CN213354663U

CN213354663U - Mobile platform and deviation rectifying equipment

Info

Publication number: CN213354663U
Application number: CN202022204985.3U
Authority: CN
Inventors: 朱智文; 许佳荣; 蓝蔚原
Original assignee: Guangdong Lyric Robot Intelligent Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-06-04
Anticipated expiration: 2030-09-30

Abstract

The utility model discloses a mobile platform, it includes mount pad, load-bearing platform, displacement drive mechanism and angle drive mechanism, and displacement drive mechanism and angle drive mechanism locate the mount pad respectively, and displacement drive mechanism includes X axle drive assembly and Y axle drive assembly, and angle drive mechanism includes angle drive assembly, and X axle drive assembly, Y axle drive assembly and angle drive assembly are connected with load-bearing platform respectively, drive load-bearing platform position and angle change; the X-axis driving assembly, the Y-axis driving assembly and the angle driving assembly are arranged on the same side; the utility model also discloses a deviation rectification equipment. This application is through lieing in the drive of the X axle drive assembly, Y axle drive assembly and the angle drive assembly of arranging with one side as load-bearing platform for whole moving platform can be neatly walked the line, interference risk when having avoided the drive.

Description

Mobile platform and deviation rectifying equipment

Technical Field

The utility model relates to a technical field that rectifies specifically, mainly relates to a moving platform and equipment of rectifying.

Background

The XYR mobile platform can move and adjust the position and the angle of the product on a plane, so that the position and the angle of the product can be corrected, and the product can be conveniently subjected to other subsequent process operations in accurate position and posture. In the prior art, the XYR moving platform sets a plurality of driving mechanisms that respectively realize X-axis movement, Y-axis movement and R-angle adjustment in different planes, resulting in disorder of routing of the whole moving platform, and the plurality of driving mechanisms have a risk of interfering with each other when driving.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a moving platform and equipment of rectifying.

The utility model discloses a mobile platform includes:

a mounting seat;

the bearing platform is used for bearing the product; and

the displacement driving mechanism and the angle driving mechanism are respectively arranged on the mounting seat;

the displacement driving mechanism comprises an X-axis driving component and a Y-axis driving component; the angle driving mechanism comprises an angle driving component; the X-axis driving assembly, the Y-axis driving assembly and the angle driving assembly are respectively connected with the bearing platform to drive the bearing platform to change the position and the angle; the X-axis driving assembly, the Y-axis driving assembly and the angle driving assembly are arranged on the same side.

In the embodiment of the utility model, the X-axis driving component comprises an X-axis driving piece, an X-axis driving piece and an X-axis acting piece; the driving end of the X-axis driving piece is connected with the X-axis driving piece; one end of the X-axis acting piece is connected with the X-axis transmission piece, and the other end of the X-axis acting piece is connected with the bearing platform; the X-axis transmission piece is used for changing the action direction of the driving force of the X-axis driving piece. The action direction of the X-axis driving part driving force is changed through the X-axis driving part, so that the X-axis driving component and the Y-axis driving component are arranged in an XY plane and are driven by an X axis and a Y axis respectively.

In the embodiment of the utility model, the X-axis transmission part comprises a pushing part and a turning linkage part; one end of the pushing part is connected with the driving end of the X-axis driving part, and the other end of the pushing part is provided with an inclined transmission position; one end of the direction-changing linkage part is movably connected to the inclined transmission position, and the other end of the direction-changing linkage part is connected with the X-axis acting piece. The pushing part and the direction-changing linkage part are matched to convert the linear driving force of the X-axis driving piece in the Y-axis direction by 90 degrees into the linear driving force in the X-axis direction.

In the embodiment of the utility model, the Y-axis driving component comprises a Y-axis driving piece, a Y-axis driving piece and a Y-axis acting piece; the driving end of the Y-axis driving piece is connected with the Y-axis driving piece; one end of the Y-axis acting piece is movably connected to the Y-axis transmission piece along the X-axis direction, and the other end of the Y-axis acting piece is connected with the bearing platform. The cooperation through Y axle driving piece, Y axle driving medium and Y axle effect piece realizes the drive to the Y axle direction of load-bearing platform, and the one end of Y axle effect piece is in Y axle driving medium along X axle direction swing joint moreover to be used for avoiding in X axle direction driven dodging to X axle drive assembly, avoid causing the drive to interfere.

