CN206558218U - A kind of Three-degree-of-freedom motion platform - Google Patents
A kind of Three-degree-of-freedom motion platform Download PDFInfo
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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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- moving platform
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- silent flatform
- freedom motion
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Abstract
The utility model proposes a kind of Three-degree-of-freedom motion platform, including moving platform, silent flatform, the moving platform is oppositely arranged with the silent flatform, in addition to：Magnetic driving component, relative is arranged between moving platform and silent flatform, interacts to produce Magnetic driving power after powered up；Guide, makes it move up and down for limiting moving platform, has spacing between the guide and the moving platform；Support member, is arranged on above silent flatform, for playing a supportive role；Revolving part, is arranged between the moving platform and silent flatform, for limiting moving platform along setting axial rotation；Described revolving part one end is fixed with the moving platform, and the other end and the support member are fixed.The problem of control algolithm complexity that Three-degree-of-freedom motion platform structure of the prior art is present is solved by the utility model.
Description
Technical field
The utility model is related to a kind of improvement of Three-degree-of-freedom motion platform structure.
Background technology
Three-degree-of-freedom motion platform can only at most realize the motion of three degree of freedom due to there was only three driving sources.
The regular motion principle of Three-degree-of-freedom motion platform is as shown in Figure 1：Three electric cylinders or linear electric motors 8 can provide linear drives
Power, as shown in figure 1, when following several working conditions occur in three electric cylinders/linear electric motors 8, moving platform 9 can be realized around X/Y axles
Rotation：The first state：1 independent operating of electric cylinders/linear electric motors 8；Second of state：2 electric cylinders/linear electric motors 8 are in the same direction
Operation；The third state：2 electric cylinders/linear electric motors 8 are run in opposite directions；4th kind of state：3 electric cylinders/linear electric motors 8 are run, its
In 1 it is opposite with other 2 traffic directions.When three electric cylinders are run in the same direction, the moving along Z axis of moving platform 9 can be achieved.
Current Three-degree-of-freedom motion platform has the following disadvantages：Traditional Three-degree-of-freedom motion platform is in moving platform around X/
When Y-axis is rotated, the non-dead axle of rotary shaft, therefore the fixed-axis rotation of moving platform is realized, it is necessary to 3 driving source routing motions, one
Determine to add the complexity of control algolithm in degree.
Utility model content
The utility model provides a kind of new Three-degree-of-freedom motion platform, solves three-degree-of-freedom motion of the prior art and puts down
The problem of control algolithm that platform structure is present is complicated.
To reach the purpose for solving above-mentioned technical problem, the utility model is adopted using proposed Three-degree-of-freedom motion platform
It is achieved with following technical scheme：
One kind three freely moves motion platform, including moving platform, silent flatform, and the moving platform is relative with the silent flatform to be set
Put, including：Magnetic driving component, is oppositely arranged between moving platform and silent flatform, interacts to produce magnetic drive after powered up
Power；Guide, makes it move up and down for limiting moving platform, has spacing between the guide and the moving platform；Branch
Support member, is arranged on above silent flatform, for playing a supportive role；Revolving part, is arranged between the moving platform and silent flatform, for limiting
Moving platform is determined along setting axial rotation；Described revolving part one end is fixed with the moving platform, and the other end and the support member are fixed.
Also there is following additional technical feature in the utility model：
Further, Magnetic driving component includes the first magnetic part and the second magnetic part, and the moving platform is circumferential at least along it
Be evenly arranged with 3 first magnetic parts, second magnetic part be arranged on the silent flatform and with first magnetic
Part is correspondingly arranged.
Further, the guide be fixedly connected with the support member and can pull be inserted into the silent flatform,
The plug-in opening for inserting guide is provided with the silent flatform.
Further, the guide and the silent flatform fix and can pull be inserted into the support member.
Further, first magnetic part is permanent magnet, and second magnetic part is magnetic coil, the magnetic coil
Including induction coil and thrust coil.
Further, the support member be flange support plate, the flange support plate include first flange disk, connecting pole and
Second flange disk, the first flange disk and second flange disk lead to the connecting pole and are connected, the first flange disk diameter
Less than the second flange disk diameter, it is provided with screwed hole, the second flange disk and is provided with just on the first flange disk
The perforation passed through in guide.
Further, the upper end of the revolving part is fixed by the first fastener with the moving platform, the revolving part
Lower end is connected by the second fastener with the first flange disk, first fastener and the second fastener be bolt or
Screw.
