CN206558218U - A kind of Three-degree-of-freedom motion platform - Google Patents

A kind of Three-degree-of-freedom motion platform Download PDF

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CN206558218U
CN206558218U CN201720270522.2U CN201720270522U CN206558218U CN 206558218 U CN206558218 U CN 206558218U CN 201720270522 U CN201720270522 U CN 201720270522U CN 206558218 U CN206558218 U CN 206558218U
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platform
degree
flange
guide
magnetic
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刘东昊
王志伟
刘捷明
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Goertek Techology Co Ltd
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Abstract

本实用新型提出一种三自由度运动平台,包括动平台、静平台,所述动平台与所述静平台相对设置,还包括:磁驱动组件,相对的设置在动平台和静平台之间,在通电后相互作用用以产生磁驱动力;导向件,用于限制动平台使其做上下运动,所述导向件与所述动平台间具有间距;支撑件,设置在静平台上方,用于起支撑作用;旋转件,设置在所述动平台与静平台间,用于限定动平台沿设定轴向转动;所述旋转件一端与所述动平台固定,另一端和所述支撑件固定。通过本实用新型解决了现有技术中的三自由度运动平台结构存在的控制算法复杂的问题。

The utility model proposes a three-degree-of-freedom motion platform, including a dynamic platform and a static platform. The dynamic platform is arranged opposite to the static platform, and further includes: a magnetic drive assembly, which is relatively arranged between the dynamic platform and the static platform. After electrification, they interact to generate magnetic driving force; guides are used to limit the moving platform to move up and down, and there is a distance between the guide and the moving platform; the support is arranged above the static platform for It plays a supporting role; the rotating part is arranged between the moving platform and the static platform, and is used to limit the rotation of the moving platform along the set axis; one end of the rotating part is fixed to the moving platform, and the other end is fixed to the support . The utility model solves the problem of complex control algorithms in the three-degree-of-freedom motion platform structure in the prior art.

Description

一种三自由度运动平台A three-degree-of-freedom motion platform

技术领域technical field

本实用新型涉及一种三自由度运动平台结构的改进。The utility model relates to an improvement of a three-degree-of-freedom motion platform structure.

背景技术Background technique

三自由度运动平台由于只有三个驱动源,因此最多只能实现三个自由度的运动。三自由度运动平台的常规运动原理如图1所示为:三个电缸或直线电机8可以提供直线驱动力,如图1所示,当三个电缸/直线电机8出现如下几种工作状态时,动平台9会实现绕X/Y轴的转动:第一种状态:1个电缸/直线电机8独立运行;第二种状态:2个电缸/直线电机8同向运行;第三种状态:2个电缸/直线电机8相向运行;第四种状态:3个电缸/直线电机8运行,其中1个与另外2个运行方向相反。当三个电缸同向运行时,可实现动平台9沿Z轴的移动。Since the three-degree-of-freedom motion platform has only three driving sources, it can only realize three-degree-of-freedom movements at most. The conventional motion principle of the three-degree-of-freedom motion platform is shown in Figure 1: three electric cylinders or linear motors 8 can provide linear driving force, as shown in Figure 1, when the three electric cylinders/linear motors 8 appear in the following types of work state, the moving platform 9 will realize the rotation around the X/Y axis: the first state: 1 electric cylinder/linear motor 8 runs independently; the second state: 2 electric cylinders/linear motor 8 run in the same direction; Three states: 2 electric cylinders/linear motors 8 run in opposite directions; the fourth state: 3 electric cylinders/linear motors 8 run, one of which runs in the opposite direction to the other two. When the three electric cylinders run in the same direction, the moving platform 9 can move along the Z axis.

目前的三自由度运动平台存在以下缺点:传统的三自由度运动平台在动平台绕X/Y轴转动时,旋转轴非定轴,因此要实现动平台的定轴转动,需要3个驱动源配合运动,在一定程度上增加了控制算法的复杂程度。The current three-degree-of-freedom motion platform has the following disadvantages: when the traditional three-degree-of-freedom motion platform rotates around the X/Y axis, the rotation axis is not a fixed axis, so to realize the fixed-axis rotation of the moving platform, three driving sources are required Cooperating with motion increases the complexity of the control algorithm to a certain extent.

