TWM637643U - Orthogonal flat two-dimensional position adjustment seat - Google Patents

Abstract

An orthogonal to horizontal two-dimensional position adjustment seat, comprising: a supporting platform, a first moving unit, a second moving unit and an output platform, the supporting platform is formed by a first carrier and a second carrier in an orthogonal pair Horizontally fixed on the support frame; the first moving unit is set on the first carrier, and the first moving unit can drive a first output member to move linearly along the first direction; the second moving unit is set on the second carrier Tool, the second moving unit can drive a second output member to move linearly along the second direction, the first direction and the second direction are perpendicular to each other; the output carrier is fixed by a combination frame with first sliding plates perpendicular to each other and the second slide plate, the first slide plate is installed on the front end of the first output member and can slide along the second direction, the second slide plate is installed on the front end of the second output member and can slide along the first direction, thereby When the position of the supporting stage is fixed, the two-dimensional spatial position where the output stage is located can be more precisely controlled and adjusted.

Description

Orthogonal to horizontal two-dimensional position adjustment seat

This invention is a technical field applied to mechanical arms, especially an orthogonal-to-horizontal two-dimensional position adjustment seat.

"Robot arm" is an automatic control device that imitates the functions of the human arm and can complete various operations. This type of robot arm system has multi-joint connections and allows movement in a plane or three-dimensional space or linear movement. The structure consists of a mechanical body, It is composed of controller, servo mechanism and sensor, and the operation action is set by computer program according to the operation requirements. According to the flexibility of operation, the robotic arm can be divided into 3-axis to 7-axis. With the fine-grained execution and precise movement position, for example, the mechanical arm performs laser precision engraving or cutting, etc., the required mechanical structure will become more and more The computer level of complex and cooperative control must also be improved, and the price of this type of robotic arm is relatively high.

For this reason, the inventor thought about the operation mode of the mechanical arm, and disassembled it into two operation actions, including three-dimensional space movement of a large area and precise two-dimensional space movement of a small area, wherein the three-dimensional space movement of a large area is mainly to move The processing equipment (such as laser precision engraving machine) quickly moves to a fixed point. This part is still in charge of the robot arm. The precise two-dimensional space movement in a small area is the actual processing area of the processing equipment. This part needs to be slow, To move smoothly and precisely, the inventor thinks that if a mechanism can be designed to be installed on the front end of the robot arm and ensure the accuracy of movement in a small area, the complexity and equipment cost of the robot arm can be relatively reduced.

The main purpose of this creation is to provide an orthogonal-to-horizontal two-dimensional position adjustment seat, which can accurately and smoothly provide the fine adjustment of the position of the processing equipment installed here for two-dimensional space, so as to facilitate the precision machining operation. In addition, this The creative structure can also be installed on the front end of the robot arm, thereby reducing the level of the robot arm used, reducing equipment investment costs, and at the same time meeting the required precision machining requirements.

In order to achieve the above-mentioned purpose, this creation adopts the following technical scheme: this creation is a kind of orthogonal and horizontal two-dimensional position adjustment seat, which includes a support platform, a first mobile unit, a second mobile unit and an output platform. The support platform Including a first carrier, a second carrier and a support frame, the first carrier and the second carrier are fixed on the support frame in an orthogonal and horizontal manner; the first mobile unit is arranged on the first carrier, The first moving unit can drive a first output member to move linearly along a first direction; the second moving unit is arranged on the second carrier, and the second moving unit can drive a second output member along a second direction Linear movement, the first direction and the second direction are perpendicular to each other; the output carrier includes a first slide plate, a second slide plate and a joint frame, the joint frame fixes the first slide plate and the second slide plate perpendicular to each other, The first sliding plate is slidably installed on the front end of the first output member and can slide along the second direction, and the second sliding plate is slidably installed on the front end of the second output member and can slide along the first direction.

As one of the preferred implementations, the support platform is installed on one end of the robot arm by the support frame, and the robot arm controls the support platform to move to the working position.

As one of the preferred implementations, the output carrier is equipped with a processing device by the combination frame.

As one of the preferred embodiments, the first carrier includes a first carrier plate, a first side plate, a first carrier plate shell and a first side plate shell, the first side plate stands on the first carrier plate, the first A carrier shell is arranged on the first carrier and forms an actuating space to accommodate the first output member. The first The output member is mounted on the first carrier board by means of a slide seat and a slide rail and can move linearly. The first side plate casing is combined with the first side plate to form an accommodating space.