Further, the guide is square guide rod, circular lead or guide rail, and the inserting bore dia is big
In the largest contours external diameter of the guide.
Further, the revolving part is Hooke hinge or spherical hinge.
There is advantages below and good effect in the utility model：
The utility model proposes Three Degree Of Freedom drive platform structure, pass through Magnetic driving power effect carry out platform fortune up and down
Dynamic and upset, simplifies platform structure composition, integral device only has 2 groups of attaching means, with traditional three-degree-of-freedom motion on the whole
Platform is compared to the number for reducing constraint；No longer using electric cylinders/linear electric motors as driving source, but electromagnetic drive is used, mitigated
The overall weight of equipment, realizes the lightweight of platform；It is fixed that moving platform is realized around the rotary motion of X/Y axles by revolving part
Axle is constrained, simple control algolithm；The fixed-axis rotation angle of moving platform is no longer limited by platform size, it is ensured that platform bearer ability
On the premise of realize device miniaturization.
Brief description of the drawings
Fig. 1 is the structural representation of prior art Three-degree-of-freedom motion platform；
Fig. 2 is the three-dimensional structure diagram of the utility model Three-degree-of-freedom motion platform；
Fig. 3 is the structure decomposition figure of Three-degree-of-freedom motion platform of the present utility model.
Embodiment
The technical solution of the utility model is described in further detail with reference to the accompanying drawings and detailed description, this
Utility model proposes a kind of embodiment of Three-degree-of-freedom motion platform, shown in reference picture 2- Fig. 3, including moving platform 1, silent flatform 2,
The moving platform 1 is with the silent flatform 2 in being oppositely arranged, and moving platform 1 can do the linear motion of above-below direction relative to silent flatform 2
Or the flip-flop movement of certain angle, its motive drive source is Magnetic driving component.Specifically, Magnetic driving component, is oppositely arranged on dynamic
Between platform 1 and silent flatform 2, can interact generation Magnetic driving power after powered up.It is preferred that, the Magnetic driving group in the present embodiment
Part includes the first magnetic part 3 and the second magnetic part 4, the magnetic produced by the interaction of the first magnetic part 3 and the second magnetic part 4
Driving force effect moves it on moving platform 1.When setting, moving platform 1 can be made circumferentially at least to be uniformly arranged 3 the along it
One magnetic part 3, is set along the angular position of moving platform 1, the effect to the stable power of moving platform 1 is realized, certainly, to ensure to apply
Add to the active force of moving platform 1 more to stablize, the first magnetic part 3 of multiple auxiliary can be set, along the circumferential uniform cloth of moving platform 1
Put, do not do particular number of limitation herein.It is corresponding, the second magnetic part 4 is set on silent flatform 2, with first magnetic part 3
Position is correspondingly arranged, for ensuring the generation Magnetic driving power that can interact.It is preferred that, first magnetic part 3 is permanent magnet, institute
The second magnetic part 4 is stated for magnetic coil, the magnetic coil includes induction coil and thrust coil.
With the first magnetic part 3 it is permanent magnet in the present embodiment, the second magnetic part 4 is magnetic coil, and number is provided with 3
The motion principle of moving platform is introduced exemplified by a wherein single-point in three points：Three magnet coils press equilateral three on silent flatform 2
Triangular arrangement, naturally it is also possible to be non-triangular arranged, preferably in triangular arranged, when giving some electromagnetic wire
When circle is powered, magnet coil can produce linear thrust to permanent magnet, when the linear thrust that magnet coil is produced exists equal to moving platform 1
During the weight component of the point, moving platform 1 can keep balance；When upward linear thrust is more than the weight component of the point, the point
There can be upward acceleration；When upward linear thrust is less than the weight component of the point, the point can have downward acceleration
Degree.The final stress size of the point is determined by the size of current led to the magnet coil put.When making a concerted effort upwards for the point
When, it can realize that the single-point of moving platform 1 rises；When the point make a concerted effort it is downward when can realize the decline of moving platform 1, when have one or
When two magnet coils are passed to suitable size of current, then moving platform 1 can then realize the rotation of X/Y direction of principal axis, when three electricity
When magnetic coil is all passed to suitable size of current, then moving platform 1 can realize moving up and down for Z-direction.
