WO2012167688A1 - 多自由度工作台 - Google Patents

多自由度工作台 Download PDF

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Publication number
WO2012167688A1
WO2012167688A1 PCT/CN2012/075686 CN2012075686W WO2012167688A1 WO 2012167688 A1 WO2012167688 A1 WO 2012167688A1 CN 2012075686 W CN2012075686 W CN 2012075686W WO 2012167688 A1 WO2012167688 A1 WO 2012167688A1
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WO
WIPO (PCT)
Prior art keywords
direction moving
screw
fixed
moving mechanism
rod
Prior art date
Application number
PCT/CN2012/075686
Other languages
English (en)
French (fr)
Inventor
孙祝兵
Original Assignee
横店集团联宜电机有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 横店集团联宜电机有限公司 filed Critical 横店集团联宜电机有限公司
Priority to AU2012266982A priority Critical patent/AU2012266982B2/en
Priority to NZ609056A priority patent/NZ609056B2/en
Priority to US13/879,389 priority patent/US9044854B2/en
Priority to KR1020137009582A priority patent/KR101523551B1/ko
Publication of WO2012167688A1 publication Critical patent/WO2012167688A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4857—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top

Definitions

  • the invention relates to a workbench structure, in particular to a multi-degree-of-freedom workbench capable of moving and rotating in multiple directions.
  • the existing workbench is generally fixed structure, the position of the workbench does not change. To change the position of the workbench, it is necessary to move the base of the whole workbench and change the position of the workbench to change the position of the workbench, but work.
  • the base of the platform has a large weight and is not easy to move.
  • the workbench needs to provide a vacant space that can be placed again. This vacancy cannot have other items, and there must be a moving channel between the original position and the new position.
  • the space required is larger, but the existing workbench is placed in the operation room, the position is relatively fixed, and the workbench needs to be moved by the surrounding space.
  • the requirements of the workbench should be gradually improved.
  • the equipment processed or operated on the workbench is becoming more and more complicated.
  • the upper surface of the workbench should be carried out.
  • the angle is adjusted, and the surface of the table is tilted to drive the device to tilt or the clamp is tilted to meet the processing needs.
  • the angle of the table surface needs to be adjusted.
  • a unidirectional clamping device which is mainly composed of a cylinder body, a piston in the cylinder body, a spherical body outside the piston inside the cylinder body and a flange cover, and the piston cooperates with the spherical body to realize clamping, the spherical body
  • the reference table can be freely rotated, but the structure cannot move in the horizontal direction.
  • the utility model can realize significant miniaturization and can suppress the height of the worktable to be low, and is composed of a fixed plate, a moving plate, an intermediate plate, an X drive mechanism and a Y drive mechanism.
  • the fixing plate has a receiving groove in the X direction; the moving plate has a receiving groove in the Y direction; the lower half of the intermediate plate is assembled in the receiving groove of the fixing plate by means of the rolling body, and the upper half is assembled on the moving plate by means of the rolling body
  • the intermediate plate can move freely relative to the fixed plate in the X direction and in the Y direction with respect to the moving plate; the X driving mechanism pushes the intermediate plate in the X direction with respect to the fixed plate; the Y driving mechanism pushes in the Y direction with respect to the intermediate plate
  • the moving plate is provided with a housing for the X drive mechanism and the Y drive mechanism on the intermediate plate.
  • the workbench can move, but it does not rotate. And the structure used for moving is more complicated.
  • the invention solves the disadvantage that the workbench in the prior art belongs to the fixed structure and cannot move, and provides a multi-degree-of-freedom worktable, so that the worktable can move in any direction on the horizontal plane.
  • the invention also solves the disadvantage that the workbench in the prior art belongs to the fixed structure and cannot rotate, and provides a multi-degree-of-freedom workbench, so that the upper surface of the worktable can be tilted freely, and the angle adjustment is realized.
  • a multi-degree-of-freedom workbench comprising a base, a movement device disposed on the base, and a worktable connected to the movement device, the movement device comprising an up-and-down lifting mechanism and a horizontal surface
  • the moving mechanism and the multi-angle rotating mechanism, the upper and lower lifting mechanism and the moving mechanism adopt a screw moving structure, and the upper and lower lifting mechanism comprises a screw rod and a rotating sleeve connected with the screw rod, and the moving mechanism is composed of an X-direction moving mechanism and a Y-direction moving mechanism.
  • the X-direction moving mechanism and the Y-direction moving mechanism each include a lead screw and a lead screw nut connected to the lead screw, and the X-direction moving mechanism and the Y-direction moving mechanism are vertically superposed on each other and fixed to the screw tip of the upper and lower lifting mechanism.