As one of the preferred embodiments, the first mobile unit includes a first power device, a first transmission group and a first linear movement group, the first power device is installed at the first side plate, and the first transmission group It is arranged in the accommodation space, the first linear movement group is arranged in the action space, and the rotational power output by the first power device is linked by the first transmission group to make the first linear movement group generate a linear The first linear movement group synchronously drives the first output member to produce linear movement.

As one of the preferred embodiments, the first power device is a servo motor, the first power device drives the output shaft to rotate, the first transmission group includes a driving pulley, a belt and a driven pulley, and the driving pulley is installed on the output Shaft, the belt is connected with the driving pulley and the driven pulley, the first linear moving group includes a screw and a sleeve member, the screw passes through the shaft and is arranged on the first side plate and one end is combined with the driven pulley, so that the screw and the The driven pulley rotates synchronously, the outer periphery of the screw rod is screwed with the sleeve part, and when the screw rod rotates, the sleeve part can produce linear movement, and the sleeve part is installed on the first output part.

As one of the preferred embodiments, it also includes a first balance unit, the first balance unit includes a first counterweight and a first interlocking wheel, the first counterweight is installed on the bottom surface of the first carrier plate and can Moving linearly along the first direction, the first interlocking wheel is installed on the first carrier plate and can be rotated, and the upper and lower circumferential edge positions of the first interlocking wheel are respectively connected with the first output member and the first counterweight contact, when the first output member moves, the first counterweight will move synchronously but in opposite directions through the linkage of the first interlocking wheel.

As one of the preferred implementations, the first counterweight is installed on the bottom surface of the first carrier by means of a slide seat and a slide rail, so that it can slide smoothly along the first direction, and the side wall of the first counterweight A first interlocking rack is provided, and a first rack is installed on the corresponding side wall of the first output member. The first carrier plate has a first slot through which the first interlocking wheel is installed. A connecting wheel is a gear, the The upper and lower peripheral edge positions of the first interlocking wheel are respectively meshed with the first rack and the first interlocking rack with the first carrier plate as the boundary.

As one of the preferred embodiments, it also includes a first balance unit, the first balance unit is provided with two first counterweights and a first linkage group, and the two first counterweights are installed on the first carrier It is located on both sides of the first output member and can move linearly along the first direction. The first linkage group is arranged on the two first counterweights and is linked with the first output member. The first output member When moving through the first linkage group, the two first counterweights can move synchronously but in opposite directions.

As one of the preferred implementations, the first counterweight is installed on the first carrier board in the form of a sliding seat and a slide rail, and is respectively located on both sides of the first output member, so that the first counterweight The moving direction is parallel to the moving direction of the first output member, the top of the first counterweight is provided with a first interlocking rack, the top of the first output member is provided with a first rack, and the first interlocking group includes several first A linking gear and a first connecting frame, both ends of the first connecting frame are fixed on the tops of the two first counterweights, the first linking gear is a two-stage gear and is respectively installed on the first connecting frame downwards, each The upper and lower gears of the first interlocking gears mesh with the corresponding first interlocking rack and the first rack respectively.

As one of the preferred embodiments, the second carrier includes a second carrier, a second side plate, a second carrier shell and a second side plate shell, the second side plate stands on the second carrier, the first The two carrier board shells are arranged on the second carrier board to form an operating space to accommodate the second output member. The second output member is installed on the second carrier board by means of a slide seat and a slide rail so that it can be linearly When moving, the second side panel casing is combined with the second side panel to form an accommodating space.

As one of the preferred embodiments, the second mobile unit includes a second power device, a second transmission group and a second linear movement group, the second power device is installed at the second side plate, and the second transmission group is set In the accommodating space, the second linear movement group is arranged in the action space, and the rotational power output by the second power device is linked by the second transmission group to make the second linear movement group produce linear movement, and the first The two linear moving groups synchronously drive the second output member to generate linear movement.

As one of the preferred embodiments, it also includes a second balance unit, the second balance unit includes a second counterweight and a second interlocking wheel, the second counterweight is installed on the bottom surface of the second carrier and can Moving linearly along the second direction, the second interlocking wheel is installed on the second carrier plate and can be rotated, and the upper and lower circumferential edge positions of the second interlocking wheel are respectively connected with the second output member and the second counterweight Contact, when the second output member moves, the second counterweight will move synchronously but in opposite directions through the second interlocking wheel.

