim of controlling the angle at high speed and high precision.

Description

High-speed precision turntable and method based on parallel compound motion
Technical Field
The invention relates to the technical field of precision driving, in particular to a high-speed precision turntable and a method based on parallel compound motion.
Background
The high-precision turntable is a common mechanical motion device and is widely applied to the fields of optics, precision instruments, bioscience and the like. The piezoelectric material has the advantages of high bandwidth, high response speed, high resolution, small size, electromagnetic interference resistance and the like, and becomes a main driving part in the field of precision driving. The stick-slip driver (which utilizes the acceleration generated by the rapid deformation of piezoelectric ceramics to ensure that the dynamic friction force cannot provide the acceleration of a moving object) made of piezoelectric materials is widely applied to the design of a stick-slip driving turntable due to simple structure and control.
Although the existing stick-slip driving turntable can realize high-precision rotation control, the rotation speed is relatively limited, and the requirements cannot be met when the rotation speed needs to be controlled quickly, at a large angle and at a high precision.
Disclosure of Invention
The invention aims to provide a high-speed precise turntable and a method based on parallel compound motion, and aims to solve the problem that the conventional stick-slip driving turntable cannot realize rapid, large-angle and high-precision angle control. In order to achieve the above object, the present invention is achieved by the following technical solutions:
in a first aspect, the present invention provides a high-speed precision turntable based on parallel compound motion, including:
a base;
the rotary output platform is connected with the base in a nested and rotary manner through a middle shaft;
the stick-slip driving device is arranged between the base and the rotation output platform and used for driving the base and the rotation output platform to rotate at a relatively small angle, and a friction head of the stick-slip driving device keeps a friction state with the rotation output platform;
and the driving motor is connected with the stick-slip driving device in parallel and drives the rotation output platform to rotate in a large angle independently, and the driving motor is connected with or disconnected from the rotation output platform through meshing or separating control of the transmission gear set.
As a further technical scheme, the transmission gear set comprises a driving gear and a driven gear, wherein the driving gear is fixedly connected with a main shaft of the driving motor, and the driven gear is fixedly connected with the rotary output platform.
As a further technical scheme, the driving gear is an external gear, the driven gear is an internal gear, and the two gears adopt inner meshing transmission.
As a further technical scheme, the clutch is used for controlling the engagement and the disengagement of the transmission gear set.
As a further technical scheme, the clutch is of an electromagnet type and comprises an electromagnetic push rod, the electromagnetic push rod is connected with the driving motor, and the electromagnetic push rod pushes the driving motor to move up and down to realize the clutch of the transmission gear set by controlling the on-off of the electromagnet.
As a further technical scheme, a spring and a guide shaft are arranged between the driving motor and the base, the spring is used for pushing the driving motor to move downwards, and the guide shaft is used for controlling the movement direction of the driving motor.
As a further technical scheme, the device also comprises an angle sensor, wherein the angle sensor is arranged between the base and the middle shaft.
As a further technical scheme, the angle sensor is an encoding sensor, and the driving motor is a stepping motor.
As a further technical scheme, a bearing is arranged between the base and the middle shaft, and the rotary output platform, the middle shaft and the bearing are coaxially arranged.
In a second aspect, the present invention provides a method for operating a high-speed precision turntable according to the first aspect, comprising the steps of:
controlling the transmission gear set to be meshed and starting the driving motor, driving the rotary output platform to quickly rotate to a position close to a required angle, and finishing the large-angle quick adjustment of the rotary output platform, wherein the reserved angle value is 1-5 times of the maximum error value generated by the driving of the driving motor;
and controlling the transmission gear set to separate and start the stick-slip driving device to drive the rotary output platform to move to a preset position, and finishing high-precision adjustment of the small angle of the rotary output platform.
The beneficial effects of the invention are as follows:
(1) The drive motor and the stick-slip drive device are arranged in parallel, the drive motor is used for adjusting most angles in the initial stage, and the stick-slip drive device is used for adjusting most angles in the final high-precision positioning stage, so that the high-speed drive of the drive motor and the high-precision drive of the stick-slip drive device are combined and applied, and the aim of controlling the angles at high speed and high precision can be fulfilled.
