CN209309588U - A kind of three-degree-of-freedom motion mechanism - Google Patents
A kind of three-degree-of-freedom motion mechanism Download PDFInfo
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- CN209309588U CN209309588U CN201822135266.3U CN201822135266U CN209309588U CN 209309588 U CN209309588 U CN 209309588U CN 201822135266 U CN201822135266 U CN 201822135266U CN 209309588 U CN209309588 U CN 209309588U
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- guide rail
- rotating disk
- pulley
- supporting plate
- along
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a kind of three-degree-of-freedom motion mechanisms.The three-degree-of-freedom motion mechanism includes the first guide rail and the second guide rail；First guide rail can be moved along the second guide rail, and supporting plate is housed on first guide rail, rotating disk is housed on the supporting plate, the escapement for preventing deviating from from supporting plate when rotation disc spins is equipped between the rotating disk and supporting plate；The diametric both ends of the rotating disk are equipped with first pulley and second pulley, and the both ends of first guide rail are respectively arranged with pulley track；When rotating disk is moved to the first end of the first guide rail along the first guide rail, the first pulley enters the pulley track at the first end of the first guide rail, when rotating disk is moved to the second end of the first guide rail along the first guide rail, the second pulley enters the pulley track at the second end of the first guide rail.The utility model can be reduced as far as number of motors.
Description
Technical field
The utility model relates to a kind of three-degree-of-freedom motion mechanisms.
Background technique
Two traditional direction translationals and the three-degree-of-freedom motion being pivoted, rotary motion need to fix rotary shaft, and in axis
End increases a motor.Angle is rotated using direction of rotation motor control, stall torque goes to resist tilting moment.
Rotation needs fixing axle in existing two direction translational and the three-degree-of-freedom motion being pivoted, and is being not easy to cloth
In the case where fixing axle or fixing axle and other parts are set in the presence of interference, it is difficult to carry out using the prior art.Increased motor is certainly
Body connects firmly in two axis translational directions, and there are motor cable arrangement high risks that is highly difficult, and having cable to pull fracture.
In addition, being pivoted using motor generation, since motor itself has thickness, three-degree-of-freedom motion certainly will be caused
Mechanism integral thickness increases, and is unfavorable for arranging in tight space.
Utility model content
The utility model is intended to provide a kind of three-degree-of-freedom motion mechanism, which can be in the space of relative compact
Two direction translationals of interior arrangement and the Three Degree Of Freedom of shaftless rotation, are reduced as far as number of motors.
To achieve the goals above, the technical scheme adopted by the utility model is
A kind of three-degree-of-freedom motion mechanism, including the first guide rail being arranged along the X direction and be set along the Y direction second
Guide rail, wherein X-direction is perpendicular to Y-direction and in the horizontal plane；First guide rail can be moved along the second guide rail, and described
Supporting plate is housed on one guide rail, rotating disk is housed on the supporting plate, the supporting plate is moved along the X direction by first driving device driving,
The supporting plate is moved along the Y direction by the driving of the second driving device；It is structurally characterized in that: being equipped between the rotating disk and supporting plate anti-
The escapement that spin-ended turntable is deviate from from supporting plate when rotating；
The diametric both ends of the rotating disk are equipped with first pulley and second pulley, the both ends of first guide rail
It is respectively arranged with the pulley track being arranged at an angle with X-direction；The first end of the first guide rail is moved to along the first guide rail in rotating disk
When portion, the first pulley enters the pulley track at the first end of the first guide rail, moves in rotating disk along the first guide rail
To the first guide rail the second end when, the second pulley enter the first guide rail the second end at pulley track.
As a kind of equivalent scheme, conceived based on the same utility model, the utility model additionally provides another kind three
Freedom degree movement mechanism, including the first guide rail for being arranged along the X direction and the second guide rail being set along the Y direction, wherein X-direction
Perpendicular to Y-direction and in the horizontal plane；Second guide rail can be moved along the first guide rail；Equipped with support on second guide rail
Plate is equipped with rotating disk on the supporting plate, and the supporting plate is moved along the X direction by first driving device driving, which is driven by second
Dynamic device driving is moved along the Y direction；It is structurally characterized in that: when between the rotating disk and supporting plate equipped with rotation disc spins are prevented
The escapement deviate from from supporting plate；
The diametric both ends of the rotating disk are equipped with first pulley and second pulley, the both ends of second guide rail
It is respectively arranged with the pulley track being arranged at an angle with Y-direction；The first end of the second guide rail is moved to along the second guide rail in rotating disk
When portion, the first pulley enters the pulley track at the first end of the second guide rail, moves in rotating disk along the second guide rail
To the second guide rail the second end when, the second pulley enter the second guide rail the second end at pulley track.