In the embodiment of the utility model, the angle driving mechanism comprises an angle driving component, an angle transmission component and an angle action component; the driving end of the angle driving component is connected with the angle transmission component; one end of the angle action component is movably connected to the angle transmission component along the X-axis direction, and the other end of the angle action component is rotatably connected with the bearing platform. Realize the drive of load-bearing platform in R angle direction through angle drive assembly, angle drive assembly and the cooperation of angle effect subassembly, the one end of angle effect subassembly is in angle drive assembly along X axle direction swing joint moreover to be used for avoiding causing the drive to interfere at the driven dodging of X axle direction to X axle drive assembly.

The utility model discloses an embodiment, X axle drive assembly, Y axle drive assembly and angle actuating mechanism set up side by side.

In the embodiment of the utility model, the bearing platform comprises a displacement bearing component and an angle bearing component; the displacement bearing assembly is arranged on the mounting plane and is connected with the displacement driving mechanism; the angle bearing assembly is rotationally connected with the displacement bearing assembly and is connected with the angle driving mechanism; the product is arranged on the angle bearing assembly. The displacement bearing assembly and the angle bearing assembly are matched, so that the displacement and the angle change of the product in a plane can be conveniently realized.

The utility model discloses an embodiment, displacement carrier assembly includes along the X axle bearing carrier that the activity of X axle set up and along the Y axle bearing carrier that the activity of Y axle set up. Through the cooperation of the X bearing carrying piece and the Y bearing carrying piece, the displacement of the angle bearing assembly in the XY plane is realized, and the displacement of a product in the XY plane is realized.

The utility model also comprises a protection mechanism; the protection mechanism is covered on the bearing platform, the moving driving mechanism and the angle driving mechanism, and the bearing end of the bearing platform is exposed out of the protection mechanism. Realize bearing platform, move actuating mechanism and angle actuating mechanism protection and dustproof through setting up protection mechanism, when avoiding removing inner structure safety, can also avoid the dust to enter into inside the moving platform, influence driven smoothness nature.

A deviation rectifying device comprises the mobile platform.

The beneficial effect of this application lies in: the X-axis driving assembly, the Y-axis driving assembly and the angle driving assembly which are arranged on the same side are used as the driving of the bearing platform, so that the whole mobile platform can regularly route wires, and the interference risk during driving is avoided.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural diagram of a mobile platform according to the present embodiment;

FIG. 2 is a schematic structural diagram of the mobile platform in another view angle in the embodiment;

FIG. 3 is a sectional view of the movable stage according to the present embodiment;

fig. 4 is another schematic structural diagram of the mobile platform in this embodiment.

In the drawings: 1. a mounting seat; 11. a mounting plane; 2. a load-bearing platform; 20. a load bearing base; 201. an X-axis slider; 202. a Y-axis slider; 21. a displacement bearing assembly; 211. an X-bearing carrier; 212. a Y-bearing carrier; 2121. rotating the bearing space; 22. an angle bearing assembly; 221. a rotating member; 2211. a lower rotating part; 2212. an upper bearing part; 222. a rotating carrier; 2221. bearing pressing blocks; 2222. a deep groove ball bearing; 223. rotating the acting element; 3. a displacement drive mechanism; 31. an X-axis drive assembly; 311. an X-axis drive member; 312. an X-axis transmission member; 3121. a pushing part; 31211. inclining a transmission position; 312111, X-axis moving groove; 3122. a direction-changing linkage part; 313. an X-axis acting member; 32. a Y-axis drive assembly; 321. a Y-axis drive member; 322. a Y-axis transmission member; 3221. a Y-axis moving groove; 323. a Y-axis acting member; 4. an angle drive mechanism; 41. an angle drive assembly; 42. an angle drive assembly; 421. a Z-axis moving groove; 43. an angle action assembly; 5. and a protection mechanism.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

It should be noted that all the directional indicators in the embodiments of the present invention, such as upper, lower, left, right, front and rear … …, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