(2) The invention fully utilizes the abrasion resistance characteristic of the friction head of the stick-slip driving device, so that the stick-slip driving device is not greatly influenced when the driving motor drives the rotation output platform to rotate, and the stick-slip driving device can ensure that the stick-slip driving device can continuously drive the rotation output platform in time after the transmission gear set is separated.
(3) The stick-slip driving device and the driving motor are driven in the same direction, a gear gap exists after the gears are meshed, and the driven gear cannot rotate by a minimum angle enough to eliminate the gear gap under the driving of the stick-slip driving device, so that the subsequent re-meshing of the driving gear and the driven gear is not influenced, and the meshing is smoother.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the invention and not to limit the invention. It will be further appreciated that the figures are for simplicity and clarity and have not necessarily been drawn to scale. The invention will now be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
FIG. 1 is a schematic diagram showing the overall structure of a high-speed precision rotary table in an embodiment of the invention (a cut is cut to facilitate observation of the inside of the structure);
FIG. 2 is a schematic diagram showing the overall structure of a high-speed precision rotary table in the embodiment of the invention;
FIG. 3 shows a cross-sectional view of a high-speed precision turret in an embodiment of the invention;
FIG. 4 is a schematic diagram of a rotary output platform according to an embodiment of the present invention;
FIG. 5 shows a partial cutaway view of a drive motor in an embodiment of the invention;
FIG. 6 is a schematic view showing a state where a transmission gear of a turntable is separated according to an embodiment of the present invention;
fig. 7 is a schematic view showing the meshing state of the transmission gear of the turntable in the embodiment of the invention.
In the figure: 1. a base; 101. a through hole; 102. mounting holes; 2. a stick-slip drive device; 3. rotating the output platform; 4. a middle shaft; 401. a bearing; 5. an angle sensor; 501. an encoder optical disc; 502. an encoder base; 6. a drive motor; 601. a spring; 602. a guide shaft; 603. a motor housing; 7. a clutch; 701. an electromagnet housing; 702. an electromagnetic push rod; 8. a drive gear set; 801. a driving gear; 802. a driven gear.
Detailed Description
The technical solutions in the exemplary embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in fig. 1 to 7, the present embodiment provides a high-speed precision turntable based on parallel compound motion, including:
a base 1;
the rotary output platform 3 is connected with the base 1 in a nested and rotary manner through a middle shaft 4;
the stick-slip driving device 2 is arranged between the base 1 and the rotation output platform 3 and is used for driving the relative small-angle rotation between the base 1 and the rotation output platform 3, and a friction head of the stick-slip driving device 2 is kept in a friction state with the rotation output platform 3;
the driving motor 6 is connected with the stick-slip driving device 2 in parallel and drives the rotation output platform 3 to rotate in a large angle independently, and the driving motor 6 is meshed with or separated from the rotation output platform 3 through the transmission gear set 8 to control connection or disconnection.
When the rotary output platform 3 starts to work, the transmission gear set 8 is controlled to be meshed and the driving motor 6 is started to drive the rotary output platform 3 to quickly rotate to a position close to a required angle, and the large-angle quick adjustment of the rotary output platform 3 is completed;
and controlling the transmission gear set 8 to separate and start the stick-slip driving device 2 to drive the rotary output platform 3 to move to a preset position, so that the high-precision adjustment of the small angle of the rotary output platform 3 is completed.
The driving motor 6 and the stick-slip driving device 2 are arranged in parallel, the driving motor 6 is used for adjusting most angles in the initial stage, and the stick-slip driving device 2 is used for adjusting most angles in the final high-precision positioning stage, so that the high-speed driving of the driving motor 6 and the high-precision driving of the stick-slip driving device 2 are combined and applied, and the aim of controlling the angles at high speed and high precision can be fulfilled.
As shown in fig. 1 and 2, in the present embodiment, the base 1 has a circular appearance as a whole, and a space for installing the driving motor 6 and the stick-slip driving device 2 is provided inside, the base 1 corresponds to a housing of the high-precision turn table, a ring is provided at the bottom, a mounting hole 102 is provided in the ring, and the turn table is fixed in position by the mounting hole 102. The side wall of the base 1 is provided with a through hole 101, and a wiring harness of the rotary table enters the interior of the rotary table through the through hole 101.
The base 1 and the rotary output platform 3 are connected in a nested manner through a central shaft 4, and it is understood that the rotary output platform is arranged in a circular shape in order to be adapted to the base 1. The rotary output platform 3 is fixedly connected with the middle shaft 4, as shown in fig. 3, a bearing 401 is arranged between the base 1 and the middle shaft 4, and the rotary output platform 3, the middle shaft 4 and the bearing 401 are coaxially arranged. The central shaft 4 is rotated relative to the base 1 by a bearing 401. The rotary output platform 3 is nested on the top of the base 1.