As one of the preferred implementations, the second counterweight is installed on the bottom surface of the second carrier by means of a slide seat and a slide rail, so that it can slide smoothly along the second direction, and the side wall of the second counterweight A second interlocking rack is provided, and a second rack is installed on the corresponding side wall of the second output member. The second carrier plate has a second slot through which the second interlocking wheel is installed. The second interlocking wheel is a gear, and the second interlocking wheel engages with the second rack and the second interlocking rack respectively at the upper and lower peripheral edge positions of the second carrier plate.

As one of the preferred embodiments, it also includes a second balance unit, the second balance unit is provided with two second counterweights and a second linkage group, and the two second counterweights are installed on the second carrier Located on both sides of the second output member, and can move linearly along the second direction, the second linkage group is arranged on the two second counterweights and linked with the second output member, the second output member When moving through the second linkage group, the two second counterweights can move synchronously but in opposite directions.

As one of the preferred implementations, the second counterweight is installed on the second carrier board in the form of a slide seat and a slide rail and is respectively located on both sides of the second output member, so that the second counterweight The moving direction is parallel to the moving direction of the second output member, the second counterweight is provided with a second interlocking rack at the top, the second output member is provided with a second rack, and the second interlocking group includes several first Two interlocking gears and a second connecting frame, the two ends of the second connecting frame are fixed on the tops of the two second counterweights, the second interlocking gears are two-stage gears and are respectively installed on the second connecting frame downwards, each The upper and lower gears of the second interlocking gears mesh with the corresponding second interlocking racks and the second racks respectively.

Compared with the prior art, this creation has the following specific effects:

1. Install this creative structure on the front end of the robotic arm, use both the first moving unit and the second moving unit or at least one of them to move at the same time, and then control and fine-tune the position of the output carrier, so as to completely use the mechanical Compared with the equipment cost of the arm, it is much lower.

2. This creation is equipped with a first balance unit and a second balance unit, which can make the mechanism operate more stably without shaking, and is suitable for processing equipment with strict precision requirements.

3. This creation also has another first balance unit and a second balance unit, such first balance units are arranged on both sides of the first output member, and the second balance unit is arranged on both sides of the second output member , so that the moving direction is close to the center of the connection between the support frame and the first carrier and the second carrier, thereby reducing moment generation and making the structure more stable in operation.

4. This creation has high efficiency and good precision in adjusting the position of the output carrier, and the overall equipment cost is reduced, making the product more competitive in the market.

10: Supporting platform

11: The first vehicle

111: The first carrier board

112: The first side panel

113: The first carrier board shell

114: the first side panel shell

115: first slot

12:Second vehicle

121: Second carrier board

122: Second side panel

123: Second carrier board shell

124: second side panel shell

13: support frame

20: First mobile unit

21: The first output piece

211: The first rack

22: First power unit

221: output shaft

23: The first transmission group

231: Driving pulley

232: belt

233: passive pulley

24: The first linear movement group

241: screw

242: Sleeve piece

30: Second mobile unit

31: Second output piece

311: Second rack

32: Second power unit

33: The second transmission group

34: The second linear movement group

40: Output carrier

41: First Skateboard

42: Second skateboard

43: combination frame

50: The first balance unit

51: The first counterweight

511: The first linkage rack

52: The first connecting wheel

53: The first linkage group

531: The first linkage gear

532: The first connecting frame

60: The second balance unit

61: Second counterweight

611: Second linkage rack

62: Second linkage wheel

63: The second linkage group

631: Second linkage gear

632: The second connecting frame

7: Mechanical arm

8: Processing equipment

91: First Direction

92:Second direction

Fig. 1 is a perspective view of the first embodiment of the invention.

Fig. 2 is a schematic diagram of the internal structure of the first embodiment of the present invention.

Fig. 3 is the top view of the first embodiment of the present creation.

FIG. 4 is a partial cross-section of the first output member and a structural schematic diagram of other components in the first embodiment of the present invention.

Fig. 5 is a front view of the first embodiment of the invention.

FIG. 6 is a schematic structural diagram of the first balancing unit of the first embodiment of the present invention.

Figure 7 is a schematic diagram of a practical application of the invention.

Fig. 8 is a perspective view of the second embodiment of the present invention.

FIG. 9 is a schematic structural diagram of the second embodiment of the present invention.

FIG. 10 is a schematic structural diagram of the first balancing unit in the second embodiment of the present invention.

