CN204097568U - A kind of multi-degree-of-freedom workbench - Google Patents
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Abstract
Description
技术领域technical field
本实用新型属于机械加工领域，涉及一种工作台结构，尤其涉及一种具有多个运动自由度的工作台。The utility model belongs to the field of mechanical processing, and relates to a workbench structure, in particular to a workbench with multiple degrees of freedom of movement.
背景技术Background technique
一般的加工操作都需要配置工作台，某些高要求的加工还需要配备较为专业的工作台，一个适合的工作台对工作起到非常重要的促进作用，能有效提高加工的效率、提高操作的精度及稳定性，同时也能减轻操作者的劳动负担，更为符合人机工程学。General processing operations need to be equipped with a workbench, and some high-demand processing also needs to be equipped with a more professional workbench. A suitable workbench plays a very important role in promoting the work, which can effectively improve the efficiency of processing and improve the efficiency of operation. Accuracy and stability, but also can reduce the labor burden of the operator, more in line with ergonomics.
随着技术的发展和生活水平的提高，需要在工作台上加工或者操作的设备也越来越复杂，特别对于具有多个运动自由度的高精度工作台需求越来越迫切。例如，在激光熔覆成形的研究过程中需要将基材放置于工作台上，利用高能激光束进行加工，尤其在进行复杂零件的堆积成形过程中更需要配置高精度、多自由度的工作台。然而，目前在该领域使用的工作台存在运动自由度少的缺点，从而导致复杂零件的堆积难以实现。With the development of technology and the improvement of living standards, the equipment that needs to be processed or operated on the workbench is becoming more and more complex, especially the demand for high-precision workbenches with multiple degrees of freedom of movement is becoming more and more urgent. For example, in the research process of laser cladding forming, it is necessary to place the base material on the workbench and use high-energy laser beams for processing, especially in the process of stacking and forming complex parts, it is necessary to configure a high-precision, multi-degree-of-freedom workbench . However, the worktables currently used in this field have the disadvantage of having few degrees of freedom of movement, which makes the accumulation of complex parts difficult to achieve.
实用新型内容Utility model content
有鉴于此，本实用新型提供了一种结构相对简单，并且具有多个运动自由度的工作台，不仅可实现XYZ三个方向的移动，还可实现绕X和Z轴的转动，为复杂零部件的堆积成形奠定了基础。In view of this, the utility model provides a workbench with a relatively simple structure and multiple degrees of freedom of movement, which can not only realize the movement in the three directions of XYZ, but also realize the rotation around the X and Z axes. The build-up forming of components lays the foundation.
一种多自由度工作台，其特征在于：所述多自由度工作台包括Z轴向移动的第一平动机构、Y轴向移动的第二平动机构、X轴向移动的第三平动机构、绕Z轴向转动的第一转动机构以及绕X向转动的第二转动机构；所述第二平动机构安装于所述第一平动机构之上，所述第三平动机构安装于所述第二平动机构之上，所述第一转动机构安装于所述第三平动机构之上，所述第二转动机构安装于所述第一转动机构之上；所述第二平动机构和所述第三平动机构采用模块化设计，结构相同、安装方向不同。A multi-degree-of-freedom table, characterized in that: the multi-degree-of-freedom table includes a first translation mechanism for Z-axis movement, a second translation mechanism for Y-axis movement, and a third translation mechanism for X-axis movement. A moving mechanism, a first turning mechanism that rotates around the Z axis, and a second turning mechanism that turns around the X direction; the second translation mechanism is installed on the first translation mechanism, and the third translation mechanism installed on the second translation mechanism, the first rotation mechanism is installed on the third translation mechanism, and the second rotation mechanism is installed on the first rotation mechanism; the first rotation mechanism is installed on the first rotation mechanism; The second translation mechanism and the third translation mechanism adopt a modular design, have the same structure, and have different installation directions.