For further understanding of the contents, features and functions of the present invention, the following embodiments will be exemplified in conjunction with the accompanying drawings as follows:

referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of the mobile platform in this embodiment, and fig. 2 is a schematic structural diagram of the mobile platform in this embodiment from another view angle. The mobile platform in this embodiment includes a mounting base 1, a carrying platform 2, a displacement driving mechanism 3, and an angle driving mechanism 4. The carrying platform 2 is used for carrying products. The displacement driving mechanism 3 and the angle driving mechanism 4 are respectively arranged on the mounting base 1, the displacement driving mechanism 3 comprises an X-axis driving component 31 and a Y-axis driving component 32, and the angle driving mechanism 4 comprises an angle driving component 41. The X-axis driving assembly 31, the Y-axis driving assembly 32 and the angle driving assembly 41 are respectively connected to the supporting platform 2 to drive the supporting platform 2 to change the position and the angle. The X-axis drive assembly 31, the Y-axis drive assembly 32, and the angle drive assembly 41 are disposed on the same side.

The X-axis driving component 31, the Y-axis driving component 32 and the angle driving component 41 which are arranged on the same side are used as the driving of the bearing platform, so that the whole mobile platform can be regularly arranged, and the interference risk during driving is avoided.

Referring to fig. 1 and 2 again, the mounting base 1 is rectangular plate-shaped, and the surface thereof is a mounting plane 11, and when the mounting base 1 is horizontally placed, the mounting plane 11 is a horizontal plane. Carry out displacement drive's displacement actuating mechanism 3 and carry out angle drive's angle actuating mechanism 4 and lay respectively on mounting plane 11, walk the line in the moving platform and can regularly go on, and is not mixed and disorderly, has avoided the interference risk when driving displacement actuating mechanism 3 and angle actuating mechanism 4.

For ease of understanding, the concept of coordinate axes was introduced. The direction parallel to the short side of the rectangular plate-shaped mounting seat 1 is defined as the direction of an X axis, the direction parallel to the long side of the mounting seat 1 is defined as the direction of a Y axis, the plane of the X axis and the Y axis is an XY plane, and the rotating angle in the XY plane is defined as the direction of an R angle.

Referring to fig. 3, fig. 3 is a sectional view of the movable platform according to the embodiment. Further, the bearing platform 2 comprises a displacement bearing assembly 21 and an angle bearing assembly 22. The displacement bearing assembly 21 is arranged on the mounting plane 11 and is connected with the displacement driving mechanism 3. The angle bearing assembly 22 is rotatably connected to the displacement bearing assembly 21 and is connected to the angle drive mechanism 4. The product is located in the angle carrier assembly 22. The displacement bearing assembly 21 and the angle bearing assembly 22 are matched to facilitate the realization of the displacement and angle change of the product in a plane.

Preferably, the displacement bearing assembly 21 includes an X-bearing carrier 211 movably disposed along the X-axis and a Y-bearing carrier 212 movably disposed along the Y-axis. Through the cooperation of the X-bearing carrier 211 and the Y-bearing carrier 212, the displacement of the angle bearing assembly 22 in the XY plane is realized, thereby realizing the displacement of the product in the XY plane.

Specifically, the carrying platform 2 further includes a carrying base 20, an X-axis slide 201, and a Y-axis slide 202. The bearing base 20 is laid on the installation plane 11 of the installation base 1 and close to one end of the installation base 1. The width of the bearing base 20 in this embodiment is smaller than the width of the mounting seat 1, and the bearing base 20 overlaps with the central axis of the mounting seat 1. The X-axis slider 201 is provided on the surface of the carriage base 20 along the X-axis direction. The X-axis slider 201 includes a plurality of crossed roller guides arranged side by side, and the X-axis carrier 211 is slidably connected to the carriage base 20 through the X-axis slider 201 such that the X-axis carrier 211 can be linearly moved in the X-axis direction. The Y-axis slider 202 is disposed on the X-axis bearing carrier 211 along the Y-axis direction, the Y-axis slider 202 includes a plurality of cross roller guides disposed side by side, and the Y-axis bearing carrier 212 is slidably coupled to the X-axis bearing carrier 211 via the Y-axis slider 202. In this embodiment, the longitudinal section of the X-bearing carrier 211 is "convex", the lower end of the Y-bearing carrier 212 has a U-shaped opening, the U-shaped opening at the lower end of the Y-bearing carrier 212 is covered on the X-bearing carrier 211, and the Y-axis sliding member 202 is located in a space formed by the U-shaped opening at the lower end of the Y-bearing carrier 212 and the convex structure of the X-bearing carrier 211.