The following will clearly and completely describe the technical solution of the invention in conjunction with specific embodiments and accompanying drawings. It should be noted that when an element is referred to as being "mounted or fixed on" another element, it means that it may be directly on another element or there may be an intervening element. When an element is said to be "connected" to another element, it means that it may be directly connected to the other element or intervening elements may also be present. In the illustrated embodiment, the directions meaning up, down, left, right, front and rear, etc. are relative to explain that the structure and movement of the different components are relative in this case. These representations are pertinent when the components are in the positions shown in the figures. However, if the description of the location of elements changes, these representations are considered to change accordingly.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art of this invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in Fig. 1 and Fig. 2, they are respectively a perspective view and a structural schematic diagram of the first embodiment of the orthogonal-to-horizontal two-dimensional position adjustment seat of the present invention. This work is an orthogonal to horizontal two-dimensional position adjustment seat, including: a support platform 10, a first mobile unit 20, a second mobile unit 30 and an output platform 40. The support platform 10 includes a first carrier 11 , the second carrier 12 and the support frame 13, the first carrier 11 and the second carrier 12 are fixed on the support frame 13 in an orthogonal and horizontal manner: the first mobile unit 20 is arranged on the first carrier 11, the first moving unit 20 can drive the first output member 21 to move linearly along the first direction 91; the second moving unit 30 is arranged on the second carrier 12, and the second moving unit 30 can drive the second output member 31 moving linearly along the second direction 92, The first direction 91 and the second direction 92 are perpendicular to each other; the output carrier 40 includes a first slide plate 41, a second slide plate 42 and a joint frame 43, and the joint frame 43 fixes the first slide plate 41 and the joint frame 43 which are perpendicular to each other. The second sliding plate 42, the first sliding plate 41 is slidably installed on the front end of the first output member 21 and can slide along the second direction 92, the second sliding plate 42 is slidably installed on the second output member 31 front end and can slide along the first direction 91, whereby the supporting platform 10 is installed on one end of the mechanical arm, and the processing equipment is installed on the output platform 40, between the first mobile unit 20 and the second mobile unit 30 When any one of them or both are operated synchronously, the two-dimensional spatial position of the output carrier 40 can be adjusted, so as to accurately control and adjust the processing position of the processing equipment.

Next, a detailed description of the structural parts of each component: the support platform 10 includes a first carrier 11, a second carrier 12 and a support frame 13, and the support frame 13 is used to fix the first carrier 11 and the support frame 13. For the second carrier 12, the two positions are perpendicular to each other, that is, the positions of the first carrier 11 and the second carrier 12 are perpendicular to each other. The shape of the support frame 13 is a rectangular multi-plate structure, as shown in Figure 3, for example, two vertical flat plates are fixed by a slant plate, this is only one of the embodiments, and is not limited thereto . The first carrier 11 is used to carry the first mobile unit 20, and the second carrier 12 is used to carry the second mobile unit 30. In this embodiment, the first carrier 11 and the second carrier 12 are three-dimensional The box structure with multiple spaces will be described in detail below: the first carrier 11 includes a first carrier plate 111, a first side plate 112, a first carrier plate shell 113 and a first side plate shell 114, the first carrier plate 111 is combined with the support frame 13 in a horizontal shape, the first side plate 112 stands on the first carrier board 111, the first carrier board shell 113 is arranged on the first carrier board 111 and forms the first carrier board 113 inside. The action space of the output member 21. The first carrier shell 113 can be one-piece or multi-piece and form a ㄇ-shaped frame, but has an opening that is not closed so that the first output member 21 can protrude. In this embodiment, the first board housing 113 is composed of three parts. The first side plate shell 114 is combined with one side of the first side plate 112, and the position is away from the place where the first carrier shell 113 is located, the first side plate shell 114 and The first side panel 112 forms an accommodating space. The accommodating space is used for setting some components of the first mobile unit 20 .

The first moving unit 20 includes a first power unit 22, a first transmission unit 23 and a first linear movement unit 24, the first power unit 22 is mounted on the first side plate 112, and the first transmission unit 23 is arranged on In the accommodating space, the first linear movement group 24 is arranged in the action space, and the rotational power output by the first power device 22 will make the first linear movement group 24 To generate linear movement, the first linear movement group 24 synchronously drives the first output member 21 to produce linear movement.

As shown in FIG. 4 , the first power device 22 is a servo motor, and the first power device 22 drives an output shaft 221 to rotate to output power. The first transmission unit 23 includes a driving pulley 231 , a belt 232 and a driven pulley 233 , the driving pulley 231 is mounted on the output shaft 221 , and the belt 232 is connected to the driving pulley 231 and the driven pulley 233 . The first linear moving group 24 includes a screw rod 241 and a sleeve member 242. One end of the screw rod 241 is combined with the driven pulley 233 and both rotate synchronously. The periphery of the screw rod 241 is screwed to the sleeve member 242. The sleeve member 242 can produce linear movement, and the sleeve member 242 is fixed on the first output member 21. In this embodiment, the first output member 21 is a square tubular structure, and the sleeve member 242 is combined with the first output member 21 so that the screw 241 can pass through the first output member 21 and be able to rotate. , so that the first output member 21 can linearly move along the first direction 91 .