优选地，所述第一平动机构包括底座，安装在所述底座上的第一电机、第一涡杆和第一涡轮，第一支撑板，以及安装于所述第一涡轮和第一支撑板之间的第一丝杠及其对应的第一丝杠螺母；所述第一涡杆与第一电机的输出端相连，所述第一涡轮上的咬齿于所述第一涡杆上的螺纹咬合连接；所述第一丝杠与第一涡轮的中心垂直连接；所述第一丝杠螺母一端与所述第一丝杠咬合，另一端与所述第一支撑板的下表面连接；所述第一电机通过第一涡轮和第一涡杆带动第一丝杠转动，第一丝杠转动带动第一丝杠螺母以及第一支撑板升降。Preferably, the first translation mechanism includes a base, a first motor, a first scroll and a first turbine installed on the base, a first support plate, and a first support plate installed on the first turbine and the first support The first lead screw between the plates and its corresponding first lead screw nut; the first worm is connected to the output end of the first motor, and the teeth on the first worm gear are on the first worm The first lead screw is vertically connected to the center of the first worm wheel; one end of the first lead screw nut is engaged with the first lead screw, and the other end is connected to the lower surface of the first support plate The first motor drives the first lead screw to rotate through the first worm gear and the first worm rod, and the rotation of the first lead screw drives the first lead screw nut and the first support plate to rise and fall.
优选地，所述第一平动机构还包括连接于所述底座和第一支撑板之间的两组剪刀臂，所述每组剪刀臂的一侧上下两个端点分别固定于所述第一支撑板和所述底座，另一侧的上下两个端点分别通过滑块与第一支撑板和底座连接。Preferably, the first translation mechanism further includes two sets of scissor arms connected between the base and the first support plate, and the upper and lower ends of each set of scissor arms are respectively fixed to the first The support plate and the base, the upper and lower end points on the other side are respectively connected with the first support plate and the base through sliders.
优选地，所述第一丝杠螺母为T字型，下端与所述第一丝杠咬合，上部的左右两端分别与两组剪刀臂固定于第一支撑板下方的两端连接。Preferably, the first lead screw nut is T-shaped, the lower end engages with the first lead screw, and the left and right ends of the upper part are respectively connected with the two ends of two sets of scissor arms fixed under the first support plate.
优选地，所述第二平动机构与所述第三平动机构采用结构相同的模块化设计，每组第二平动机构或第三平动机构均包括：第二电机、与第二电机的输出端相连的第二丝杠及其对应的第二丝杠螺母、用于容纳并固定第二丝杠的第一导轨基座以及固定于所述第二丝杠螺母上端面的第二支撑板，所述第二电机通过第二丝杠和第二丝杠螺母带动所述第二支撑板移动。Preferably, the second translation mechanism and the third translation mechanism adopt a modular design with the same structure, and each set of second translation mechanism or third translation mechanism includes: a second motor, and a second motor The second lead screw connected to the output end of the second lead screw and its corresponding second lead screw nut, the first guide rail base for accommodating and fixing the second lead screw, and the second support fixed on the upper end surface of the second lead screw nut plate, the second motor drives the second support plate to move through the second lead screw and the second lead screw nut.
优选地，所述每组第二平动机构或第三平动机构还包括一支于所述第二丝杆平行设置的导向杆、套设在所述导向杆上的导向块，所述导向杆设置在与所述第一导轨基座平行的第二导轨基座内，所述导向块上端面于所述第二支撑板连接。Preferably, each set of second translation mechanism or third translation mechanism further includes a guide rod arranged parallel to the second screw rod, a guide block sleeved on the guide rod, and the guide The rod is arranged in the second guide rail base parallel to the first guide rail base, and the upper end surface of the guide block is connected to the second support plate.