Support member 5, is arranged on the top of silent flatform 2, for playing a supportive role；Further, support member 5 supports for flange
Disk, flange support plate includes first flange disk 51, connecting pole 52 and second flange disk 53, the method for first flange disk 51 and second
Blue disk 53 leads to the connecting pole 52 and is connected, and the diameter of first flange disk 51 is less than the diameter of second flange disk 53, institute
State and screwed hole is provided with first flange disk 51, perforation is provided with second flange disk 53.
Because the combination of magnet coil and permanent magnet lacks constraint connection, therefore in the motion process of moving platform 1, pass through
A revolving part 6 is set to be used for the free degree for limiting moving platform, revolving part 6 is arranged between the moving platform 1 and silent flatform 2, is used for
Limiting moving platform makes it along setting axial rotation；The one end of revolving part 6 is fixed with moving platform 1, and the other end and support member 5 are fixed.It is excellent
Choosing, the upper end of the revolving part 6 is fixed by the first fastener with the moving platform 1, and the lower end of the revolving part 6 passes through the
Two fasteners are connected with the first flange disk 51, and first fastener and the second fastener are bolt or screw.Rotation
The top and bottom for turning part 6 are fixed by bolt or screw with moving platform 1 and support member 5.It is preferred that, revolving part 6 is
Hooke hinge, its central interior is provided with cross axle, and can limit moving platform 1 when moving platform 1 is rotated can only be along it along it
The cross axle at center is rotated, and is realized the constraint to the free degree of moving platform 1, is simplified control algolithm；Certainly, the present embodiment
In revolving part 6 can also select there is the spherical hinge similar with Hooke hinge arrangement to realize, be not particularly limited herein.
A guide 7 is also set up in the present embodiment, it is moved up and down for limiting moving platform 1, the guide 7 with
There is spacing between the moving platform 1, spacing between guide 7 and moving platform 1 can be used for ensuring moving platform 1 moving up and down or
The motion of moving platform 1 will not be collided and then interfered with when overturning certain angle with guide rod 7, the occurrence that spacing is set can root
Specific aim setting is carried out according to the moving platform 1 of different sizes, be will not be described here.It is used as the one of guide in the present embodiment 7
Planting set-up mode is：Guide 7 be fixedly connected with support member 5 and can pull be inserted into silent flatform 2, silent flatform 2 is circumferential to be set
Be equipped with the plug-in opening for inserting guide 7, plug-in opening is the spacing pilot hole of guide 7, make guide 7 in plug-in opening on
Lower pull motion.It is powered simultaneously in 3 magnet coils, when moving platform 1 does direction linear motion about the z axis, the band of moving platform 1 can be passed through
Dynamic revolving part 6, revolving part 6 drive support member 5 and guide 7 it is synchronous do along the axial direction of guide 7 in plug-in opening on glide
It is dynamic.
Further, the guide 7 is square guide rod, circular lead or guide rail, and inserting bore dia is more than
The largest contours external diameter of the guide 7.It is easy to guide rod 7 to be slided up and down inside plug-in opening.
Another embodiment as guide in the present embodiment is：Guide 7 is fixed with silent flatform 2 and can pull
Be inserted into the support member 5, guide 7 is through solid with silent flatform 2 after the perforation on the second flange disk 53 on support member 5
Surely link together, be powered simultaneously in 3 magnet coils, when moving platform 1 does direction linear motion about the z axis, moving platform 1 can be passed through
Revolving part 6 is driven, revolving part 6 drives support member 5 to be slided up and down along the axial direction of guide 7.
The Three-degree-of-freedom motion platform proposed in the present embodiment is compared with existing Three-degree-of-freedom motion platform, driving source letter
The drive form of magnet coil+permanent magnet combination is turned to, the drive of existing servomotor+leading screw combination/linear electric motors is instead of
Dynamic form, realizes without track in kind driving, realizes rotary motion of the moving platform 1 around X/Y axles and the linear motion along Z axis；
Simplify platform structure, the attaching means number of whole platform is reduced to only one of which revolving part 6 and guide 7 and support member 5
Structure is combined, and 2 universal joints and 3 hinges are reduced compared with traditional Three-degree-of-freedom motion platform, the number of constraint is reduced,
Realize the optimization of constraint；Electric cylinders/linear electric motors are eliminated, the overall weight of equipment is alleviated；By revolving part 6, it is oriented to
Part 7 enters row constraint to the free degree of moving platform 1, moving platform 1 is done around the rotary motion of X/Y axles and about the z axis above and below direction
Motion, realizes dead axle constraint, simplifies the control algolithm of platform；The fixed-axis rotation angle of moving platform 1 is no longer limited by platform
Size, device miniaturization is realized on the premise of platform bearer ability is ensured.