As shown in fig. 3, the device further comprises an angle sensor 5, wherein the angle sensor 5 is disposed between the base 1 and the central shaft 4, and the angle sensor 5 is used for monitoring a rotation angle between the base 1 and the rotation output platform 3. In this embodiment, the angle sensor 5 is a coding sensor, the optical disc 501 of the encoder is fixedly connected with the central shaft 4, and the base 502 of the encoder is fixedly connected with the base 1.
The stick-slip driving device 2 is disposed between the base 1 and the rotation output platform 3 for driving the relative rotation between the base 1 and the rotation output platform, the stick-slip driving device 2 in this embodiment may be an existing device, and the structure and the working principle thereof are not described in detail herein. The stick-slip driving device 2 is provided with friction heads for driving other objects to rotate, in this embodiment, the friction heads of the stick-slip driving device 2 are always in a friction state with the rotation output platform 3, and when the driving motor 6 drives the rotation output platform 3 to rotate, the friction heads are generally made of ceramic materials, so that the stick-slip driving device 2 is generally not affected, and even if the stick-slip driving device is in an acceptable range.
The abrasion resistance of the friction head of the stick-slip driving device is fully utilized, so that the stick-slip driving device is not greatly influenced when the driving motor 6 drives the rotation output platform 3 to rotate, and the stick-slip driving device can be ensured to drive the rotation output platform 3 continuously in time after the transmission gear set is separated.
The driving motor 6 is connected with the rotary output platform 3 through a transmission gear set 8, and the clutch 7 is used for controlling the engagement and the disengagement of the transmission gear set 8.
As shown in fig. 3 and 4, the transmission gear set 8 includes a driving gear 801 and a driven gear 802, the driving gear 801 is fixedly connected to the main shaft of the driving motor 6, the driven gear 802 is fixedly connected to the rotary output platform 3, the rotary output platform 3 has a downward flange, the driven gear 802 is embedded inside the flange, the driving gear 801 is an external gear, the driven gear 802 is an internal gear, and the two gears are driven by internal gearing.
In this embodiment, the driving motor 6 is a stepping motor, and a speed reducer is provided between the driving motor 6 and the driving gear 801.
As shown in fig. 3 and 5, a spring 601 and a guide shaft 602 are disposed between the driving motor 6 and the base 1, the spring 601 is used for pushing the driving motor 6 to move downwards, and the guide shaft 602 is used for controlling the moving direction of the driving motor 6.
As shown in fig. 1 and 5, the clutch 7 is of an electromagnet type, electromagnets are arranged on two sides of the driving motor 6, an electromagnet housing 701 is fixedly connected with the base 1, an end of an electromagnetic push rod 702 is in contact with the driving motor housing 603, and the electromagnetic push rod 702 pushes the driving motor 6 to move up and down by controlling the on-off of the electromagnets, so that the clutch of the transmission gear set 8 is realized.
The utility model provides a transmission gear group 8 is including installing driving gear 801 on driving motor and installing the driven gear 802 on rotating output platform 3, though after driving motor 6's drive, again through gluing smooth drive arrangement 2 drive, driven gear 802 has taken place the rotation once more, but rotation angle is minimum, it is the syntropy drive to glue smooth drive arrangement 2 and driving motor 6, there is the backlash behind the gear engagement, the rotation that driven gear 802 took place is not enough to eliminate this backlash under gluing smooth drive arrangement 2 drives, consequently, not only do not influence follow-up driving gear 801 and driven gear 802's intermeshing again, still it is more smooth to make the meshing.
It will be understood that even if the rotation of the driven gear 802 occurs beyond the backlash range, a reverse angle can be set in the introduction direction of the gear engagement, and the gear engagement can be promoted smoothly as well.
Example 2
The embodiment provides a working method of the high-speed precision turntable in embodiment 1, which comprises the following steps:
when the turntable starts to work, the clutch 7 is electrified to control the transmission gear set 8 to be meshed, specifically, the electromagnetic push rod 702 pushes the driving motor 6 to move upwards, so that the driving gear 801 and the driven gear 802 are meshed with each other, as shown in fig. 7; then starting the driving motor 6, driving the rotary output platform 3 to rapidly rotate to a position close to a required angle, and finishing the rapid adjustment of the rotary output platform 3 in a large angle, wherein the reserved angle value is 1-5 times of the maximum error value generated by the driving of the driving motor 6;
the clutch 7 is controlled to be powered off, the transmission gear set 8 is controlled to be separated, specifically, the driving motor 6 moves downwards under the action of the spring 601, so that the driving gear 801 and the driven gear 802 are separated from each other, as shown in fig. 6, the stick-slip driving device 2 is started, the rotary output platform 3 is driven to move to a preset position, and the high-precision adjustment of the rotary output platform 3 in a small angle is completed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make possible variations and modifications of the present invention using the method and the technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are all within the scope of the present invention.