优选地，所述第一转动机构包括第三电机、与所述第三电机的输出端相连的第二涡杆、与所述第二涡杆咬合连接的第二涡轮、位于所述第二涡轮上方的支撑圆盘以及用于连接第二涡轮和支撑圆盘并带动所述支撑圆盘转动的第一传动轴，所述第三电机通过第二涡轮、第二涡杆驱动第一传动轴及支撑圆盘作旋转运动。Preferably, the first rotating mechanism includes a third motor, a second worm connected to the output end of the third motor, a second worm gear meshed with the second worm, The upper support disc and the first transmission shaft used to connect the second worm wheel and the support disc and drive the support disc to rotate, the third motor drives the first transmission shaft and the second worm gear through the second worm gear and the second worm The support disc is used for rotational movement.
优选地，所述第二转动机构包括第四电机、与所述第四电机的输出端相连的第三涡杆、与所述第三涡杆咬合连接的第三涡轮以及工作台，所述工作台通过第二传动轴与所述第三涡轮的中心连接，所述第二传动轴通过一对支架架设在所述第一转动机构的上方、并且与第三涡轮的中心垂直连接，所述第四电机通过第三涡轮、第三涡杆驱动第二传动轴及工作台作旋转运动；所述支架的高度大于所述工作台中心至边缘的最大距离。Preferably, the second rotating mechanism includes a fourth motor, a third worm connected to the output end of the fourth motor, a third worm gear meshed with the third worm, and a workbench. The table is connected to the center of the third turbine through the second transmission shaft, the second transmission shaft is erected above the first rotating mechanism through a pair of brackets, and is vertically connected to the center of the third turbine, the first The four motors drive the second drive shaft and the worktable to rotate through the third worm gear and the third worm; the height of the support is greater than the maximum distance from the center of the workbench to the edge.
优选地，所述第二传动轴的端面设置有指针，所述支架的外侧设置有角度刻度，所述工作台内置水平仪，所述工作台围绕轴线方向设置有若干个锁紧槽。Preferably, a pointer is provided on the end surface of the second transmission shaft, an angle scale is provided on the outside of the bracket, a level is built in the workbench, and several locking grooves are provided around the axis direction of the workbench.
与现有技术相比，本实用新型具有以下优点：Compared with the prior art, the utility model has the following advantages:
(1)本实用新型结构相对简单，而且具有5个自由度，其中3个平动自由度和两个转动自由度，基本可以满足所有复杂零部件成形的要求。(1) The structure of the utility model is relatively simple, and has 5 degrees of freedom, including 3 translational degrees of freedom and 2 rotational degrees of freedom, which can basically meet the requirements of forming all complex parts.
(2)本实用新型的每一组平动机构中，均采用一种辅助推动机构，第一平动机构中设置有剪刀臂，第二平动机构中设置有导向杆，这些辅助推动机构均可以帮助平动机构在平动的过程中支撑板始终保持水平，并使得平动的过程更为平稳流畅，减轻驱动装置的压力，延长平动机构的使用寿命。(2) In each group of translation mechanisms of the present utility model, a kind of auxiliary push mechanism is all adopted, and scissor arm is arranged in the first translation mechanism, and guide bar is provided in the second translation mechanism, and these auxiliary push mechanisms all It can help the translation mechanism to keep the support plate always level during the translation process, and make the translation process more stable and smooth, reduce the pressure on the driving device, and prolong the service life of the translation mechanism.
(3)本实用新型中在第二转动机构上巧妙的设置了角度刻度和指针以及水平仪，能够是操作者较为直观的观察到该转动机构的转动角度，并及时调整工作台的水平情况，使得工作台自由度的控制更为精确，更符合精细产品的加工要求。(3) In the utility model, an angle scale, a pointer and a level are skillfully arranged on the second rotating mechanism, so that the operator can observe the rotation angle of the rotating mechanism more intuitively, and adjust the level of the workbench in time, so that The control of the degree of freedom of the workbench is more precise and more in line with the processing requirements of fine products.
(4)本实用新型可以与激光器相结合实现复杂零部件的堆积成形。(4) The utility model can be combined with a laser to realize accumulation and forming of complex components.
附图说明Description of drawings
为了更清晰地说明本实用新型实施例中的技术方案，下面将对实施例中所需要使用的附图简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some implementations recorded in the utility model For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.
