CN206922584U - Motion platform with accurate positioning function - Google Patents
Motion platform with accurate positioning function Download PDFInfo
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- CN206922584U CN206922584U CN201720818759.XU CN201720818759U CN206922584U CN 206922584 U CN206922584 U CN 206922584U CN 201720818759 U CN201720818759 U CN 201720818759U CN 206922584 U CN206922584 U CN 206922584U
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- gear
- motor
- accurate positioning
- positioning function
- platform
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Abstract
The utility model provides a kind of motion platform with accurate positioning function, including base, transmission mechanism, motor, carrier platform, Hall revolution speed transducer and control device；Transmission mechanism includes intermeshing first gear and second gear；The output shaft of motor is arranged at second gear center；The carrier platform is fixedly mounted in first gear；Motor adjusts the rotating speed of motor so that second gear rotates according to the instruction of control device；The probe of Hall revolution speed transducer, which is fixedly mounted on, to be closed at first gear, real-time detection first gear rotating speed and angle change, and result of detection is fed back into control device.The utility model avoids using encoder motor, safeguards facility, service life length, cost is low, also, sensor detection results are not influenceed by motor speed value, and measurement result is reliable and stable.
Description
Technical field
Analog motion platform field is the utility model is related to, in particular to a kind of motion with accurate positioning function
Platform.
Background technology
There are multiple servo electric rotating machines on rotation shaft platform, for realizing that the Multi-orientation multi-angle athletic posture of platform becomes
Change, this requires us accurately to control the corner and rotating speed of servomotor, and generally we select to use electric rotating with encoder
Machine.
Encoder is mounted in a kind of biography for being used for measuring position of magnetic pole and servomotor corner and rotating speed on servomotor
Sensor, divide from the difference of physical medium, encoder for servo motor can be divided into photoelectric encoder and magnetism encoder, revolve in addition
Transformation depressor also calculates a kind of special encoded servo device, the substantially photoelectric encoder that in the market uses, but magnetoelectricity encodes
Device as up-and-coming youngster, have it is reliable, it is cheap, the features such as antipollution, there is the trend for catching up with and surpassing photoelectric encoder.
The material of encoder code disc has glass, metal, a plastics, glass code-disc be in the very thin groove of deposition on glass, its
Heat endurance is good, and precision is high, and metal code disk is non-friable directly with logical and obstructed groove, but because metal has certain thickness, essence
Degree is just restricted, and its heat endurance will be than poor an order of magnitude of glass, and plastics code-disc is Eco-power, and its cost is low, but
Precision, heat endurance, life-span are less better.
It can be seen that polytype encoder is respectively provided with its limitation, once encoder damage or precise decreasing, its
Affiliated motor just needs repairing or changed, and this undoubtedly adds the complexity of structural maintenance.
Utility model content
The utility model purpose is to provide a kind of motion platform with accurate positioning function, placed suddenly in gear side
Your speed probe, the rotating speed and angle change of real-time detection gear, control device according to result of detection to adjust motor speed,
And then adjust motion platform the anglec of rotation and rotary speed, the utility model proposes this technical scheme, avoid using compile
Code device motor, facility is safeguarded, service life length, cost is low, also, sensor detection results are not influenceed by motor speed value, surveys
It is reliable and stable to measure result.
To reach above-mentioned purpose, the utility model proposes a kind of motion platform with accurate positioning function, including base,
Transmission mechanism, motor, carrier platform, Hall revolution speed transducer and control device；
The base fixes on the ground, have a cavity and one parallel to ground upper surface；
The transmission mechanism includes intermeshing first gear and second gear, and first gear and second gear are arranged on
Above base, the shaft centre line of first gear and second gear is each perpendicular to the upper surface of base；
The motor is fixed in the cavity of base, and its output shaft is fixedly mounted at second gear center, output shaft
Bearing of trend is overlapping with the shaft centre line of second gear；
The carrier platform is located above first gear, and is fixedly mounted in first gear；
The motor electrically connects with control device, be configured to according to control device instruction adjustment motor rotating speed so that
Second gear rotates；
The Hall revolution speed transducer has a probe, and probe, which is fixedly mounted on, to be closed at first gear, probe and first
The distance of gear is less than the first setpoint distance, is more than the second setpoint distance with the distance of second gear；
The Hall revolution speed transducer electrically connects with control device, is configured to real-time detection first gear rotating speed and angle
Change, and result of detection is fed back into control device.