Above example is only illustrating the technical solution of the utility model, rather than is limited；Although with reference to before
Embodiment is stated the utility model is described in detail, for the person of ordinary skill of the art, still can be right
Technical scheme described in previous embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these
Modifications or substitutions, do not make appropriate technical solution essence depart from the utility model technical scheme claimed spirit and
Scope.
Claims (9)
1. a kind of Three-degree-of-freedom motion platform, including moving platform and silent flatform, the moving platform are oppositely arranged with the silent flatform,
Characterized in that, also including：Magnetic driving component, is oppositely arranged between moving platform and silent flatform, and interaction after powered up is used
To produce Magnetic driving power；Guide, makes it move up and down for limiting moving platform, has between the guide and the moving platform
There is spacing；Support member, is arranged on above silent flatform, for playing a supportive role；Revolving part, is arranged on the moving platform and silent flatform
Between, for limiting moving platform along setting axial rotation；Described revolving part one end is fixed with the moving platform, the other end and the branch
Support member is fixed.
2. Three-degree-of-freedom motion platform according to claim 1, it is characterised in that Magnetic driving component includes the first magnetic part
With the second magnetic part, the moving platform is circumferentially at least evenly arranged with 3 first magnetic parts, second magnetic part along it
It is arranged on the silent flatform and is correspondingly arranged with first magnetic part.
3. Three-degree-of-freedom motion platform according to claim 1, it is characterised in that the guide is consolidated with the support member
Fixed connection and can pull be inserted into the silent flatform, the plug-in opening for inserting guide is provided with the silent flatform.
4. Three-degree-of-freedom motion platform according to claim 1, it is characterised in that the guide is consolidated with the silent flatform
It is fixed and can pull be inserted into the support member.
5. Three-degree-of-freedom motion platform according to claim 2, it is characterised in that first magnetic part is permanent magnet,
Second magnetic part is magnetic coil, and the magnetic coil includes induction coil and thrust coil.
6. Three-degree-of-freedom motion platform according to claim 4, it is characterised in that the support member is flange support plate,
The flange support plate includes first flange disk, connecting pole and second flange disk, and the first flange disk and second flange disk lead to
The connecting pole is connected, and the first flange disk diameter is less than on the second flange disk diameter, the first flange disk
It is provided with screwed hole, the second flange disk and is provided with the perforation for being easy to guide to pass through.
7. Three-degree-of-freedom motion platform according to claim 6, it is characterised in that the upper end of the revolving part passes through first
Fastener is fixed with the moving platform, and the lower end of the revolving part is connected solid with the first flange disk by the second fastener
Fixed, first fastener and the second fastener are bolt or screw.
8. Three-degree-of-freedom motion platform according to claim 3, it is characterised in that the guide be square guide rod,
Circular lead or guide rail, the inserting bore dia are more than the largest contours external diameter of the guide.
9. Three-degree-of-freedom motion platform according to claim 3, it is characterised in that the revolving part is Hooke hinge or ball
Hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720270522.2U CN206558218U (en) | 2017-03-20 | 2017-03-20 | A kind of Three-degree-of-freedom motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720270522.2U CN206558218U (en) | 2017-03-20 | 2017-03-20 | A kind of Three-degree-of-freedom motion platform |
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| Publication Number | Publication Date |
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| CN206558218U true CN206558218U (en) | 2017-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720270522.2U Active CN206558218U (en) | 2017-03-20 | 2017-03-20 | A kind of Three-degree-of-freedom motion platform |
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Cited By (1)
| 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 |
-
2017
- 2017-03-20 CN CN201720270522.2U patent/CN206558218U/en active Active
Cited By (2)
| 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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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201014 Address after: 261031 Room 502, Geer electronic office building, east of Dongping Road, high tech Zone, Weifang City, Shandong Province Patentee after: GoerTek Optical Technology Co.,Ltd. Address before: 266104 Laoshan Qingdao District North House Street investment service center room, Room 308, Shandong Patentee before: GOERTEK TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221216 Address after: 266104 No. 500, Songling Road, Laoshan District, Qingdao, Shandong Patentee after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 North of Yuqing, east of Dongping Road, High tech Zone, Weifang City, Shandong Province (Room 502, Goer Electronics Office Building) Patentee before: GoerTek Optical Technology Co.,Ltd. |