图1为本实用新型多自由度工作台立体图；Fig. 1 is the perspective view of the utility model multi-degree-of-freedom workbench;
图2为本实用新型中第一平动机构的立体示意图；Fig. 2 is the three-dimensional schematic view of the first translation mechanism in the utility model;
图3为本实用新型中第二平动机构或第三平动机构立体示意图；Fig. 3 is the three-dimensional schematic diagram of the second translation mechanism or the third translation mechanism in the utility model;
图4为本实用新型中第一转动机构的立体示意图；Fig. 4 is the three-dimensional schematic view of the first rotating mechanism in the utility model;
图5为本实用新型中第二转动机构的立体示意图。Fig. 5 is a three-dimensional schematic diagram of the second rotating mechanism in the present invention.
其中：in:
1、第一平动机构； 11、底座； 12、剪刀臂； 13、第一涡轮；1. The first translation mechanism; 11. The base; 12. The scissor arm; 13. The first turbine;
14、第一涡杆； 15、第一电机； 16、第一丝杠；14. The first worm; 15. The first motor; 16. The first lead screw;
17、第一丝杠螺母； 18、滑块； 19、第一支撑板；17. The first lead screw nut; 18. The slider; 19. The first support plate;
2、第二平动机构； 21、第二电机； 221、第一导轨基座；2. The second translation mechanism; 21. The second motor; 221. The first guide rail base;
222、第二导轨基座； 23、第二丝杠； 24、第二丝杠螺母；222. The second guide rail base; 23. The second lead screw; 24. The second lead screw nut;
25、导向杆； 26、导向块； 27、第二支撑板；25. Guide rod; 26. Guide block; 27. Second support plate;
3、第三平动机构；3. The third translation mechanism;
4、第一转动机构； 41、第二涡杆； 42、第二涡轮；4. The first rotating mechanism; 41. The second worm; 42. The second turbine;
43、第三电机； 44、第一传动轴； 45、支撑圆盘；43. The third motor; 44. The first transmission shaft; 45. The support disc;
5、第二转动机构； 51、支架； 52、第四电机；5. The second rotating mechanism; 51. The bracket; 52. The fourth motor;
53、第三涡轮； 54、第三涡杆； 55、工作台；53. The third turbine; 54. The third scroll; 55. The workbench;
56、第二传动轴； 511、角度刻度； 561、指针；56. The second transmission shaft; 511. Angle scale; 561. Pointer;
551、水平仪； 552、锁紧槽。551, spirit level; 552, locking groove.
具体实施方式Detailed ways
本实用新型公开了一种结构相对简单，并且具有多个运动自由度的工作台，不仅可实现XYZ三个方向的移动，还可实现绕X和Z轴的转动，为复杂零部件的堆积成形奠定了基础。The utility model discloses a workbench with a relatively simple structure and multiple degrees of freedom of movement, which can not only realize the movement in the three directions of XYZ, but also realize the rotation around the X and Z axes, and is used for the stacking and forming of complex parts. Foundation.
下面通过实施例，并结合附图，对本实用新型的技术方案作进一步具体的说明。The technical solutions of the present utility model will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.
一种多自由度工作台，如图1所示，该多自由度工作台由下至上依次包括Z轴向移动的第一平动机构1、Y轴向移动的第二平动机构2、X轴向移动的第三平动机构3、绕Z轴向转动的第一转动机构4以及绕X向转动的第二转动机构5。上述第二平动机构2安装于所述第一平动机构1之上，上述第三平动机构3安装于上述第二平动机构2之上，上述第一转动机构4安装于上述第三平动机构3之上，上述第二转动机构5安装于上述第一转动机构4之上。优选地，上述第二平动机构2和上述第三平动机构3采用模块化设计，结构相同、安装方向不同，第二平动机构2沿X轴方向移动，而第三平动机构3沿Y轴方向移动。A multi-degree-of-freedom workbench, as shown in Figure 1, the multi-degree-of-freedom workbench sequentially includes a first translation mechanism 1 for Z-axis movement, a second translation mechanism 2 for Y-axis movement, and an X-axis movement from bottom to top. The third translation mechanism 3 that moves axially, the first rotation mechanism 4 that rotates around the Z axis, and the second rotation mechanism 5 that rotates around the X direction. The above-mentioned second translation mechanism 2 is installed on the first translation mechanism 1, the above-mentioned third translation mechanism 3 is installed on the above-mentioned second translation mechanism 2, and the above-mentioned first rotation mechanism 4 is installed on the above-mentioned third On the translation mechanism 3 , the above-mentioned second rotating mechanism 5 is installed on the above-mentioned first rotating mechanism 4 . Preferably, the above-mentioned second translation mechanism 2 and the above-mentioned third translation mechanism 3 adopt a modular design with the same structure and different installation directions. The second translation mechanism 2 moves along the X-axis direction, while the third translation mechanism 3 moves along the X-axis direction. Move in the Y axis direction.