The angle bearing assembly 22 includes a rotating member 221, a rotating bearing 222, and a rotating acting member 223. The upper end of the Y-bearing carrier 212 defines a rotation bearing space 2121, and the rotation bearing space 2121 in this embodiment is a groove-shaped space with a circular cross-section. The rotation bearing member 222 is disposed in the rotation bearing space 2121, and the rotation bearing member 222 in this embodiment includes a bearing pressing block 2221 and a deep groove ball bearing 2222. The bearing pressing block 2221 is disposed on the bottom wall of the rotation bearing space 2121, and the deep groove ball bearing 2222 is disposed on the inner wall of the rotation bearing space 2121. The bearing press block 2221 is connected with a deep groove ball bearing 2222. The rotation member 221 includes a lower rotation portion 2211 and an upper bearing portion 2212. The upper bearing portion 2212 is integrally connected with the lower rotating portion 2211. The lower rotating portion 2211 is arranged in the rotating bearing space 2121 and connected with the bearing pressing block 2221, and the outer wall of the lower rotating portion 2211 is in rolling connection with the deep groove ball bearing 2222. The upper bearing 2212 is located above the Y-bearing carrier 212. The upper bearing portion 2212 is approximately disc-shaped in this embodiment, and the lower rotating portion 2211 is approximately cylindrical. The rotation acting member 223 is a long bar-shaped block, one end of which is connected to the upper receiving portion 2212, and the other end of which extends in a direction away from the upper receiving portion 2212. Preferably, the upper bearing 2212 has a vacuum suction hole to facilitate vacuum suction bearing of the product. The product is carried on the upper carrying portion 2212, and when the position and angle of the upper carrying portion 2212 are changed, the product follows the change of the position and angle thereof. In this embodiment, the deep groove ball bearing 2222 is used as a rotation bearing of the lower rotation portion 2211, so that rolling friction can be generated, the gap can be eliminated by adjusting the base length, and the alignment accuracy can be improved.

Referring back to fig. 1 and 2, further, the bearing drive 2 is driven by the cooperation of the X-axis drive assembly 31 and the Y-axis drive assembly 32, so as to realize the movement of the product in the XY plane.

The X-axis driving assembly 31 includes an X-axis driving member 311, an X-axis transmission member 312, and an X-axis acting member 313. The driving end of the X-axis driving member 311 is connected to the X-axis transmission member 312. One end of the X-axis acting member 313 is connected to the X-axis transmission member 312, and the other end thereof is connected to the supporting platform 2. The X-axis transmission member 312 is used to change the direction of action of the driving force of the X-axis driving member 311. The direction of action of the driving force of the X-axis driving member 311 is changed by the X-axis transmission member 312 so that the X-axis driving unit 31 and the Y-axis driving unit 32 are disposed in the XY plane and perform X-axis and Y-axis driving, respectively.