The second carrier 12 is used to carry the second mobile unit 30. Since the second carrier 12 has the same structure as the first carrier 11, the second mobile unit 30 is also similar to the first mobile unit 20, so Just a brief description. The second carrier 12 includes a second carrier plate 121, a second side plate 122, a second carrier plate shell 123 and a second side plate shell 124. The second carrier plate 121 is horizontally combined with the support frame 13. Two side plates 122 stand on the second carrier board 121, the second carrier board shell 123 is arranged on the first carrier board 111 and makes the inside An operating space of the second output member 31 is formed. The second side panel shell 124 is combined with the second side panel 122 to form an accommodating space.

The second moving unit 30 includes a second power unit 32, a second transmission unit 33 and a second linear movement unit 34. The second power unit 32 is mounted on the second side plate 122, and the second transmission unit 33 is arranged in the container. The second linear movement group 34 is arranged in the action space, and the rotational power output by the second power device 32 is linked by the second transmission group 33 to make the second linear movement group 34 produce linear movement, The second linear movement group 34 synchronously drives the second output member 31 to produce linear movement. Wherein the second transmission unit 33 and the second linear movement unit 34 can be various mechanical interlocking structures, and are not limited thereto.

The output stage 40 includes a first slide plate 41, a second slide plate 42 and a joint frame 43, the joint frame 43 fixes the first slide plate 41 and the second slide plate 42 which are perpendicular to each other, and the first slide plate 41 is slidable. installed on the front end of the first output member 21, in this embodiment, the first sliding plate 41 and the front end of the first output member 21 are equipped with structures such as sliding seats and slide rails, but it is not limited to this, so that the first The sliding plate 41 can slide along the second direction 92 . The second sliding plate 42 can also be slidably mounted on the front end of the second output member 31. In this embodiment, the second sliding plate 42 and the front end of the second output member 31 are equipped with structures such as slide seats and slide rails, so that The second sliding board 42 can slide along the first direction 91 .

Since this invention is applied to precise processing operations, in order to prevent the first output member 21 or the second output member 31 from slightly shaking during the extension process of the linear movement, which affects the processing accuracy, please refer to FIG. 5 together. In this invention, a first balance unit 50 is installed at the bottom of the first carrier 11, and a second balance unit 60 is installed at the bottom of the second carrier 12 to eliminate the first output member 21 and the second output member 31. Possible shaking when moving. Since the structure and principle of the first balancing unit 50 and the second balancing unit 60 are the same, this invention only makes a detailed description of the first balancing unit 50 , please refer to FIG. 6 together.

The first balance unit 50 includes a first counterweight 51 and a first interlocking wheel 52. The first counterweight 51 is installed on the bottom surface of the first carrier 111 and can move linearly along the first direction 91. The first counterweight 51 The interlocking wheel 52 is installed on the first carrier plate 111 and can be rotated. The upper and lower circumferential edge positions of the first interlocking wheel 52 are in contact with the first output member 21 and the first counterweight 51 respectively, so that the first counterweight 51 When an output member 21 moves, it is actuated by the first interlocking wheel 52 , so that the first counterweight 51 can produce synchronous but opposite linear movement.

In the above structure, the first counterweight 51 is mounted on the bottom surface of the first carrier 111 by means of a slide seat and a slide rail, so that it can slide smoothly along the first direction 91 . The side wall of the first counterweight 51 is provided with a first interlocking rack 511 . A first rack 211 is also installed on the corresponding sidewall of the first output member 21 . The first carrier plate 111 has a first slot 115 through which the first interlocking wheel 52 is mounted. The first interlocking wheel 52 is a gear, and the first interlocking wheel 52 uses the first carrier plate 111 as the boundary, the upper and lower circumferential edge positions are respectively engaged with the first rack 211 and the first interlocking rack 511, so that the first counterweight 51 and the first output member 21 can accurately produce opposite directions To move smoothly, the weight of the first counterweight 51 is calculated to eliminate possible shaking when the first output member 21 moves.