Further, the Hall revolution speed transducer also has a signal processing circuit, signal processing circuit and probe electricity
Connection；
A permanent magnetic steel is provided with the probe, to form magnetic field in probe present position；
Described pop one's head in is configured to the change of magnetic field strength of real-time detection present position, and result of detection is fed back into signal
The change of magnetic field strength received is transformed into electric signal and sent to control device by process circuit, signal processing circuit.
Further, first setpoint distance is 5mm.
Further, second setpoint distance is 3cm.
Further, the carrier platform includes upper mounting plate and lower platform, the servo drive and carrier being parallel to each other；
The lower platform is fixed in first gear；
The carrier is fixed on upper mounting plate；
The servo drive is between upper mounting plate and lower platform, including several telescopic pushing mechanisms, often
Individual pushing mechanism has a fixing end and a telescopic end, and fixing end is by Hooke's hinge so that on lower platform, telescopic end passes through
Hooke's hinge is with upper mounting plate.
Further, the pushing mechanism uses servo electric jar, and the fixed part of servo electric jar is arranged on lower platform,
The motion portion of servo electric jar is arranged on upper mounting plate.
Further, the motion platform has signal indicating device.
Further, the first gear is made of ferrimagnet.
Further, the diameter of the first gear is more than the diameter of second gear.
By above the technical solution of the utility model, compared with existing, its significant beneficial effect is, avoids using volume
Code device motor, facility is safeguarded, service life length, cost is low, also, sensor detection results are not influenceed by motor speed value, surveys
It is reliable and stable to measure result.
It should be appreciated that as long as all combinations of aforementioned concepts and the extra design described in greater detail below are at this
Sample design it is not conflicting in the case of can be viewed as the disclosure utility model theme a part.In addition, want
Ask the theme of protection all combinations be considered as the disclosure utility model theme a part.
The foregoing and other side of the utility model teaching can be more fully appreciated from the following description with reference to accompanying drawing
Face, embodiment and feature.The feature and/or beneficial effect of other additional aspects such as illustrative embodiments of the present utility model
To be obvious in the following description, or learnt in the practice by the embodiment instructed according to the utility model.
Brief description of the drawings
Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform group shown in each figure
It can be indicated by the same numeral into part.For clarity, in each figure, not each part is labeled.
Now, by example and the embodiment of various aspects of the present utility model will be described in reference to the drawings, wherein：
Fig. 1 is the structural representation of the motion platform of the present utility model with accurate positioning function.
Fig. 2 is the structural representation of Hall revolution speed transducer of the present utility model.
Embodiment
In order to know more about technology contents of the present utility model, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
Each side of the present utility model is described with reference in the disclosure, shown in the drawings of the implementation of many explanations
Example.It is not intended to cover all aspects of the present utility model for embodiment of the disclosure.It should be appreciated that a variety of structures presented hereinbefore
Think and embodiment, and describe in more detail below those design and embodiment can in many ways in any one
To implement, because design disclosed in the utility model and embodiment are not limited to any embodiment.In addition, this practicality
New disclosed some aspects can be used alone, or with the utility model disclosed in it is otherwise it is any it is appropriately combined come
Use.
With reference to Fig. 1, Fig. 2, the utility model proposes a kind of motion platform with accurate positioning function, the motion platform
Including base 10, transmission mechanism, motor 30, carrier platform 60, Hall revolution speed transducer 40 and control device 50.
Base 10 fixes on the ground, and base 10 needs certain weight and stable degree, can sustain and be attached to
Transmission mechanism thereon, the weight of carrier platform 60, it is ensured that transmission mechanism and carrier platform 60 are not in rock when running.
Base 10 have a cavity and one parallel to ground upper surface, carrier platform 60 be located at base 10 upper surface it
On, transmission mechanism, band of the carrier platform 60 in transmission mechanism are connected between the upper surface of carrier platform 60 and base 10
Rotary motion is realized under dynamic.