作为本实用新型的优选实施方式，本实施方式采用两组第二平动机构2，即上述第二平动机构2和第三平动机构3。根据实际加工情况需要，该第二平动机构2的数量可增加，且安装方向各不相同。本说明书在此不一一列举，但无论第二平动机构2的数量为多少组，均落在本实用新型保护范围之中。As a preferred embodiment of the present invention, this embodiment adopts two sets of second translation mechanisms 2 , that is, the above-mentioned second translation mechanism 2 and third translation mechanism 3 . According to actual processing requirements, the number of the second translation mechanism 2 can be increased, and the installation directions are different. This description does not list them one by one here, but no matter how many sets of second translation mechanisms 2 are, they all fall within the protection scope of the present invention.
其中，如图2所示，第一平动机构1包括底座11，安装在所述底座11上的第一电机15、第一涡轮13和第一涡杆14，第一支撑板19，以及安装于所述第一涡轮13和第一支撑板19之间的第一丝杠16及其对应的第一丝杠螺母17。其中，上述第一涡杆14与第一电机15的输出端相连，所述第一涡轮13上的咬齿于所述第一涡杆14上的螺纹咬合连接；第一丝杠16与第一涡轮13的中心垂直连接；第一丝杠螺母17一端与所述第一丝杠16咬合，另一端与所述第一支撑板19的下表面连接。由此，上述第一电机15通过第一涡轮13和第一涡杆14带动第一丝杠16转动，第一丝杠16转动带动第一丝杠螺母17以及第一支撑板19升降。Wherein, as shown in Figure 2, the first translation mechanism 1 includes a base 11, a first motor 15 installed on the base 11, a first worm wheel 13 and a first worm 14, a first support plate 19, and an installation The first lead screw 16 and its corresponding first lead screw nut 17 between the first turbine 13 and the first support plate 19 . Wherein, the above-mentioned first worm 14 is connected with the output end of the first motor 15, and the teeth on the first worm 13 are engaged with the thread on the first worm 14; The center of the turbine 13 is vertically connected; one end of the first lead screw nut 17 is engaged with the first lead screw 16 , and the other end is connected with the lower surface of the first support plate 19 . Thus, the above-mentioned first motor 15 drives the first lead screw 16 to rotate through the first worm gear 13 and the first worm rod 14 , and the rotation of the first lead screw 16 drives the first lead screw nut 17 and the first support plate 19 to rise and fall.