Similarly, the second balance unit 60 is also provided with a second counterweight 61 and a second interlocking wheel 62, the side wall of the second output member 31 is also provided with a second rack, and the side wall of the second counterweight 61 is provided with a second rack. Two interlocking racks 611, the second carrier plate 121 is provided with a through second groove, and the second interlocking wheel 62 installed in the second groove engages with the second tooth at the upper and lower peripheral edge positions respectively. bar and the second interlocking rack 611.

As shown in Figure 7, it is a schematic diagram of the actual operation of the orthogonal-to-horizontal two-dimensional position adjustment seat for this creation. The supporting frame 13 of the support carrier 10 is installed on the front end of the mechanical arm 7, and the processing equipment 8 is installed on the coupling frame 43 of the output carrier 40. The processing equipment 8 is a relative device according to the requirements of the manufacturer. In this embodiment The processing equipment 8 is a laser engraving machine, which can output a high-temperature light source and can also be vertically lifted. In this way, when the mechanical arm 7 moves the supporting platform 10 to a fixed point, the position is not fixed. Move again, and then the first moving unit 20 is actuated to drive the first output member 21 to move along the first direction 91 and at the same time, the output carrier 40 is also moved synchronously. In addition, when the second moving unit 30 is actuated, then It can drive the second output member 31 to move along the second direction 92 and at the same time allow the output stage 40 to move synchronously, finally changing the two-dimensional space position of the output stage 40, and then operate the processing equipment 8 to carry out precise mine shot processing.

As shown in FIG. 8 , FIG. 9 and FIG. 10 , they are a perspective view of the second embodiment of the invention, a schematic structural diagram, and a schematic structural diagram of the first balance unit. In this embodiment, another structure of the first balance unit 50 and the second balance unit 60 is mainly provided. In this embodiment, the counterweight structure used for balancing is arranged on the first output member 21 and the second output member. 31, the moving direction is close to the center of the connection between the support frame 13, the first carrier 11 and the second carrier 12, thereby reducing moment generation and making the structure more stable in operation. Since the structure and principle of the first balancing unit 50 and the second balancing unit 60 are the same, this invention only makes a detailed description of the first balancing unit 50 .

The first balance unit 50 includes two first counterweights 51 and a first linkage group 53 , the two first counterweights 51 are installed on the first carrier plate 111 and located on both sides of the first output member 21 , and can move linearly along the first direction 91, the first linkage group 53 is arranged on the two first counterweights 51, and is linked with the first output member 21, when the first output member 21 moves Through the actuation of the first linkage group 53 , the two first counterweights 51 can move synchronously but opposite to the moving direction of the first output member 21 .

In the above structure, the first counterweight 51 is mounted on the first carrier plate 111 in the form of a slide seat and a slide rail, and is respectively located on both sides of the first output member 21, and the distribution of the slide seat and the slide rail is Parallel to the moving direction of the first output member 21 , so that the moving direction of the first counterweight 51 is also parallel to the moving direction of the first output member 21 . A first interlocking rack 511 is disposed on the top of each of the first counterweights 51 . The top of the first output member 21 is provided with two first racks 211, and the structure of the first linkage group 53 can be in various ways. The embodiment only illustrates one of them. The first linkage group 53 includes several first linkage gears 531 and a first connecting frame 532. Both ends of the first connecting frame 532 are fixed on the tops of the two first counterweights 51. , the first interlocking gear 531 is a two-stage gear and is installed downward on the first connecting frame 532, and each of the first interlocking gears 531 is respectively upper and lower gears and the corresponding first interlocking rack 511 and the first interlocking rack 511. The racks 211 are engaged, so that when the first output member 21 moves, the two first counterweights 51 can move smoothly in the opposite direction through the linkage of the first linkage group 53, and because the first An output member 21 and the two first counterweights 51 move in opposite directions on the same level, and the weight of the two first counterweights 51 is calculated to offset the moment that may be generated during the movement, The shaking that may be generated when the first output member 21 moves is eliminated, and the operation is more stable.

Similarly, the second balance unit 60 also includes two second counterweights 61 and a second linkage group 63, and the two second counterweights 61 are installed on the second carrier plate 121 and located on the second output member. 31, and can move linearly along the second direction 92, each of the second counterweights 61 is provided with a second interlocking rack 611 on the top. The top of the second output member 31 is provided with two second racks 311. The second linkage group 63 includes several second linkage gears 631 and a second connecting frame 632. Both ends of the second connecting frame 632 are fixed on two On the top of the second counterweight 61, the second interlocking gear 631 is a two-stage gear and is installed downward on the second connecting frame 632. Each of the second interlocking gears 631 is respectively connected with the corresponding second interlocking gear and the upper gear. The rack 611 and the second rack 311 are engaged, so that when the second output member 31 moves, the second linkage group 63 acts, and the two second counterweights 61 can be synchronized but opposite to the first. Linear movement in the moving direction of the second output member 31 .