The purpose for setting cavity is a side in order to be arranged on to parts such as control device 50, motors 30 inside base 10
Face ensure control device 50 can water proof and dust proof, be not affected by the external environment, on the other hand whole motion platform is become more
Add attractive in appearance, otherwise, theoretically, control device 50 is installed on the moving platform.
Have it is foregoing understand, carrier platform 60 can realize rotary motion, the knot of transmission mechanism under the drive of transmission mechanism
Structure design has various ways, and the application only introduces one of which frame mode herein.
Transmission mechanism includes intermeshing first gear 21 and second gear 22, and first gear 21 and second gear 22 are equal
Above base 10, the shaft centre line of first gear 21 and second gear 22 is each perpendicular to the upper surface of base 10.
The output shaft of motor 30 is fixedly mounted at the center of second gear 22, the bearing of trend and second of the output shaft of motor 30
The shaft centre line of gear 22 is overlapping.
Motor 30 and control device 50 are electrically connected, and the rotating speed of motor 30 is adjusted according to the instruction of control device 50.
Because the output shaft of motor 30 is fixedly mounted at the center of second gear 22, therefore when the output shaft of motor 30 starts to rotate
When, second gear 22 starts equidirectional rotation immediately, equally, because first gear 21 and second gear 22 are with intermeshing
Annexation, first gear 21 also begin to rotate, and are fixed on the carrier platform 60 in first gear 21 naturally also with first gear
21 realize rotary motion.
Because the effect of second gear 22 is to realize that the driving force between the output shaft of motor 30 and first gear 21 passes
It is defeated, and used in non-bearing carrier platform 60, it is therefore preferred that we the diameter of first gear 21 is set it is larger, with
The carrying carrier platform 60 for being easy to first gear 21 to stablize, while carrier platform 60 is fixed thereon, and second gear
22 diameter can be less than the diameter of first gear 21, on the one hand reduce the volume of total, on the other hand also for the greatest extent
Amount reduces the accuracy of rotation parameter testing result, on the latter, it will the illustration in follow-up description.
And whether the instruction of control device 50 has made carrier platform 60 realize default rotary motion, then need to pass through
Other detection means carries out real-time detection.
As it was previously stated, componental movement platform can use motor 30 with encoder, pass through turning for the output shaft of testing of electric motors 30
Speed and/or corner to calculate the rotation parameter of carrier platform 60 indirectly, and on the one hand this causes the cost of motor 30 to increase, once go out
Existing problem, investigation and maintenance all become to be not easy, on the other hand, the rotating speed of the motor 30 of test, then carried indirectly by calculating
Has the rotation parameter of platform 60, this is also undoubtedly not accurate enough, and is highly prone to interference.
Most accurate test mode is direct detection carrier platform 60 naturally, but carrier platform 60 is different, big
It is not easy under partial picture also in manned state, test.
With reference to above-mentioned 2 points, because carrier platform 60 is fixedly mounted in first gear 21, first gear 21 is followed
Rotate and rotate, the application proposes to obtain the rotation of carrier platform 60 to join by detecting the rotation parameter of first gear 21
Number, undoubtedly the rotation parameter (rotating speed, direction, corner etc.) between both should be consistent.
We realize this foregoing detecting function using Hall revolution speed transducer 40, in fact, selection gear is as biography
Motivation structure also has this reason.
Hall revolution speed transducer 40 is prior art, has various structures and working method, but its cardinal principle is still suddenly
That effect.
The Hall revolution speed transducer 40 that the application uses has a probe and a signal processing circuit, and one is provided with probe
Permanent magnetic steel, a magnetic field is formed at probe.
When having other materials, especially ferromagnetic material to enter in magnetic field range, magnetic field intensity can change, on gear
With several sawtooth, if by probe placement near gear, in pinion rotation, constantly have sawtooth it is close, away from probe,
Magnetic field intensity is caused to change, then after signal processing circuit processing becomes electric signal, we can have found the electric signal to be formed
Change with pulsed.