Specifically, the X-axis driving member 311 is laid on the mounting plane 11 of the mounting base 1 along the Y-axis direction, and is close to one of the long sides of the mounting base 1. In this embodiment, the X-axis driving unit 311 is a single-axis robot having a servo motor as a driving source and having high control accuracy. The X-axis driving unit 311 has a sliding table, which can move linearly along the Y-axis direction, i.e. the X-axis driving unit 311 can generate a linear driving force along the Y-axis direction. The X-axis transmission member 312 includes a pushing portion 3121 and a direction-changing interlocking portion 3122. One end of the pushing portion 3121 is connected to the driving end of the X-axis driving element 311, and the other end thereof is provided with an inclined transmission position 31211. One end of the direction-changing linkage portion 3122 is movably connected to the tilt transmission position 31211, and the other end thereof is connected to the X-axis acting member 313. The linear driving force of the X-axis driver 311 in the Y-axis direction is converted by 90 degrees into a linear driving force in the X-axis direction by the cooperation of the push portion 3121 and the direction-changing interlocking portion 3122. Specifically, the pushing portion 3121 is a long bar-shaped block, one end of which is disposed on the sliding table of the X-axis driving element 311, and the other end of which extends along the Y-axis direction and is close to one side of the supporting platform 2. The inclined transmission position 31211 is a groove provided on the pushing portion 3121 near the other end of the bearing platform 2, and an included angle between the inclined transmission position 31211 and the X-axis is 45 degrees. An X-axis moving groove 312111 is formed in the bottom of the inclined transmission position 31211, and an X-axis moving groove 312111 is formed along the length direction of the inclined transmission position 31211. The direction-changing interlocking portion 3122 is a cam bearing follower, which is rollingly connected to the X-axis moving groove 312111. The X-axis acting member 313 is a block shape, which is perpendicular to the push portion 3121. One end of the X-axis acting element 313 is connected to the direction-changing linkage portion 3122, and the other end thereof is connected to the X-axis bearing support 211 of the support platform 2. When the sliding table of the X-axis driving element 311 moves linearly along the Y-axis direction, the direction-changing linkage portion 3122 is driven to move in the X-axis moving groove 312111, and the X-axis acting element 313 moves linearly along the X-axis direction under the action of the X-axis moving groove 312111 forming an included angle of 45 degrees with the X-axis, so as to drive the X-axis bearing element 211 of the supporting platform 2 along the X-axis direction.

Referring back to fig. 1 and 2, further, the Y-axis driving assembly 32 includes a Y-axis driving member 321, a Y-axis transmission member 322, and a Y-axis acting member 323. The driving end of the Y-axis driving member 321 is connected to the Y-axis transmission member 322. One end of the Y-axis acting member 323 is movably connected to the Y-axis transmission member 322 along the X-axis direction, and the other end thereof is connected to the supporting platform 2. The driving of the bearing platform 2 in the Y axis direction is realized through the matching of the Y axis driving part 321, the Y axis driving part 322 and the Y axis acting part 323, and one end of the Y axis acting part 323 is movably connected to the Y axis driving part 322 in the X axis direction, so as to avoid the avoidance of the driving of the X axis driving component 31 in the X axis direction, thereby avoiding the driving interference.

Specifically, the Y-axis driver 321 is laid on the mounting plane 11 of the mounting base 1 along the Y-axis direction, and the Y-axis driver 321 is adjacent to the X-axis driver 311. The structure and operation principle of the Y-axis driving element 321 are the same as those of the X-axis driving element 311, and are not described herein again. The Y-axis transmission member 322 is block-shaped, one end of which is disposed on the sliding table of the Y-axis driving member 321, and the other end of the Y-axis transmission member 322 extends toward the bearing platform 2 along the Y-axis direction and faces the Y-axis bearing carrier 212 of the bearing platform 2. Along the X-axis direction, a Y-axis moving groove 3221 is disposed at the other end of the Y-axis transmission member 322 facing the bearing platform 2. The Y-axis acting element 323 is a cam bearing follower matched with the connecting block, the cam bearing follower is connected in the Y-axis moving groove 3221 in a rolling manner, and two ends of the connecting block are respectively connected with the cam bearing follower and the Y-axis bearing carrying element 212 of the carrying platform 2. The Y-axis driving member 321 drives the Y-axis transmission member 322 to linearly move along the Y-axis direction, and drives the Y-axis acting member 323 to linearly move along the Y-axis direction, so as to drive the Y-axis bearing member 212 of the supporting platform 2 in the Y-axis direction. When the X-axis operator 313 acts on the X-axis bearing 211 of the loading platform 2 to perform linear movement in the X-axis direction, the cam bearing follower of the Y-axis operator 323 rolls in the Y-axis moving groove 3221, thereby avoiding driving interference.