Based on the above, the orthogonal paired horizontal two-dimensional position adjustment seat of this creation is operated by both the first mobile unit 20 and the second mobile unit 30 at the same time or at least one of them, through precise calculation and operation of the computer, to control the output The moving position of the stage 40 in two-dimensional space allows high-precision processing operations to be performed even though a flexible and relatively low mechanical arm is used.

The above-mentioned ones are only preferred embodiments of this creation, and are not intended to limit the scope of this creation embodiment. That is, all equivalent changes and modifications made according to the patent scope of this creation are covered by the patent scope of this creation.

10: Supporting platform

11: The first vehicle

12:Second vehicle

13: support frame

20: First mobile unit

21: The first output piece

30: Second mobile unit

31: Second output piece

40: Output carrier

41: First Skateboard

42: Second skateboard

43: combination frame

91: First Direction

92:Second direction

Claims (16)

An orthogonal-to-horizontal two-dimensional position adjustment seat, comprising: a support platform, including a first carrier, a second carrier and a support frame, the first carrier and the second carrier are in an orthogonal-to-horizontal fixed on the support frame; a first moving unit is arranged on the first carrier, and the first moving unit can drive a first output member to move linearly along a first direction; a second moving unit is arranged on the first Two carriers, the second moving unit can drive a second output member to move linearly along a second direction, the first direction and the second direction are perpendicular to each other; an output carrier, including a first slide plate, a second slide plate and A combination frame, the combination frame fixes the first slide plate and the second slide plate that are perpendicular to each other, the first slide plate is slidably installed on the front end of the first output member and can slide along the second direction, the second slide plate The sliding plate is slidably installed on the front end of the second output member and can slide along the first direction. The orthogonal-to-horizontal two-dimensional position adjustment seat as described in Claim 1, wherein the support platform is installed on one end of the robot arm by the support frame, and the robot arm controls the support platform to move to the working position. The orthogonal-to-horizontal two-dimensional position adjustment seat as described in Claim 1, wherein the output carrier is equipped with a processing equipment by the combination frame. According to the orthogonal pair horizontal two-dimensional position adjustment seat described in claim 1, the first carrier includes a first carrier plate, a first side plate, a first carrier plate shell and a first side plate shell, and the first side plate is erected on On the first carrier board, the first carrier board housing is arranged on the first carrier board to form an actuating space for accommodating the first output member, and the first output member is installed on the first carrier board by means of a slide seat and a slide rail. The carrier board is capable of linear movement, and the first side plate casing is combined with the first side plate to form an accommodating space. As for the orthogonal-to-horizontal two-dimensional position adjustment seat described in claim 4, the first moving unit includes a first power device, a first transmission group and a first linear movement group, and the first power device is installed on the second On the side plate, the first transmission group is arranged in the accommodating space, the first linear movement group is arranged in the actuation space, and the rotational power output by the first power device is linked by the first transmission group to make The first linear movement group produces linear movement, and the first linear movement group synchronously drives the first output member to produce linear movement. Orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 5, the first power device is a servo motor, the first power device drives the output shaft to rotate, and the first transmission group includes a driving pulley, a belt and a passive Pulley, the driving pulley is installed on the output shaft, the belt is connected to the driving pulley and the driven pulley, the first linear movement group includes a screw and a sleeve member, the screw passes through the shaft and is arranged on the first side plate and one end is combined The driven pulley makes the screw rod and the driven pulley rotate synchronously. The sleeve part is screwed on the periphery of the screw rod. When the screw rod rotates, the sleeve part can produce linear movement, and the sleeve part is installed on the first output part. The orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 4 further includes a first balance unit, the first balance unit includes a first counterweight and a first interlocking wheel, and the first counterweight is installed On the bottom surface of the first carrier plate and can move linearly along the first direction, the first interlocking wheel is installed on the first carrier plate and can be rotated, the upper and lower circumferential edge positions of the first interlocking wheel are respectively in line with the first An output part is in contact with the first counterweight, and when the first output part moves, the first counterweight will move synchronously but in opposite directions through the linkage of the first interlocking wheel. As for the orthogonal-to-horizontal two-dimensional position adjustment seat described in claim 7, the first counterweight is installed on the bottom surface of the first carrier by means of a slide seat and a slide rail, so that it can move smoothly along the first direction. Sliding, the side wall of the first counterweight is provided with a first interlocking rack, and the first output member is equipped with a first tooth on the corresponding side wall The first carrier plate has a first groove through which the first interlocking wheel is installed, the first interlocking