Embodiment according to the present utility model can also make further optimization to the utility model, and the following are after optimization
The technical solution of formation:
Preferably, the escapement includes the multiple arc grooves being circumferentially arranged positioned at the side of rotating disk, and dress
In multiple circular arc surface rollers of supporting plate；Mutual cooperation between the arc groove and circular arc surface roller of the rotating disk, so that rotation
Deviate from turntable rotation Shi Bucong circular arc surface roller.
In order to prevent rotating disk from rotating when not needing rotating disk rotation, it is additionally provided with and is used between the rotating disk and supporting plate
Keep the locking mechanism of rotating disk non-rotating state.It is highly preferred that the locking mechanism includes on supporting plate and with respect to supporting plate
The solution closing piece of stretching, dress two lock pawl expansibles or closes up solution to realize rotating disk there are two lock pawl on the solution closing piece
Lock or locking.
As a kind of relatively common unlocking manner, the end of first guide rail or the second guide rail is equipped with lip block,
Two lock pawls open when the solution closing piece presses at the lip block.
Preferably, the first driving device is the first stepper motor, and second driving device is second stepper motor.
In order to reliably drive supporting plate mobile, the first driving device by the first lead screw for being located in the first guide rail with
Supporting plate is connected；Second driving device is connected by the second lead screw being located in the second guide rail with supporting plate.
In order to realize that rotating disk is rotated relative to the first guide rail without fixing axle, positioned at the pulley rail of the first end of the first guide rail
The pulley track of road and the second end positioned at the first guide rail is arranged in splayed.
In order to realize that rotating disk is rotated relative to the second guide rail without fixing axle, positioned at the pulley rail of the first end of the second guide rail
The pulley track of road and the second end positioned at the second guide rail is arranged in splayed.
By above structure, the utility model is realized by circular cross-section idler wheel and circular groove cooperation without fixing axle
Rotary motion.Simultaneously by the interaction of first pulley, second pulley and pulley track, using simply along the X direction, Y
The translation in direction is to realize the rotary motion of rotating disk.
The stretching motion of the clamping block of the utility model makes lock pawl open and collapse, so that rotating disk be made to be kept fixed
It (non-rotating state) and unlocks and (is rotated).
Compared with prior art, the utility model has the beneficial effects that for be not easy to install fixed rotary shaft three from
It is moved by degree, it is only necessary to which two motors can be achieved with the translation in two directions and around axial rotation, to save power and cable
It lays, and realizes locking and the releasing of rotary motion by locking mechanism.
Detailed description of the invention
Fig. 1 is the structure principle chart (rotating disk lock state) of the utility model one embodiment；
Fig. 2 is supporting plate and the drawing of rotating disk, locking mechanism assembling in Fig. 1；
Fig. 3 is the right view of Fig. 2；
Fig. 4 is the rearview of Fig. 2；
Fig. 5 is that the utility model is given prominence to the key points the structural schematic diagram (rotating disk unlocked state) of locking mechanism；
Fig. 6 is that the utility model is given prominence to the key points the structural schematic diagram of disconnecting prevention structure；
Fig. 7 be the rotating disk of the utility model be moved to the first guide rail first end when state diagram；
Fig. 8 be the rotating disk of the utility model be moved to the first guide rail the second end when state diagram；
Fig. 9 is the structure principle chart (rotating disk lock state) of another embodiment of the utility model.
In figure
The first guide rail of 1-；The first stepper motor of 2-；The second guide rail of 3-；The first lead screw of 4-；5- guide rail mounting plate；6- second
Thick stick；7- supporting plate；8- rotating disk；9- second stepper motor；10- circular arc surface roller；11- lock pawl；12- solves closing piece；13- supporting pad
Plate；14- pulley track；15- second pulley；16- first pulley.
Specific embodiment
The utility model is described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case where, the feature in the embodiments of the present invention and embodiment can be combined with each other.For sake of convenience, hereinafter such as
There is "upper", "lower", "left", "right" printed words, only indicates consistent with the upper and lower, left and right direction of attached drawing itself, not to structure
Play restriction effect.
Embodiment 1
A kind of three-degree-of-freedom motion mechanism, as shown in figures 1-8, including the first guide rail 1 being arranged along the X direction and along Y
Second guide rail 3 of direction setting, wherein X-direction is perpendicular to Y-direction and in the horizontal plane.First guide rail 1 can be along
Two guide rails 3 are mobile, and supporting plate 7 is housed on first guide rail 1, rotating disk 8 is housed on the supporting plate 7, when need supporting plate 7 along the side X
To it is mobile when, moved by first driving device driving supporting plate 7 along the first guide rail 1, when needing supporting plate 7 to move along the Y direction
When dynamic, moved by the second driving device driving supporting plate 7 along the second guide rail 3.