Referring back to fig. 1 and 2, further, the angle drive mechanism 4 further includes an angle transmission assembly 42 and an angle action assembly 43. The drive end of the angle drive assembly 41 is connected to an angle drive assembly 42. One end of the angle acting component 43 is movably connected to the angle transmission component 42 along the X-axis direction, and the other end thereof is rotatably connected with the bearing platform 2. Realize the drive of load-bearing platform 2 in R angle direction through angle drive assembly 41, angle drive assembly 42 and the cooperation of angle effect subassembly 43, the one end of angle effect subassembly 43 is in angle drive assembly 42 along X axle direction swing joint moreover to be used for avoiding causing the drive to interfere in the driven dodging of X axle drive assembly 31 in X axle direction.

Specifically, the angle driving assembly 41 is laid on the mounting plane 11 of the mounting base 1 along the Y-axis direction, and the angle driving assembly 41 is adjacent to the Y-axis driving member 321. The structure and the operation principle of the angle driving component 41 in this embodiment are the same as those of the X-axis driving component 311, and are not described herein again. The angle transmission assembly 42 is block-shaped, one end of which is disposed on the sliding table of the angle driving assembly 41, and the other end of the angle transmission assembly 42 extends toward the bearing platform 2 along the Y-axis direction and is close to the other side of the bearing platform 2. The angle drive assembly 42 and the X-axis drive 312 are respectively located on opposite sides of the loading platform 2. Along the X-axis direction, the other end of the angle transmission assembly 42 close to the bearing platform 2 is provided with a Z-axis moving groove 421. The angle acting assembly 43 is a cam bearing follower, one end of which is connected to the Z-axis moving groove 421 in a rolling manner, and the other end of which is connected to the rotation acting member 223 of the loading platform 2 in a rotating manner. The angle driving assembly 41 drives the angle transmission assembly 42 to linearly move along the Y-axis direction, so as to drive the angle acting assembly 43 to linearly move along the Y-axis direction, and the angle acting assembly 43 shifts the rotation acting member 223, so that the upper bearing portion 2212 rotates, and thus the angle of the product loaded on the upper bearing portion 2212 in the R-angle direction changes.

Referring back to fig. 1 to 2, further, the X-axis driving unit 31, the Y-axis driving unit 32, and the angle driving mechanism 4 are arranged side by side. Through the side by side arrangement of the X-axis driving component 31, the Y-axis driving component 32 and the angle driving mechanism 4, the messy routing is further avoided, and the volume of the whole mobile platform can be reduced. The X-axis driving unit 311, the Y-axis driving unit 321, and the angle driving unit 41 in this embodiment are sequentially laid on the mounting plane 11 along the X-axis direction.

Referring to fig. 4, fig. 4 is another schematic structural diagram of the mobile platform in this embodiment. Further, the mobile platform in this embodiment further comprises a protection mechanism 5. The protection mechanism 5 is covered on the bearing platform 2, the moving driving mechanism 3 and the angle driving mechanism 4, and the bearing end of the bearing platform 2 is exposed out of the protection mechanism 5. Realize bearing platform 2, move actuating mechanism 3 and angle actuating mechanism 4 protection and dustproof through setting up protection mechanism 5, when avoiding removing inner structure safety, can also avoid the dust to enter into inside the moving platform, influence driven smoothness nature. The protection mechanism 5 in this embodiment is a cover structure, and has an opening on its surface to expose the upper bearing portion 2212, so as to facilitate the bearing of the product.

In a specific application, the product can be moved in the X-axis direction by the X-axis driving unit 311, and the Y-axis moving groove 3221 and the Z-axis moving groove 421 move in the X-axis direction to avoid the product. The Y-axis driving unit 321 may be used to drive the product to move in the Y-axis direction, and at this time, the X-axis driving unit 311 and the angle driving unit 41 move synchronously along the Y-axis by an equal distance to perform Y-axis displacement avoidance. The angle driving assembly 41 can also be used for carrying out independent driving, so that the angle adjustment of the product in the R-angle direction is realized. Of course, the displacement of the product in the X-axis direction, the displacement in the Y-axis direction, and the angle adjustment in the R-angle direction are performed in a two-by-two synchronous manner according to the actual situation, or the three synchronous manners, which is not limited herein.