wheel is a gear, and the first interlocking wheel is bounded on the first carrier plate , and the lower circumferential edge positions are engaged with the first rack and the first interlocking rack respectively. The orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 4 further includes a first balance unit, the first balance unit is provided with two first counterweights and a first linkage group, and the two first counterweights The weights are installed on the first carrier plate on both sides of the first output member, and can move linearly along the first direction. The output parts are interlocked, and the first output part is actuated by the first interlocking group when moving, so that the two first counterweights can produce synchronous but opposite linear movements. The orthogonal pair of horizontal two-dimensional position adjustment seats as described in claim 9, the first counterweight is installed on the first carrier board by means of a slide seat and a slide rail, and is respectively located on both sides of the first output member , so that the moving direction of the first counterweight is parallel to the moving direction of the first output member, the top of the first counterweight is provided with a first interlocking rack, the top of the first output member is provided with a first rack, The first linkage group includes several first linkage gears and a first connecting frame. Both ends of the first linkage frame are fixed on the tops of the two first counterweights. Installed on the first connecting frame, each of the first interlocking gears meshes with the corresponding first interlocking rack and the first rack respectively on the upper and lower gears. According to the orthogonal and horizontal two-dimensional position adjustment seat described in claim 1, the second carrier includes a second carrier plate, a second side plate, a second carrier plate shell and a second side plate shell, and the second side plate is erected on On the second carrier board, the second carrier board shell is arranged on the second carrier board to form an actuating space to accommodate the second output member, and the second output member is installed on the first carrier board by means of a slide seat and a slide rail. The two carrier boards are capable of linear movement, and the second side plate casing is combined with the second side plate to form an accommodating space. As for the orthogonal-to-horizontal two-dimensional position adjustment seat described in claim 11, the second moving unit includes a second power device, a second transmission group and a second linear movement group, and the second power device is installed on the second At the side plate, the second transmission group is arranged in the accommodating space, the second linear movement group is arranged in the actuation space, and the rotational power output by the second power device is linked through the second transmission group so that the second The linear movement group produces linear movement, and the second linear movement group synchronously drives the second output member to produce linear movement. The orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 11 further includes a second balance unit, the second balance unit includes a second counterweight and a second linkage wheel, and the second counterweight is installed On the bottom surface of the second carrier plate and can move linearly along the second direction, the second interlocking wheel is installed on the second carrier plate and can be rotated, the upper and lower circumferential edge positions of the second interlocking wheel are respectively in line with the first The two output parts are in contact with the second counterweight, and when the second output part moves, the second counterweight moves synchronously but in opposite directions through the linkage of the second interlocking wheel. As for the orthogonal-to-horizontal two-dimensional position adjustment seat described in claim 13, the second counterweight is installed on the bottom surface of the second carrier by means of a slide seat and a slide rail, so that it can move smoothly along the second direction. sliding, the side wall of the second counterweight is provided with a second interlocking rack, the second output member is installed with a second rack on the corresponding side wall, the second carrier plate has a second slot through which the With the second interlocking wheel, the second interlocking wheel is a gear, and the second interlocking wheel is engaged with the second rack and the second interlocking rack at the upper and lower peripheral edge positions of the second carrier plate . The orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 11 further includes a second balance unit, the second balance unit is provided with two second counterweights and a second linkage group, and the two second counterweights The weights are installed on the second carrier plate on both sides of the second output member, and can move linearly along the second direction. outputs are linked, the second output When the parts move, they are actuated by the second linkage group, so that the two second counterweights can produce synchronous but opposite linear movements. In the orthogonal-to-horizontal two-dimensional position adjustment seat as described in claim 15, the second counterweight is installed on the second carrier board in the form of a slide seat and a slide rail, and is respectively located on both sides of the second output member. , so that the moving direction of the second counterweight is parallel to the moving direction of the second output member, the top of the second counterweight is provided with a second interlocking rack, the top of the second output member is provided with a second rack, The second linkage group includes several second linkage gears and a second connecting frame. Both ends of the second linkage frame are fixed on the tops of the two second counterweights. Installed on the second connecting frame, each of the second interlocking gears is engaged with the corresponding second interlocking rack and the second rack respectively on the upper gear and the lower gear.

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