In order to accurately control the moving displacement of supporting plate, the first driving device is the first stepper motor 2, and described second drives
Dynamic device is second stepper motor 9.The first driving device passes through the first lead screw 4 and 7 phase of supporting plate in the first guide rail 1
Even.Second driving device is connected by the second lead screw 6 being located in the second guide rail 3 with supporting plate 7.When work, such as Fig. 1 institute
Show, the first stepper motor 2 drives supporting plate 7 to move back and forth along the X direction along the first guide rail 1 by the second lead screw 6.Second stepping
Motor 9 drives supporting plate 7 to move back and forth along the Y direction along the second guide rail 3 by the first lead screw 4.
As in Figure 2-4, being equipped between the rotating disk 8 and supporting plate 7 prevents rotating disk 8 from deviating from from supporting plate 7 when rotating
Escapement.The escapement includes the multiple arc grooves being circumferentially arranged positioned at the side of rotating disk 8, and mounted in support
Multiple circular arc surface rollers 10 of plate 7.Mutual cooperation between the arc groove and circular arc surface roller 10 of the rotating disk 8, so that
Rotating disk 8 rotates deviates from Shi Bucong circular arc surface roller 10.
In the present embodiment, as in Figure 2-4, the side of rotating disk 8 is circumferentially machined with multiple arc grooves, preferably
Six, multiple circular arc surface rollers 10 are housed on the supporting plate 7, the cross section of circular arc surface roller 10 is convex arc-shaped, Mei Geyuan
Cambered surface idler wheel 10 protrudes into an arc groove.Six circular arc surface rollers 10 are along the circumferential direction arranged in supporting plate 7 at a certain angle
On.By the mutual cooperation between circular arc surface roller 10 and the arc groove of rotating disk 8, rotating disk 8 is enabled to do rotation fortune
It is dynamic to deviate from without regard to from circular arc surface roller 10.
As shown in figure 5, being additionally provided with the locking for keeping 8 non-rotating state of rotating disk between the rotating disk 8 and supporting plate 7
Mechanism.The locking mechanism includes the solution closing piece 12 that on supporting plate 7 and opposite supporting plate 7 stretches out, and is equipped with two on the solution closing piece 12
A lock pawl 11, two 11 expansibles of lock pawl or closes up unlock or locking to realize rotating disk 8.First guide rail 1 or
The end of second guide rail 3 is equipped with lip block 13, two lock pawls 11 when the solution closing piece 12 presses at the lip block 13
It opens.When work, closing piece 12 is solved under the action of contained spring, lower end surface is stretched out with respect to supporting plate 7.Lock pawl 11 is inside tightly
Rotating disk 8 is embraced, to limit the rotation of rotating disk 8.Under the drive of second stepper motor 9, guide rail mounting plate 5 is led along second
3 direction of rail moves down, and when solution closing piece 12 touches support backing plate 13, lock pawl 11 starts to be flared out.Continuation is transported down
After dynamic, support backing plate 13 will withstand solution closing piece 12, and the continuation of supporting plate 7 moves down, and the continuation of lock pawl 11 is opened outward.Work as locking
After pawl 11 and rotating disk 8 completely disengage, rotating disk 8 can be had rotated.
As it can be seen in figures 5 and 6, the diametric both ends of the rotating disk 8 are equipped with first pulley 16 and second pulley 15, institute
The both ends for stating the first guide rail 1 are respectively arranged with the pulley track 14 being arranged at an angle with X-direction.In rotating disk 8 along the first guide rail 1
When being moved to the first end of the first guide rail 1, the first pulley 16 enters the pulley rail at the first end of the first guide rail 1
Road, when rotating disk 8 is moved to the second end of the first guide rail 1 along the first guide rail 1, the second pulley 15 enters first and leads
Pulley track at the second end of rail 1.In the present embodiment, positioned at 14 He of pulley track of the first end of the first guide rail 1
Pulley track positioned at the second end of the first guide rail 1 is arranged in splayed.
In the present embodiment, as shown in fig. 6, being respectively provided with a pulley (16 He of first pulley at the diametrical position of rotating disk 8
Second pulley 15).It is moved together along 1 direction of the first guide rail toward left side in the first stepper motor 2 driving lower pallet 7 with rotating disk 8.