The Hall revolution speed transducer 40 that the application uses is exactly to utilize this principle, by the number for calculating pulse in electric signal
Measure to calculate corner, rotating speed is calculated by calculating the frequency of pulse in electric signal, by the direction for observing pulse in electric signal
To be turned to.Specifically, a pulse represents a sawtooth number, and with reference to the sawtooth number of first gear 21, our cans obtain
To corner, the frequency of pulse is faster, illustrates that the rotating speed of now first gear 21 is also faster, finally, the direction in saw cut magnetic field
Difference, the Strength Changes for causing magnetic field are also different.
What we needed to detect is the rotational parameters of first gear 21, therefore probe placement is being closed on into first gear 21
Place, the position of probe have it is certain restricted, first, probe and the distance of first gear 21 are less than the first setpoint distance, the
Two, probe and the distance of second gear 22 are more than the second setpoint distance.
Preferably, the first setpoint distance uses 5mm, and the second setpoint distance uses 3cm.
The purpose for making this setting is to avoid interference of the second gear 22 to probe, while the first tooth of enhancing as far as possible as far as possible
Take turns 21 influence in rotation process to magnetic field, the electric signal result become apparent from.The second of foregoing selection small diameter
The purpose of gear 22 lies also in this.
In addition, we can also go to make first gear 21, such as iron etc., ferrimagnet by using ferrimagnet
Much bigger than general material of the change of magnetic field intensity can be caused, obtained electric signal result can also become apparent from.
Control device 50 is after the electric signal fed back from Hall revolution speed transducer 40 is received, with reference to first gear 21
Sawtooth number calculates the rotation parameter of first gear 21, and its athletic posture included in control instruction is compared, and root
The rotating speed of motor 30 is adjusted according to comparative result, the rotation of first gear 21 is controlled, so as to form a close loop control circuit, it is ensured that motion
Platform spinning movement is accurately positioned.
The motion platform also has a signal indicating device, such as signal lamp, be arranged to motor 30 work when signal lamp it is bright,
Signal lamp goes out when motor 30 is stopped, and certainly also other set-up modes, purpose is exactly in order that staff or use
Family can need not look at
As for carrier platform 60, the application proposes a kind of structure design, and whole motion platform can be made to realize six degree of freedom
Motion change.
Carrier platform 60 includes upper mounting plate 61 and lower platform 62, the servo drive 63 and carrier being parallel to each other.
Lower platform 62 is fixed in first gear 21, and carrier is fixed on upper mounting plate 61, and servo drive 63 is positioned at upper
Between platform 61 and lower platform 62, including several telescopic pushing mechanisms, each pushing mechanism have a fixing end and one
Telescopic end, fixing end is by Hooke's hinge so that on lower platform 62, telescopic end is by Hooke's hinge with upper mounting plate 61.
Pushing mechanism uses servo electric jar, and the fixed part of servo electric jar is arranged on lower platform 62, servo electric jar
Motion portion be arranged on upper mounting plate 61 on.
In this way, upper mounting plate 61 will realize the athletic postures such as translation, landing, upset under the driving of servo electric jar, add
The rotary motion posture that transmission mechanism and motor 30 are brought, realize the six-freedom motion change to carrier.
So as to which the utility model realizes a kind of motion platform with accurate positioning function, is placed suddenly in gear side
Your speed probe 40, the rotating speed and angle change of real-time detection gear, control device 50 is according to result of detection to adjust motor
30 rotating speeds, so adjust motion platform the anglec of rotation and rotary speed, the utility model proposes this technical scheme, avoid
Using encoder motor 30, facility is safeguarded, service life length, cost is low, also, sensor detection results are not by the rotating speed of motor 30
Value influences, and measurement result is reliable and stable.
Although the utility model is disclosed above with preferred embodiment, so it is not limited to the utility model.This reality
With new those of ordinary skill in the art, do not departing from spirit and scope of the present utility model, it is each when that can make
The change and retouching of kind.Therefore, the scope of protection of the utility model is worked as and is defined depending on those as defined in claim.
