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

Abstract

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

A three-degree-of-freedom motion platform

technical field

The utility model relates to an improvement of a three-degree-of-freedom motion platform structure.

Background technique

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.

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.

Utility model content

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.

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:

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.

The utility model also has the following annex technical features:

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.

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.

Further, the guide piece is fixed to the static platform and can be drawn and inserted into the support piece.

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.

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.

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.

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.

Further, the rotating member is a Hooke hinge or a ball hinge.

The utility model has the following advantages and positive effects:

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.

Description of drawings

Fig. 1 is the structural representation of prior art three-degree-of-freedom motion platform;

Fig. 2 is the three-dimensional structural diagram of the three-degree-of-freedom motion platform of the present invention;

Fig. 3 is an exploded view of the structure of the three-degree-of-freedom motion platform of the present invention.

detailed description

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.

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.

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.

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.

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.

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.

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 .

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.

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. 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. 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. 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 . 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. 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. 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. 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. 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. The three-degree-of-freedom motion platform according to claim 3, wherein the rotating member is a Hooke hinge or a ball hinge.