实用新型内容Utility model content

本实用新型提供一种新型三自由度运动平台,解决现有技术中的三自由度运动平台结构存在的控制算法复杂的问题。The utility model provides a novel three-degree-of-freedom motion platform, which solves the problem of complex control algorithms in the structure of the three-degree-of-freedom motion platform in the prior art.

为达到解决上述技术问题的目的,本实用新型采用所提出的三自由度运动平台采用以下技术方案予以实现:In order to achieve the purpose of solving the above-mentioned technical problems, the utility model adopts the proposed three-degree-of-freedom motion platform and adopts the following technical solutions to achieve:

一种三自由动运动平台,包括动平台、静平台,所述动平台与所述静平台相对设置,包括:磁驱动组件,相对设置在动平台和静平台之间,在通电后相互作用用以产生磁驱动力;导向件,用于限制动平台使其做上下运动,所述导向件与所述动平台间具有间距;支撑件,设置在静平台上方,用于起支撑作用;旋转件,设置在所述动平台与静平台间,用于限定动平台沿设定轴向转动;所述旋转件一端与所述动平台固定,另一端和所述支撑件固定。A three-free dynamic motion platform, including a dynamic platform and a static platform, the dynamic platform is arranged opposite to the static platform, including: a magnetic drive assembly, relatively arranged between the dynamic platform and the static platform, for interaction after power-on to generate a magnetic driving force; the guide is used to limit the moving platform to make it move up and down, and there is a distance between the guide and the moving platform; the support is arranged above the static platform for supporting; the rotating member , is arranged between the moving platform and the static platform, and is used to limit the rotation of the moving platform along the set axial direction; one end of the rotating member is fixed to the moving platform, and the other end is fixed to the supporting member.

本实用新型还存在以下附件技术特征:The utility model also has the following annex technical features:

进一步的,磁驱动组件包括第一磁性件和第二磁性件,所述动平台沿其周向至少均匀设置有3个所述第一磁性件,所述第二磁性件设置在所述静平台上且与所述第一磁性件对应设置。Further, the magnetic drive assembly includes a first magnetic part and a second magnetic part, the moving platform is provided with at least three first magnetic parts uniformly along its circumference, and the second magnetic part is arranged on the static platform and corresponding to the first magnetic piece.

进一步的,所述导向件与所述支撑件固定连接且可抽拉的插装在所述静平台内,所述静平台上设置有用于插装导向件的插装孔。Further, the guide piece is fixedly connected with the support piece and can be drawn and inserted into the static platform, and the static platform is provided with an insertion hole for inserting the guide piece.

进一步的,所述导向件与所述静平台固定且可抽拉的插装在所述支撑件内。Further, the guide piece is fixed to the static platform and can be drawn and inserted into the support piece.

进一步的,所述第一磁性件为永磁铁,所述第二磁性件为磁性线圈,所述磁性线圈包括感应线圈和推力线圈。Further, the first magnetic part is a permanent magnet, the second magnetic part is a magnetic coil, and the magnetic coil includes an induction coil and a thrust coil.

进一步的,所述支撑件为法兰支撑盘,所述法兰支撑盘包括第一法兰盘、连接柱和第二法兰盘,所述第一法兰盘和第二法兰盘通所述连接柱连接固定,所述第一法兰盘直径小于所述第二法兰盘直径,所述第一法兰盘上设置有螺纹孔,所述第二法兰盘上设置有便于导向件穿过的穿孔。Further, the support member is a flange support plate, and the flange support plate includes a first flange plate, a connecting column and a second flange plate, and the first flange plate and the second flange plate communicate with each other. The connecting column is connected and fixed, the diameter of the first flange is smaller than the diameter of the second flange, threaded holes are provided on the first flange, and guides are provided on the second flange piercing through.

进一步的,所述旋转件的上端通过第一紧固件与所述动平台固定,所述旋转件的下端通过第二紧固件与所述第一法兰盘连接固定,所述第一紧固件和第二紧固件为螺栓或螺钉。Further, the upper end of the rotating member is fixed to the moving platform through a first fastener, the lower end of the rotating member is connected and fixed to the first flange through a second fastener, and the first fastener The fastener and the second fastener are bolts or screws.

进一步的,所述导向件为方形导向杆、圆形导向柱或导向轨道,所述插装孔直径大于所述导向件的最大轮廓外径。Further, the guide member is a square guide rod, a circular guide column or a guide track, and the diameter of the insertion hole is larger than the maximum outer diameter of the guide member.