Claims (10)

1. A high-speed precision rotary table based on parallel compound motion is characterized by comprising:
a base;
the rotary output platform is connected with the base in a nested and rotary manner through a middle shaft;
the stick-slip driving device is arranged between the base and the rotation output platform and used for driving the base and the rotation output platform to rotate at a relatively small angle, and a friction head of the stick-slip driving device is kept in a friction state with the rotation output platform;
and the driving motor is connected with the stick-slip driving device in parallel and independently drives the rotary output platform to rotate in a large angle, and the driving motor is meshed with or separated from the rotary output platform through a transmission gear set to control connection or disconnection of the driving motor and the rotary output platform.
2. A high-speed precision rotary table based on parallel compound motion according to claim 1, wherein said transmission gear set comprises a driving gear and a driven gear, wherein said driving gear is fixedly connected with a main shaft of said driving motor, and said driven gear is fixedly connected with said rotary output platform.
3. A high-speed precision rotary table based on compound motion in parallel as claimed in claim 2, characterized in that said driving gear is an external gear, said driven gear is an internal gear, and both gears adopt inner mesh transmission.
4. A high-speed precision rotary table based on parallel compound motion according to claim 1, further comprising a clutch for controlling the engagement and disengagement of said transmission gear set.
5. A high-speed precision rotary table based on parallel compound motion as claimed in claim 4, characterized in that said clutch is of an electromagnet type, and comprises an electromagnetic push rod, said electromagnetic push rod is connected with said driving motor, and by controlling the on-off of the electromagnet, said electromagnetic push rod pushes said driving motor to move up and down to realize the on-off of said transmission gear set.
6. A high-speed precision rotary table based on parallel compound motion as claimed in claim 5, wherein a spring and a guide shaft are arranged between said driving motor and said base, said spring is used for pushing said driving motor to move downwards, and said guide shaft is used for controlling the moving direction of said driving motor.
7. A high-speed precision rotary table based on parallel compound motion according to claim 1, further comprising an angle sensor, wherein said angle sensor is disposed between said base and said central shaft.
8. A high-speed precision rotary table based on parallel compound motion as claimed in claim 7, wherein said angle sensor is a code sensor and said driving motor is a stepping motor.
9. A high-speed precision rotary table based on parallel compound motion as claimed in claim 1, wherein a bearing is provided between said base and said central shaft, and said rotary output platform, said central shaft and said bearing are coaxially arranged.
10. A method of operating a high speed precision turret according to any of claims 1-9, comprising the steps of:
controlling the transmission gear set to be meshed and starting the driving motor to drive the rotary output platform to quickly rotate to a position close to a required angle, wherein the reserved angle value is 1-5 times of the maximum error value generated by the driving motor, and the large-angle quick adjustment of the rotary output platform is completed;
and controlling the transmission gear set to separate and start the stick-slip driving device to drive the rotary output platform to move to a preset position, and finishing high-precision adjustment of the small angle of the rotary output platform.
CN202211027636.6A 2022-08-25 2022-08-25 High-speed precision turntable and method based on parallel compound motion Pending CN115264310A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211027636.6A CN115264310A (en) 2022-08-25 2022-08-25 High-speed precision turntable and method based on parallel compound motion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211027636.6A CN115264310A (en) 2022-08-25 2022-08-25 High-speed precision turntable and method based on parallel compound motion

Publications (1)

Publication Number Publication Date
CN115264310A true CN115264310A (en) 2022-11-01

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ID=83753457

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211027636.6A Pending CN115264310A (en) 2022-08-25 2022-08-25 High-speed precision turntable and method based on parallel compound motion

Country Status (1)

Country Link
CN (1) CN115264310A (en)

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