Claims (9)
1. a kind of motion platform with accurate positioning function, it is characterised in that including base (10), transmission mechanism, motor
(30), carrier platform (60), Hall revolution speed transducer (40) and control device (50)；
The base (10) fixes on the ground, have a cavity and one parallel to ground upper surface；
The transmission mechanism includes intermeshing first gear (21) and second gear (22), first gear (21) and the second tooth
Take turns (22) to be arranged on above base (10), the shaft centre line of first gear (21) and second gear (22) is each perpendicular to base (10)
Upper surface；
The motor (30) is fixed in the cavity of base (10), and its output shaft is fixedly mounted at second gear (22) center,
The bearing of trend of output shaft is overlapping with the shaft centre line of second gear (22)；
The carrier platform (60) is located above first gear (21), and is fixedly mounted in first gear (21)；
The motor (30) electrically connects with control device (50), is configured to adjust motor according to the instruction of control device (50)
(30) rotating speed is so that second gear (22) rotates；
The Hall revolution speed transducer (40) has a probe, and probe is fixedly mounted on and closes on first gear (21) place, probe with
The distance of first gear (21) is less than the first setpoint distance, is more than the second setpoint distance with the distance of second gear (22)；
The Hall revolution speed transducer (40) electrically connects with control device (50), is configured to real-time detection first gear (21) and turns
Speed and angle change, and result of detection is fed back into control device (50).
2. the motion platform according to claim 1 with accurate positioning function, it is characterised in that the Hall rotating speed passes
Sensor (40) also has a signal processing circuit, and signal processing circuit electrically connects with probe；
A permanent magnetic steel is provided with the probe, to form magnetic field in probe present position；
Described pop one's head in is configured to the change of magnetic field strength of real-time detection present position, and result of detection is fed back into signal transacting
The change of magnetic field strength received is transformed into electric signal and sent to control device (50) by circuit, signal processing circuit.
3. the motion platform according to claim 1 with accurate positioning function, it is characterised in that it is described first setting away from
From for 5mm.
4. the motion platform according to claim 1 with accurate positioning function, it is characterised in that it is described second setting away from
From for 3cm.
5. the motion platform according to claim 1 with accurate positioning function, it is characterised in that the carrier platform
(60) upper mounting plate (61) and lower platform (62), servo drive (63) and the carrier being parallel to each other are included；
The lower platform (62) is fixed in first gear (21)；
The carrier is fixed on upper mounting plate (61)；
The servo drive (63) is located between upper mounting plate (61) and lower platform (62), including several telescopic promotions
Mechanism, each pushing mechanism have a fixing end and a telescopic end, fixing end by Hooke's hinge with lower platform (62),
Telescopic end is by Hooke's hinge with upper mounting plate (61).
6. the motion platform according to claim 5 with accurate positioning function, it is characterised in that the pushing mechanism is adopted
With servo electric jar, the fixed part of servo electric jar is arranged on lower platform (62), and the motion portion of servo electric jar is installed in upper
On platform (61).
7. the motion platform according to claim 1 with accurate positioning function, it is characterised in that the motion platform tool
There is signal indicating device.
8. the motion platform according to claim 1 with accurate positioning function, it is characterised in that the first gear
(21) it is made of ferrimagnet.
9. the motion platform according to claim 1 with accurate positioning function, it is characterised in that the first gear
(21) diameter is more than the diameter of second gear (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818759.XU CN206922584U (en) | 2017-07-07 | 2017-07-07 | Motion platform with accurate positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818759.XU CN206922584U (en) | 2017-07-07 | 2017-07-07 | Motion platform with accurate positioning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206922584U true CN206922584U (en) | 2018-01-23 |
Family
ID=61335874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720818759.XU Expired - Fee Related CN206922584U (en) | 2017-07-07 | 2017-07-07 | Motion platform with accurate positioning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206922584U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114984825A (en) * | 2022-06-16 | 2022-09-02 | 上海知楚仪器有限公司 | Accurate positioning mechanism of high-speed biological shaking table |
-
2017
- 2017-07-07 CN CN201720818759.XU patent/CN206922584U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114984825A (en) * | 2022-06-16 | 2022-09-02 | 上海知楚仪器有限公司 | Accurate positioning mechanism of high-speed biological shaking table |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 Termination date: 20200707 |
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| CF01 | Termination of patent right due to non-payment of annual fee |