进一步的,所述旋转件为胡克铰链或球铰链。Further, the rotating member is a Hooke hinge or a ball hinge.

本实用新型存在以下优点和积极效果:The utility model has the following advantages and positive effects:

本实用新型提出的三自由度驱动平台结构,通过磁驱动力作用进行平台的上下运动和翻转,整体上简化了平台结构构成,整体设备仅有2组约束件,与传统的三自由度运动平台相比减少约束的数目;不再采用电缸/直线电机作为驱动源,而是采用电磁驱动,减轻了设备的整体重量,实现了平台的轻量化;动平台绕X/Y轴的旋转运动通过旋转件实现了定轴约束,简单了控制算法;动平台的定轴转动角度不再受限于平台尺寸,保证平台承载能力的前提下实现了设备小型化。The three-degree-of-freedom driving platform structure proposed by the utility model performs the up-and-down movement and flipping of the platform through the action of the magnetic driving force, which simplifies the structure of the platform as a whole. Compared with reducing the number of constraints; instead of using electric cylinder/linear motor as the driving source, electromagnetic drive is used, which reduces the overall weight of the equipment and realizes the lightweight of the platform; the rotary motion of the moving platform around the X/Y axis passes through The rotating part realizes the fixed axis constraint, which simplifies the control algorithm; the fixed axis rotation angle of the moving platform is no longer limited by the size of the platform, and the miniaturization of the equipment is realized on the premise of ensuring the carrying capacity of the platform.

附图说明Description of drawings

图1为现有技术三自由度运动平台的结构示意图;Fig. 1 is the structural representation of prior art three-degree-of-freedom motion platform;

图2为本实用新型三自由度运动平台的立体结构图;Fig. 2 is the three-dimensional structural diagram of the three-degree-of-freedom motion platform of the present invention;

图3为本实用新型的三自由度运动平台的结构分解图。Fig. 3 is an exploded view of the structure of the three-degree-of-freedom motion platform of the present invention.

具体实施方式detailed description

下面结合附图和具体实施方式对本实用新型的技术方案作进一步详细的说明,本实用新型提出一种三自由度运动平台的实施例,参照图2-图3所示,包括动平台1、静平台2,所述动平台1与所述静平台2呈相对设置,动平台1可相对于静平台2做上下方向的直线运动或一定角度的翻转运动,其动力驱动源为磁驱动组件。具体的,磁驱动组件,相对设置在动平台1和静平台2之间,在通电后可相互作用产生磁驱动力。优选的,本实施例中的磁驱动组件包括第一磁性件3和第二磁性件4,通过第一磁性件3和第二磁性件4的相互作用产生的磁驱动力作用于动平台1上,使其运动。在设置时,可使动平台1沿其周向至少均匀设置3个第一磁性件3,沿动平台1的三角位置设置,实现对动平台1的平稳的力的作用,当然,为确保施加给动平台1作用力更加稳定,可设置多个辅助的第一磁性件3,沿动平台1周向上均匀布置,在此不做具体数目的限制。对应的,在静平台2上设置第二磁性件4,与所述第一磁性件3位置对应设置,用于确保可相互作用产生磁驱动力。优选的,所述第一磁性件3为永磁铁,所述第二磁性件4为磁性线圈,所述磁性线圈包括感应线圈和推力线圈。The technical scheme of the utility model is described in further detail below in conjunction with the accompanying drawings and specific embodiments. The utility model proposes an embodiment of a three-degree-of-freedom motion platform, as shown in FIGS. 2-3 , including a dynamic platform 1, a static Platform 2, the moving platform 1 is set opposite to the static platform 2, and the moving platform 1 can perform linear motion in the up and down direction or flipping motion at a certain angle relative to the static platform 2, and its power driving source is a magnetic drive assembly. Specifically, the magnetic driving assembly is relatively arranged between the moving platform 1 and the static platform 2, and can interact to generate a magnetic driving force after electrification. Preferably, the magnetic drive assembly in this embodiment includes a first magnetic part 3 and a second magnetic part 4, and the magnetic driving force generated by the interaction between the first magnetic part 3 and the second magnetic part 4 acts on the moving platform 1 , to make it move. When setting, the movable platform 1 can be evenly provided with at least three first magnetic parts 3 along its circumferential direction, arranged along the triangular position of the movable platform 1, so as to realize the steady force effect on the movable platform 1. Of course, in order to ensure that the The force applied to the moving platform 1 is more stable, and a plurality of auxiliary first magnetic parts 3 can be provided, evenly arranged along the circumference of the moving platform 1 , and the specific number is not limited here. Correspondingly, the second magnetic member 4 is arranged on the static platform 2 corresponding to the position of the first magnetic member 3 to ensure that the magnetic driving force can be generated through interaction. Preferably, the first magnetic part 3 is a permanent magnet, and the second magnetic part 4 is a magnetic coil, and the magnetic coil includes an induction coil and a thrust coil.