作为第一平动机构1实施例的优选实施方式，本实用新型中的第一平动机构1还包括连接于所述底座11和第一支撑板19之间的两组X型的剪刀臂12。每组剪刀臂12的一侧的上下两个端点分别固定于上述第一支撑板19的下表面和上述底座11的上表面，另一侧的上下两个端点分别通过滑块18与第一支撑板19的下表面和底座11的上表面连接。该剪刀臂12的设置，能够使得第一支撑板19的整个平面能够平稳的上升，同时也分担了第一丝杠16和第一丝杠螺母17所承受的支撑力，使得整个第一平动机构1的移动更加平稳，耐用性更强，延长第一平动机构1的使用寿命。As a preferred embodiment of the first translation mechanism 1 embodiment, the first translation mechanism 1 in the present utility model also includes two sets of X-shaped scissor arms 12 connected between the base 11 and the first support plate 19 . The upper and lower two endpoints of one side of each group of scissor arms 12 are respectively fixed on the lower surface of the above-mentioned first support plate 19 and the upper surface of the above-mentioned base 11, and the upper and lower endpoints of the other side are respectively connected to the first support by a slide block 18. The lower surface of the plate 19 is connected to the upper surface of the base 11 . The setting of the scissor arm 12 can make the entire plane of the first support plate 19 rise steadily, and also share the support force borne by the first lead screw 16 and the first lead screw nut 17, so that the entire first translation The movement of the mechanism 1 is more stable, the durability is stronger, and the service life of the first translation mechanism 1 is prolonged.
优选地，上述滑块18的两端设置有安全限位装置，同样是为了保证第一支撑板19始终维持水平。Preferably, both ends of the slider 18 are provided with safety limit devices, also to ensure that the first support plate 19 is always kept horizontal.
进一步地，作为第一平动机构1实施例的另一种优选实施方式，采用T字型的第一丝攻螺母17，T字型的下端与上述第一丝杠16咬合，T字型上部横向的左右两端分别与两组剪刀臂12固定于第一支撑板19下方的两端连接。该种设计使得第一丝杠螺母17相对第一丝杠16升降后，直接带动上述剪刀臂12升降，而不是直接推动上述第一支撑板19升降，进一步减轻第一丝杠16和第一丝杠螺母17所承受的支撑力，使第一支撑板19的升降过程更为平稳流畅。Further, as another preferred embodiment of the first translation mechanism 1 embodiment, a T-shaped first tap nut 17 is adopted, the lower end of the T-shaped is engaged with the above-mentioned first lead screw 16, and the upper part of the T-shaped The left and right ends of the transverse direction are respectively connected with the two ends of the two sets of scissor arms 12 fixed below the first support plate 19 . This kind of design makes the first lead screw nut 17 rise and fall relative to the first lead screw 16, and directly drives the above-mentioned scissor arm 12 to rise and fall, instead of directly pushing the above-mentioned first support plate 19 to rise and fall, further reducing the pressure of the first lead screw 16 and the first lead screw. The supporting force borne by the bar nut 17 makes the lifting process of the first supporting plate 19 more stable and smooth.
如图3所示，上述第二平动机构2与所述第三平动机构3采用结构相同的模块化设计，每组第二平动机构2或第三平动机构3均包括：第二电机21、与第二电机21的输出端相连的第二丝杠23及其对应的第二丝杠螺母24、用于容纳并固定第二丝杠23的第一导轨基座221以及固定于所述第二丝杠螺母24上端面的第二支撑板27，上述第二电机21通过第二丝杠23和第二丝杠螺母24带动所述第二支撑板27移动。其中，所述第一导轨基座221上端面镂空且边缘平整，第一导轨基座221的宽度须大于第二丝杠螺母24的宽度，高度小于或等于第二丝杠螺母24的上端面的高度，因此，上述第二支撑板27能够在第二丝杠23转动的带动下，在第一导轨基座221的上方做平滑的横向移动。As shown in Figure 3, the above-mentioned second translation mechanism 2 and the third translation mechanism 3 adopt a modular design with the same structure, and each group of second translation mechanism 2 or third translation mechanism 3 includes: the second The motor 21, the second lead screw 23 connected to the output end of the second motor 21 and its corresponding second lead screw nut 24, the first rail base 221 for accommodating and fixing the second lead screw 23, and the first guide rail base 221 fixed on the second lead screw 23 The second support plate 27 on the upper end surface of the second lead screw nut 24, the second motor 21 drives the second support plate 27 to move through the second lead screw 23 and the second lead screw nut 24. Wherein, the upper end surface of the first guide rail base 221 is hollowed out and has smooth edges, the width of the first guide rail base 221 must be greater than the width of the second lead screw nut 24, and the height is less than or equal to the upper end surface of the second lead screw nut 24. Therefore, the above-mentioned second support plate 27 can move smoothly laterally above the first rail base 221 under the drive of the rotation of the second lead screw 23 .