When first pulley 16 is moved to it is tangent with the inside of pulley track 14 when, it is impossible to be further continued for moving to the left, referred to herein as left side
Rotate position.Fig. 6 middle pulley track 14 has carried out cutting, shows convenient for internal structure.
When work, second stepper motor 9 drives guide rail mounting plate 5 to move upwards, and the first stepper motor 2 is powered on but do not revolved
Turn.First pulley 16 will along 14 integral channel of pulley track to the right tiltedly on move, thus drive rotating disk 8 counterclockwise revolve
Turn.Second stepper motor 9 drives guide rail mounting plate 5 when moving downward, and first pulley 16 will be along pulley track 14 to opposite
Direction movement, returns to initial level state.
It similarly turns right and moves along 1 direction of the first guide rail together with rotating disk 8 in the first stepper motor 2 driving lower pallet 7.
When second pulley 15 is moved to it is tangent with the inside of pulley track 14 when, it is impossible to be further continued for moving to the right, referred to herein as right side
Rotate position.Fig. 8 middle pulley track 14 has carried out cutting, shows convenient for internal structure.Second stepper motor 9 drives guide rail mounting plate
5 move upwards, and the first stepper motor 2 is powered on but do not rotated.Second pulley 15 will be along 14 integral channel of pulley track to the left
Tiltedly upper movement, so that rotating disk 8 be driven to rotate clockwise.When second stepper motor 9 drives guide rail mounting plate 5 to move downward, the
Two pulleys 15 will move round about along pulley track 14, return to initial level state.
Embodiment 2
A kind of three-degree-of-freedom motion mechanism, as shown in figure 9, including the first guide rail 1 being arranged along the X direction and along the side Y
To the second guide rail 3 of setting, wherein X-direction is perpendicular to Y-direction and in the horizontal plane.Second guide rail 3 can be along first
Guide rail 1 is mobile.
Supporting plate 7 is housed on second guide rail 3, rotating disk 8 is housed on the supporting plate 7, when needing supporting plate 7 to move along the X direction
When dynamic, moved by first driving device driving supporting plate 7 along the first guide rail 1, when needing supporting plate 7 to move along the Y direction,
It is moved by the second driving device driving supporting plate 7 along the second guide rail 3.Being equipped between the rotating disk 8 and supporting plate 7 prevents from rotating
The escapement that disk 8 is deviate from from supporting plate 7 when rotating.The diametric both ends of the rotating disk 8 are equipped with 16 He of first pulley
Second pulley 15, the both ends of second guide rail 3 are respectively arranged with the pulley track 14 being arranged at an angle with Y-direction.In rotating disk 8
When being moved to the first end of the second guide rail 3 along the second guide rail 3, the first pulley 16 enters the first end of the second guide rail 3
Pulley track at portion, when rotating disk 8 is moved to the second end of the second guide rail 3 along the second guide rail 3, the second pulley
15 enter the pulley track at the second end of the second guide rail 3.
Positioned at the pulley track 14 of the first end of the second guide rail 3 and the pulley rail of the second end positioned at the second guide rail 3
Road is arranged in splayed.
Remaining structure and working principle are similar to Example 1, repeat no more.
The content that above-described embodiment illustrates should be understood as that these embodiments are only used for being illustrated more clearly that the utility model,
Rather than limitation the scope of the utility model, after having read the utility model, those skilled in the art are practical new to this
The modification of the various equivalent forms of type each falls within the application range as defined in the appended claims.
Claims (10)
1. a kind of three-degree-of-freedom motion mechanism, including the first guide rail (1) being arranged along the X direction and be set along the Y direction
Two guide rails (3), wherein X-direction is perpendicular to Y-direction and in the horizontal plane；First guide rail (1) can be along the second guide rail (3)
It is mobile, supporting plate (7) are housed on first guide rail (1), rotating disk (8) are housed on the supporting plate (7), the supporting plate (7) is by first
Driving device driving is moved along the X direction, which is moved along the Y direction by the driving of the second driving device；Its feature exists
In:
The anti-off line for preventing rotating disk (8) from deviating from from supporting plate (7) when rotating is equipped between the rotating disk (8) and supporting plate (7)
Structure；
The diametric both ends of the rotating disk (8) are equipped with first pulley (16) and second pulley (15), first guide rail
(1) both ends are respectively arranged with the pulley track (14) being arranged at an angle with X-direction；It is moved in rotating disk (8) along the first guide rail (1)
When moving to the first end of the first guide rail (1), the first pulley (16) enters the pulley at the first end of the first guide rail (1)
Track；
When rotating disk (8) is moved to the second end of the first guide rail (1) along the first guide rail (1), the second pulley (15)
Pulley track at the second end of the first guide rail (1).