本实施例中以第一磁性件3为永磁铁,第二磁性件4为磁性线圈,且数目设置有3个三个点中的其中一单点为例介绍动平台的运动原理:三个电磁线圈在静平台2上按等边三角形排列,当然也可以为非等边三角形排列,优选的为呈等边三角形排列,当给某个电磁线圈通电时,电磁线圈会对永磁铁产生直线推力,当电磁线圈产生的直线推力等于动平台1在该点的重力分量时,动平台1会保持平衡;当向上的直线推力大于该点的重力分量时,该点会具有向上的加速度;当向上的直线推力小于该点的重力分量时,该点会具有向下的加速度。该点的最终受力大小由对该点的电磁线圈所通的电流大小来决定。当该点的合力向上时,会实现动平台1的单点上升;当该点的合力向下时会实现动平台1的下降,当有一个或者两个电磁线圈被通以合适的电流大小时,则动平台1则会实现X/Y轴方向的转动,当三个电磁线圈都被通以合适的电流大小时,则动平台1会实现Z轴方向的上下移动。In this embodiment, the first magnetic part 3 is a permanent magnet, the second magnetic part 4 is a magnetic coil, and the number is provided with one of three points in three points as an example to introduce the motion principle of the moving platform: three electromagnetic The coils are arranged in an equilateral triangle on the static platform 2, and of course they can also be arranged in a non-equilateral triangle. Preferably, they are arranged in an equilateral triangle. When a certain electromagnetic coil is energized, the electromagnetic coil will produce linear thrust to the permanent magnet. When the linear thrust generated by the electromagnetic coil is equal to the gravity component of the moving platform 1 at the point, the moving platform 1 will maintain balance; when the upward linear thrust is greater than the gravity component of the point, the point will have an upward acceleration; when the upward A point will have a downward acceleration when the linear thrust is less than the gravitational component at that point. The final force on this point is determined by the current applied to the electromagnetic coil at this point. When the resultant force at this point is upward, the single-point rise of the moving platform 1 will be realized; when the resultant force at this point is downward, the moving platform 1 will be lowered. When one or two electromagnetic coils are passed through with a suitable current , then the moving platform 1 will realize the rotation in the X/Y axis direction, and when the three electromagnetic coils are all supplied with a suitable current, the moving platform 1 will realize the up and down movement in the Z axis direction.

支撑件5,设置在静平台2上方,用于起支撑作用;进一步的,支撑件5为法兰支撑盘,法兰支撑盘包括第一法兰盘51、连接柱52和第二法兰盘53,所述第一法兰盘51和第二法兰盘53通所述连接柱52连接固定,所述第一法兰盘51直径小于所述第二法兰盘53直径,所述第一法兰盘51上设置有螺纹孔,第二法兰盘53上设置有穿孔。The support member 5 is arranged above the static platform 2 for supporting; further, the support member 5 is a flange support plate, and the flange support plate includes a first flange plate 51, a connecting column 52 and a second flange plate 53, the first flange 51 and the second flange 53 are connected and fixed through the connecting column 52, the diameter of the first flange 51 is smaller than the diameter of the second flange 53, the first The flange 51 is provided with threaded holes, and the second flange 53 is provided with through holes.