作为第二平动机构2的优选实施方式，每组第二平动机构2(或第三平动机构3)还包括一支于所述第二丝杆23平行设置的导向杆25以及套设在该导向杆25上的导向块26，所述导向杆25设置在与所述第一导轨基座221平行的第二导轨基座222内，所述导向块26上端面于所述第二支撑板27连接。其中第二导轨基座222的尺寸参数与第一导轨基座221的尺寸参数一致，导向块26上端面的高度与第二丝杠螺母24的上端面的高度一致。该导向杆25的设置目的在于使得第二支撑板27的保持水平，亦使得第二支撑板27在移动过程中更为平稳。As a preferred embodiment of the second translation mechanism 2, each group of second translation mechanisms 2 (or the third translation mechanism 3) also includes a guide rod 25 arranged in parallel with the second screw rod 23 and sleeved The guide block 26 on the guide rod 25, the guide rod 25 is arranged in the second guide rail base 222 parallel to the first guide rail base 221, the upper end surface of the guide block 26 is on the second support Board 27 is connected. The size parameter of the second guide rail base 222 is consistent with the size parameter of the first guide rail base 221 , and the height of the upper end surface of the guide block 26 is consistent with the height of the upper end surface of the second lead screw nut 24 . The purpose of setting the guide bar 25 is to keep the second support plate 27 level and also make the second support plate 27 more stable during the moving process.
如图4所示，上述第一转动机构4包括第三电机43、与所述第三电机43的输出端相连的第二涡杆41、与所述第二涡杆41咬合连接的第二涡轮42、位于所述第二涡轮42上方的支撑圆盘45以及用于连接第二涡轮42和支撑圆盘45并带动所述支撑圆盘45转动的第一传动轴44，所述第三电机43通过第二涡杆41、第二涡轮42驱动第一传动轴44及支撑圆盘45作旋转运动。As shown in FIG. 4 , the above-mentioned first rotating mechanism 4 includes a third motor 43 , a second worm 41 connected to the output end of the third motor 43 , and a second worm gear meshed with the second worm 41 . 42. The support disc 45 located above the second turbine 42 and the first transmission shaft 44 for connecting the second turbine 42 and the support disc 45 and driving the support disc 45 to rotate, the third motor 43 The first transmission shaft 44 and the supporting disc 45 are driven to rotate by the second worm 41 and the second turbine 42 .
如图5所示，上述第二转动机构5包括第四电机52、与所述第四电机52的输出端相连的第三涡杆54、与所述第三涡杆54咬合连接的第三涡轮53以及工作台55。其中，所述工作台55通过第二传动轴56与所述第三涡轮53的连接，所述第二传动轴56通过一对支架51架设在所述第一转动机构4的上方、并且与第三涡轮53的中心垂直连接，所述第四电机52通过第三涡轮53、第三涡杆54驱动第二传动轴56及工作台55作旋转运动；优选地，所述工作台为圆形工作台，所述支架51的高度大于所述工作台55的半径，以保证该工作台55可围绕第二传动轴56做360°的旋转运动，其他形状亦可，只须保证支架51的高度大于工作台55的中心至边缘的最大距离。As shown in FIG. 5 , the above-mentioned second rotating mechanism 5 includes a fourth motor 52 , a third worm 54 connected to the output end of the fourth motor 52 , and a third worm gear meshed with the third worm 54 . 53 and workbench 55. Wherein, the workbench 55 is connected to the third turbine 53 through a second transmission shaft 56, and the second transmission shaft 56 is erected above the first rotating mechanism 4 through a pair of brackets 51 and connected to the first rotation mechanism 4. The centers of the three turbines 53 are connected vertically, and the fourth motor 52 drives the second transmission shaft 56 and the worktable 55 to rotate through the third turbine 53 and the third worm rod 54; preferably, the workbench is circular. platform, the height of the support 51 is greater than the radius of the workbench 55, to ensure that the workbench 55 can rotate 360° around the second drive shaft 56, other shapes are also available, as long as the height of the support 51 is greater than The maximum distance from the center of the table 55 to the edge.