2. three-degree-of-freedom motion mechanism according to claim 1, which is characterized in that be located at the first end of the first guide rail (1)
The pulley track of the pulley track (14) in portion and the second end positioned at the first guide rail (1) is arranged in splayed.
3. a kind of three-degree-of-freedom motion mechanism, including the first guide rail (1) being arranged along the X direction and be set along the Y direction
Two guide rails (3), wherein X-direction is perpendicular to Y-direction and in the horizontal plane；Second guide rail (3) can be along the first guide rail (1)
It is mobile；Supporting plate (7) are housed on second guide rail (3), rotating disk (8) are housed on the supporting plate (7), the supporting plate (7) is by first
Driving device driving is moved along the X direction, which is moved along the Y direction by the driving of the second driving device；Its feature exists
In:
The anti-off line for preventing rotating disk (8) from deviating from from supporting plate (7) when rotating is equipped between the rotating disk (8) and supporting plate (7)
Structure；
The diametric both ends of the rotating disk (8) are equipped with first pulley (16) and second pulley (15), second guide rail
(3) both ends are respectively arranged with the pulley track (14) being arranged at an angle with Y-direction；It is moved in rotating disk (8) along the second guide rail (3)
When moving to the first end of the second guide rail (3), the first pulley (16) enters the pulley at the first end of the second guide rail (3)
Track；
When rotating disk (8) is moved to the second end of the second guide rail (3) along the second guide rail (3), the second pulley (15)
Pulley track at the second end of the second guide rail (3).
4. three-degree-of-freedom motion mechanism according to claim 1 or 3, which is characterized in that the escapement includes being located at
Multiple arc grooves that the side of rotating disk (8) is circumferentially arranged, and it is mounted in multiple circular arc surface rollers (10) of supporting plate (7)；Institute
The mutual cooperation between the arc groove of rotating disk (8) and circular arc surface roller (10) is stated, so that not from circle when rotating disk (8) rotates
Cambered surface idler wheel is deviate from (10).
5. three-degree-of-freedom motion mechanism according to claim 1 or 3, which is characterized in that the rotating disk (8) and supporting plate
(7) locking mechanism for keeping rotating disk (8) non-rotating state is additionally provided between.
6. three-degree-of-freedom motion mechanism according to claim 5, which is characterized in that the locking mechanism includes being mounted in supporting plate
(7) on and solution closing piece (12) that opposite supporting plate (7) are stretched out, there are two lock pawl (11), two lockings for dress on the solution closing piece (12)
Pawl (11) expansible closes up unlock or locking to realize rotating disk (8).
7. three-degree-of-freedom motion mechanism according to claim 6, which is characterized in that first guide rail (1) second is led
The end of rail (3) is equipped with lip block (13), two lock pawls when the solution closing piece (12) is pressed at the lip block (13)
(11) it opens.
8. three-degree-of-freedom motion mechanism according to claim 1 or 3, which is characterized in that the first driving device is the
One stepper motor (2), second driving device are second stepper motor (9).
9. three-degree-of-freedom motion mechanism according to claim 1 or 3, which is characterized in that the first driving device passes through
The first lead screw (4) in the first guide rail (1) is connected with supporting plate (7)；Second driving device is by being located at the second guide rail
(3) the second lead screw (6) in is connected with supporting plate (7).
10. three-degree-of-freedom motion mechanism according to claim 3, which is characterized in that be located at the first end of the second guide rail (3)
The pulley track of the pulley track (14) in portion and the second end positioned at the second guide rail (3) is arranged in splayed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822135266.3U CN209309588U (en) | 2018-12-19 | 2018-12-19 | A kind of three-degree-of-freedom motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822135266.3U CN209309588U (en) | 2018-12-19 | 2018-12-19 | A kind of three-degree-of-freedom motion mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209309588U true CN209309588U (en) | 2019-08-27 |
Family
ID=67677598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822135266.3U Withdrawn - After Issue CN209309588U (en) | 2018-12-19 | 2018-12-19 | A kind of three-degree-of-freedom motion mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209309588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109373132A (en) * | 2018-12-19 | 2019-02-22 | 湖南乐准智芯生物科技有限公司 | A kind of three-degree-of-freedom motion mechanism |
-
2018
- 2018-12-19 CN CN201822135266.3U patent/CN209309588U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109373132A (en) * | 2018-12-19 | 2019-02-22 | 湖南乐准智芯生物科技有限公司 | A kind of three-degree-of-freedom motion mechanism |
| CN109373132B (en) * | 2018-12-19 | 2024-04-02 | 湖南乐准生物科技有限公司 | Three-degree-of-freedom motion mechanism |
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