由于电磁线圈和永磁铁的组合缺少约束连接,因此在动平台1的运动过程中,通过设置一旋转件6用于限定动平台的自由度,旋转件6,设置在所述动平台1与静平台2间,用于限定动平台使其沿设定轴向转动;旋转件6一端与动平台1固定,另一端和支撑件5固定。优选的,所述旋转件6的上端通过第一紧固件与所述动平台1固定,所述旋转件6的下端通过第二紧固件与所述第一法兰盘51连接固定,所述第一紧固件和第二紧固件为螺栓或螺钉。旋转件6的上端和下端均通过螺栓或螺钉与动平台1和支撑件5进行固定。优选的,旋转件6为胡克铰链,其中心内部设置有十字轴,在动平台1进行转动时可限制动平台1沿其只能沿其中心的十字轴进行转动,实现了对动平台1自由度的约束,简化了控制算法;当然,本实施例中的旋转件6也可以选用具有和胡克铰链结构类似的球铰链来实现,在此不做具体限制。Since the combination of the electromagnetic coil and the permanent magnet lacks a constrained connection, during the movement of the moving platform 1, a rotating member 6 is used to limit the degree of freedom of the moving platform, and the rotating member 6 is arranged between the moving platform 1 and the static The platform 2 is used to limit the movable platform to rotate along the set axis; one end of the rotating member 6 is fixed to the movable platform 1 , and the other end is fixed to the supporting member 5 . Preferably, the upper end of the rotating member 6 is fixed to the moving platform 1 through a first fastener, and the lower end of the rotating member 6 is connected and fixed to the first flange 51 through a second fastener, so that The first fastener and the second fastener are bolts or screws. Both the upper end and the lower end of the rotating member 6 are fixed to the moving platform 1 and the supporting member 5 by bolts or screws. Preferably, the rotating member 6 is a Hooke hinge, and a cross shaft is arranged inside the center thereof, which can restrict the rotation of the moving platform 1 along the cross shaft at its center when the moving platform 1 rotates, thereby realizing the relative movement of the moving platform 1 . The restriction of degrees of freedom simplifies the control algorithm; of course, the rotating member 6 in this embodiment can also be realized by selecting a ball hinge having a structure similar to that of a Hooke hinge, and no specific limitation is made here.

本实施例中还设置一导向件7,用于限制动平台1使其做上下运动,所述导向件7与所述动平台1间具有间距,导向件7和动平台1之间的间距可用于确保动平台1在上下移动或翻转一定的角度时不会与导向杆7碰撞进而干涉到动平台1的运动,间距设置的具体值可根据不同尺寸大小的动平台1进行针对性设置,在此不做赘述。作为本实施例中导向件7的一种设置方式为:导向件7与支撑件5固定连接且可抽拉的插装在静平台2内,静平台2周向设置有用于插装导向件7的插装孔,插装孔为导向件7的限位导向孔,使导向件7在插装孔内上下抽拉运动。在3个电磁线圈同时通电,动平台1做绕Z轴方向直线运动时,可通过动平台1带动旋转件6,旋转件6带动支撑件5和导向件7同步做沿导向件7轴向方向在插装孔内上下滑动。In this embodiment, a guide 7 is also provided to limit the movable platform 1 to move up and down. There is a distance between the guide 7 and the movable platform 1, and the distance between the guide 7 and the movable platform 1 can be used In order to ensure that the moving platform 1 will not collide with the guide rod 7 and interfere with the movement of the moving platform 1 when it moves up and down or flips at a certain angle, the specific value of the distance setting can be set according to the moving platform 1 of different sizes. I won't go into details here. As an arrangement of the guide piece 7 in this embodiment, the guide piece 7 is fixedly connected to the support piece 5 and can be drawn and inserted into the static platform 2, and the static platform 2 is circumferentially provided with guide pieces 7 The insertion hole is the limit guide hole of the guide 7, so that the guide 7 can be pulled up and down in the insertion hole. When the three electromagnetic coils are energized at the same time, when the moving platform 1 moves linearly around the Z-axis direction, the rotating part 6 can be driven by the moving platform 1, and the rotating part 6 can drive the supporting part 5 and the guiding part 7 to move along the axial direction of the guiding part 7 synchronously. Slide up and down in the insertion hole.

进一步的,所述导向件7为方形导向杆、圆形导向柱或导向轨道,插装孔直径大于所述导向件7的最大轮廓外径。便于导向杆7在插装孔内部做上下滑动。Further, the guide piece 7 is a square guide rod, a circular guide column or a guide track, and the diameter of the insertion hole is larger than the maximum outer diameter of the guide piece 7 . It is convenient for the guide rod 7 to slide up and down inside the insertion hole.