如图5所示，作为本实用新型的优选实施方式，上述第二传动轴56不与第三涡轮53连接的一端端面上设置有指针561，与上述设有指针561的端面对应的支架51外侧面设置有角度刻度511，便于操作者观察工作台当前角度；所述工作台内置水平仪551，便于调整工作台的水平位置；所述工作台围绕轴线方向设置有若干个锁紧槽552，用于固定基材。As shown in Figure 5, as a preferred embodiment of the present utility model, a pointer 561 is provided on the end surface of the second drive shaft 56 that is not connected to the third turbine 53, and a pointer 561 is provided on the end surface corresponding to the above-mentioned end surface provided with the pointer 561. The side is provided with an angle scale 511, which is convenient for the operator to observe the current angle of the workbench; the built-in spirit level 551 of the workbench is convenient for adjusting the horizontal position of the workbench; the workbench is provided with several locking grooves 552 around the axis direction for Fix the substrate.
本实用新型中各运动机构均使用伺服电机驱动，并配置编码器进行反馈控制。In the utility model, each movement mechanism is driven by a servo motor, and an encoder is configured for feedback control.
本实用新型中，每支涡杆两端均设有支撑架，以保证涡杆可作无障碍的悬空转动。In the utility model, a support frame is provided at both ends of each worm rod to ensure that the worm rod can rotate in the air without hindrance.
与现有技术相比，本实用新型具有以下优点：Compared with the prior art, the utility model has the following advantages:
(1)本实用新型结构相对简单，而且具有5个自由度，其中3个平动自由度和两个转动自由度，基本可以满足所有复杂零部件成形的要求。(1) The structure of the utility model is relatively simple, and has 5 degrees of freedom, including 3 translational degrees of freedom and 2 rotational degrees of freedom, which can basically meet the requirements of forming all complex parts.
(2)本实用新型的每一组平动机构中，均采用一种辅助推动机构，第一平动机构中设置有剪刀臂，第二平动机构中设置有导向杆，这些辅助推动机构均可以帮助平动机构在平动的过程中支撑板始终保持水平，并使得平动的过程更为平稳流畅，减轻驱动装置的压力，延长平动机构的使用寿命。(2) In each group of translation mechanisms of the present utility model, a kind of auxiliary push mechanism is all adopted, and scissor arm is arranged in the first translation mechanism, and guide bar is provided in the second translation mechanism, and these auxiliary push mechanisms all It can help the translation mechanism to keep the support plate always level during the translation process, and make the translation process more stable and smooth, reduce the pressure on the driving device, and prolong the service life of the translation mechanism.
(3)本实用新型中在第二转动机构上巧妙的设置了角度刻度和指针以及水平仪，能够是操作者较为直观的观察到该转动机构的转动角度，并及时调整工作台的水平情况，使得工作台自由度的控制更为精确，更符合精细产品的加工要求。(3) In the utility model, an angle scale, a pointer and a level are skillfully arranged on the second rotating mechanism, so that the operator can observe the rotation angle of the rotating mechanism more intuitively, and adjust the level of the workbench in time, so that The control of the degree of freedom of the workbench is more precise and more in line with the processing requirements of fine products.
(4)本实用新型可以与激光器相结合实现复杂零部件的堆积成形。(4) The utility model can be combined with a laser to realize accumulation and forming of complex components.
对于本领域技术人员而言，显然本实用新型不限于上述示范性实施例的细节，而且在不背离本实用新型的精神或基本特征的情况下，能够以其他的具体形式实现本实用新型。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本实用新型的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本实用新型内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, so it is intended to be included in the claims All changes within the meaning and range of equivalents of the required elements are included in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.
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