The embodiment also discloses a deviation rectifying device which comprises the mobile platform.

To sum up: the X-axis driving assembly, the Y-axis driving assembly and the angle driving assembly which are arranged on the same side are used as the driving of the bearing platform, so that the whole mobile platform can regularly route wires, and the interference risk during driving is avoided. In addition, the mobile platform in the embodiment also has the characteristics of accurate control, dust prevention, smooth control and the like.

The above description is only for the embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A mobile platform, comprising:

a mounting seat (1);

a carrying platform (2) for carrying the product; and

a displacement driving mechanism (3) and an angle driving mechanism (4) which are respectively arranged on the mounting seat (1);

the displacement driving mechanism (3) comprises an X-axis driving component (31) and a Y-axis driving component (32); the angle drive mechanism (4) comprises an angle drive assembly (41); the X-axis driving assembly (31), the Y-axis driving assembly (32) and the angle driving assembly (41) are respectively connected with the bearing platform (2) and drive the bearing platform (2) to change the position and the angle; the X-axis driving component (31), the Y-axis driving component (32) and the angle driving component (41) are arranged on the same side.

2. The mobile platform of claim 1, wherein the X-axis drive assembly (31) comprises an X-axis drive (311), an X-axis transmission (312), and an X-axis acting element (313); the driving end of the X-axis driving piece (311) is connected with the X-axis transmission piece (312); one end of the X-axis acting element (313) is connected with the X-axis transmission element (312), and the other end of the X-axis acting element is connected with the bearing platform (2); the X-axis transmission piece (312) is used for changing the action direction of the driving force of the X-axis driving piece (311).

3. The mobile platform according to claim 2, wherein the X-axis transmission (312) comprises a pushing portion (3121) and a direction-changing linkage portion (3122); one end of the pushing part (3121) is connected with the driving end of the X-axis driving part (311), and the other end of the pushing part is provided with an inclined transmission position (31211); one end of the direction-changing linkage part (3122) is movably connected to the inclined transmission position (31211), and the other end of the direction-changing linkage part is connected with the X-axis acting piece (313).

4. The mobile platform of claim 1, wherein the Y-axis drive assembly (32) comprises a Y-axis drive (321), a Y-axis drive (322), and a Y-axis effector (323); the driving end of the Y-axis driving piece (321) is connected with the Y-axis transmission piece (322); one end of the Y-axis acting element (323) is movably connected to the Y-axis transmission element (322) along the X-axis direction, and the other end of the Y-axis acting element is connected with the bearing platform (2).

5. The mobile platform according to claim 1, characterized in that the angular drive mechanism (4) further comprises an angular transmission assembly (42) and an angular action assembly (43); the driving end of the angle driving component (41) is connected with the angle transmission component (42); one end of the angle action assembly (43) is movably connected to the angle transmission assembly (42) along the X-axis direction, and the other end of the angle action assembly is rotatably connected with the bearing platform (2).

6. Mobile platform according to any of claims 1 to 5, characterized in that said X-axis drive assembly (31), said Y-axis drive assembly (32) and said angular drive assembly (41) are arranged side by side.

7. Mobile platform according to any of claims 1-5, characterized in that the load-bearing platform (2) comprises a displacement load-bearing assembly (21) and an angle load-bearing assembly (22); the displacement bearing assembly (21) is arranged on the mounting plane (11) and is connected with the displacement driving mechanism (3); the angle bearing component (22) is rotationally connected with the displacement bearing component (21) and is connected with the angle driving mechanism (4); the product is arranged on the angle bearing component (22).

8. The mobile platform of claim 7, wherein the displacement bearing assembly (21) comprises an X-bearing carrier (211) movably disposed along an X-axis and a Y-bearing carrier (212) movably disposed along a Y-axis.

9. Mobile platform according to any of claims 1 to 5, characterized in that it further comprises a protection mechanism (5); the protection mechanism (5) is covered on the bearing platform (2), the moving driving mechanism (3) and the angle driving mechanism (4), and the bearing end of the bearing platform (2) is exposed out of the protection mechanism (5).

10. A deviation rectifying device comprising a mobile platform according to any one of claims 1 to 9.