作为本实施例中导向件的另外一种实施方式为:导向件7与静平台2固定且可抽拉的插装在所述支撑件5内,导向件7穿过支撑件5上的第二法兰盘53上的穿孔后与静平台2固定连接在一起,在3个电磁线圈同时通电,动平台1做绕Z轴方向直线运动时,可通过动平台1带动旋转件6,旋转件6带动支撑件5沿导向件7轴向方向上下滑动。As another embodiment of the guide in this embodiment, the guide 7 is fixed to the static platform 2 and can be drawn and inserted into the support 5, and the guide 7 passes through the second part on the support 5. After the perforation on the flange 53 is fixedly connected with the static platform 2, when the three electromagnetic coils are energized at the same time, when the moving platform 1 moves linearly around the Z-axis direction, the rotating part 6 can be driven by the moving platform 1, and the rotating part 6 The support member 5 is driven to slide up and down along the axial direction of the guide member 7 .

本实施例中提出的三自由度运动平台与现有的三自由度运动平台相比,驱动源简化为电磁线圈+永磁铁组合的驱动形式,代替了现有的伺服电机+丝杠组合/直线电机的驱动形式,实现了无实物轨道驱动,实现了动平台1绕X/Y轴的旋转运动和沿Z轴的直线运动;简化了平台结构,整个平台的约束件数目减少到只有一个旋转件6和导向件7和支撑件5的结构组合,与传统的三自由度运动平台相比减少2个万向节和3个铰链,减少了约束的数目,实现了约束的最优化;取消了电缸/直线电机,减轻了设备的整体重量;通过旋转件6、导向件7对动平台1自由度进行约束,使动平台1只能做绕X/Y轴的旋转运动和绕Z轴方向的上下运动,实现了定轴约束,简化了平台的控制算法;动平台1的定轴转动角度不再受限于平台尺寸,在保证平台承载能力的前提下实现了设备小型化。Compared with the existing three-degree-of-freedom motion platform, the three-degree-of-freedom motion platform proposed in this embodiment is simplified to the drive form of electromagnetic coil + permanent magnet combination, which replaces the existing servo motor + lead screw combination/linear The driving form of the motor realizes the drive without physical track, and realizes the rotary motion of the moving platform 1 around the X/Y axis and the linear motion along the Z axis; the platform structure is simplified, and the number of constraints on the entire platform is reduced to only one rotating part 6, the structural combination of the guide 7 and the support 5, compared with the traditional three-degree-of-freedom motion platform, reduces 2 universal joints and 3 hinges, reduces the number of constraints, and realizes the optimization of constraints; The cylinder/linear motor reduces the overall weight of the equipment; the degree of freedom of the moving platform 1 is restricted by the rotating part 6 and the guiding part 7, so that the moving platform 1 can only do the rotation around the X/Y axis and the rotation around the Z axis. The up and down movement realizes the fixed-axis constraint and simplifies the control algorithm of the platform; the fixed-axis rotation angle of the moving platform 1 is no longer limited by the size of the platform, and the miniaturization of the equipment is realized on the premise of ensuring the carrying capacity of the platform.

以上实施例仅用以说明本实用新型的技术方案,而非对其进行限制;尽管参照前述实施例对本实用新型进行了详细的说明,对于本领域的普通技术人员来说,依然可以对前述实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或替换,并不使相应技术方案的本质脱离本实用新型所要求保护的技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, for those of ordinary skill in the art, the foregoing implementation can still be Modifications to the technical solutions described in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions claimed by the utility model.

Claims (9)

1.一种三自由度运动平台,包括动平台和静平台,所述动平台与所述静平台相对设置,其特征在于,还包括:磁驱动组件,相对设置在动平台和静平台之间,在通电后相互作用用以产生磁驱动力;导向件,用于限制动平台使其做上下运动,所述导向件与所述动平台间具有间距;支撑件,设置在静平台上方,用于起支撑作用;旋转件,设置在所述动平台与静平台间,用于限定动平台沿设定轴向转动;所述旋转件一端与所述动平台固定,另一端和所述支撑件固定。1. A three-degree-of-freedom motion platform, comprising a dynamic platform and a static platform, the dynamic platform is relatively arranged with the static platform, it is characterized in that, it also includes: a magnetic drive assembly, relatively arranged between the dynamic platform and the static platform , to interact with each other to generate magnetic driving force after electrification; the guide is used to limit the moving platform to make it move up and down, and there is a distance between the guide and the moving platform; the support is arranged above the static platform and used It is used to support; the rotating part is arranged between the moving platform and the static platform, and is used to limit the rotation of the moving platform along the set axis; one end of the rotating part is fixed to the moving platform, and the other end is fixed to the supporting part fixed. 2.根据权利要求1所述的三自由度运动平台,其特征在于,磁驱动组件包括第一磁性件和第二磁性件,所述动平台沿其周向至少均匀设置有3个所述第一磁性件,所述第二磁性件设置在所述静平台上且与所述第一磁性件对应设置。2. The three-degree-of-freedom motion platform according to claim 1, wherein the magnetic drive assembly includes a first magnetic piece and a second magnetic piece, and the moving platform is at least uniformly provided with three of the first magnetic pieces along its circumference. A magnetic piece, the second magnetic piece is arranged on the static platform and corresponding to the first magnetic piece. 3.根据权利要求1所述的三自由度运动平台,其特征在于,所述导向件与所述支撑件固定连接且可抽拉的插装在所述静平台内,所述静平台上设置有用于插装导向件的插装孔。3. The three-degree-of-freedom motion platform according to claim 1, characterized in that, the guide is fixedly connected to the support and can be drawn and inserted into the static platform, and the static platform is provided with There are insertion holes for insertion guides. 4.根据权利要求1所述的三自由度运动平台,其特征在于,所述导向件与所述静平台固定且可抽拉的插装在所述支撑件内。4 . The three-degree-of-freedom motion platform according to claim 1 , wherein the guide member is fixed to the static platform and can be drawn and inserted into the support member. 5.根据权利要求2所述的三自由度运动平台,其特征在于,所述第一磁性件为永磁铁,所述第二磁性件为磁性线圈,所述磁性线圈包括感应线圈和推力线圈。5. The three-degree-of-freedom motion platform according to claim 2, wherein the first magnetic member is a permanent magnet, the second magnetic member is a magnetic coil, and the magnetic coil includes an induction coil and a thrust coil. 6.根据权利要求4所述的三自由度运动平台,其特征在于,所述支撑件为法兰支撑盘,所述法兰支撑盘包括第一法兰盘、连接柱和第二法兰盘,所述第一法兰盘和第二法兰盘通所述连接柱连接固定,所述第一法兰盘直径小于所述第二法兰盘直径,所述第一法兰盘上设置有螺纹孔,所述第二法兰盘上设置有便于导向件穿过的穿孔。6. The three-degree-of-freedom motion platform according to claim 4, wherein the support member is a flange support plate, and the flange support plate includes a first flange plate, a connecting column and a second flange plate , the first flange and the second flange are connected and fixed through the connecting column, the diameter of the first flange is smaller than the diameter of the second flange, and the first flange is provided with A threaded hole, the second flange is provided with a perforation to facilitate the passage of the guide. 7.根据权利要求6所述的三自由度运动平台,其特征在于,所述旋转件的上端通过第一紧固件与所述动平台固定,所述旋转件的下端通过第二紧固件与所述第一法兰盘连接固定,所述第一紧固件和第二紧固件为螺栓或螺钉。7. The three-degree-of-freedom motion platform according to claim 6, wherein the upper end of the rotating member is fixed to the moving platform by a first fastener, and the lower end of the rotating member is fixed by a second fastener It is connected and fixed with the first flange, and the first fastener and the second fastener are bolts or screws. 8.根据权利要求3所述的三自由度运动平台,其特征在于,所述导向件为方形导向杆、圆形导向柱或导向轨道,所述插装孔直径大于所述导向件的最大轮廓外径。8. The three-degree-of-freedom motion platform according to claim 3, wherein the guide is a square guide rod, a circular guide post or a guide rail, and the diameter of the insertion hole is larger than the maximum profile of the guide outside diameter. 9.根据权利要求3所述的三自由度运动平台,其特征在于,所述旋转件为胡克铰链或球铰链。9. The three-degree-of-freedom motion platform according to claim 3, wherein the rotating member is a Hooke hinge or a ball hinge.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106683710A (en) * 2017-03-20 2017-05-17 歌尔科技有限公司 Three-freedom-degree moving platform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106683710A (en) * 2017-03-20 2017-05-17 歌尔科技有限公司 Three-freedom-degree moving platform
CN106683710B (en) * 2017-03-20 2023-01-10 歌尔股份有限公司 Three-degree-of-freedom motion platform

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