  • the multi-angle rotation mechanism includes a universal joint device and a locking mechanism.
  • the motion device can be manually operated or automatically operated. It can be controlled separately or combined. It can be numerically controlled by programming.
  • the upper and lower lifting mechanism is used to drive the table up and down to adjust the height of the table.
  • the moving mechanism is mainly Moving in the horizontal plane, the X-moving mechanism completes the back-and-forth movement in the X-axis direction, and the Y-direction moving mechanism completes the back-and-forth movement in the Y-axis direction.
  • the movement in the two directions may be separately driven, and the linear movement may be performed separately, or may be combined movement.
  • the movement of the oblique line or the curve is completed, and the moving speeds of the two may be the same or different.
  • the X-direction moving mechanism and the Y-direction moving mechanism are vertically superimposed so that the X-direction moving mechanism and the Y-direction moving mechanism are separated from each other without interference, and can be left more.
  • the multi-angle rotation mechanism controls the table to rotate around a center point
  • the universal joint device can adopt universal joint
  • the knot structure or the universal ball structure or the combination of two vertical hinges, the table is locked by a locking mechanism when the table is rotated to a set tilt angle, and the table is fixed at the set angle; the screw and the screw nut
  • An automatic locking structure can be formed.
  • the base has a frame structure
  • the base has a support plate
  • the upper and lower lifting mechanism is disposed on the support plate
  • the movement device further comprises a guiding column parallel to the lead screw of the upper and lower lifting mechanism
  • the guiding column is inserted into the guiding hole of the supporting plate .
  • the support plate is mainly used to support the fixed motion device
  • the guide column cooperates with the upper and lower lifting mechanism.
  • the guiding column can play a guiding role to prevent the deflection force generated by the lifting and lowering from acting on the lead screw. It affects the service life of the screw and is also a protective measure. It can protect the fault when it occurs. The motion device and the workbench will not fall from the top to ensure safe use.
  • the rotating sleeve is internally provided with a gear
  • the central portion of the gear is provided with a threaded hole
  • the screw of the upper and lower lifting mechanism is inserted into the threaded hole
  • the adjusting screw with the adjusting handle is arranged at the position of the side of the rotating sleeve.
  • the adjusting screw meshes with the teeth of the gear, and the rotating sleeve is fixed to the lower surface of the support plate on the base.
  • the screw rod is inserted into the rotating sleeve, and the gear in the rotating sleeve can be rotated arbitrarily.
  • the gear has an internal thread to form a nut structure, which is equivalent to a screw nut matched with the screw rod, and the gear has external teeth, gear teeth and adjustment
  • the screw is matched to form a worm and worm structure, and the adjusting screw is rotated by the adjusting handle, so that the driving gear rotates, the rotating sleeve is in a fixed state, and the relative movement between the gear and the rotating sleeve does not occur, so the gear rotates and the screw follows The axis moves up and down.
  • the Y-direction moving mechanism includes a fixing plate fixed to the lead screw of the vertical lifting mechanism, a Y-direction moving plate connected to the fixing plate by a guide rail, and a screw of the Y-direction moving mechanism is fixed to the fixing plate, and the Y-direction is moved.
  • the screw nut of the mechanism is fixed to the lower surface of the Y-moving plate;
  • the X-direction moving mechanism includes an X-direction moving plate, the lead screw of the X-direction moving mechanism is fixed to the upper surface of the Y-moving plate, and the screw nut of the X-direction moving mechanism Fixed to the lower surface of the X-direction moving plate, the two lead screws are perpendicular to each other, and the X-direction moving plate and the Y-direction moving plate are connected by a rail.
  • the fixed plate is only moved up and down, and does not produce horizontal horizontal movement.
  • the fixed plate belongs to the bottom support member, and the heavy pressure generated by the work table is transmitted to the lead screw and the guide rod through the fixed plate, and the Y-direction moving plate is along the Y above the fixed plate.
  • the X-moving mechanism moves synchronously, and the X-moving plate moves back and forth along the X direction, and the guide rail functions as a guide to prevent the deflection from occurring during the movement.
  • the guide rail comprises a guide rod and a guide seat matched with the guide rod, the guide rod passes through the guide seat, the two ends of the guide rod are fixed by the support, the support is fixed below, the guide rod is fixed at the upper side, and the X-direction moving mechanism is fixed
  • the guide rails and the guide rails of the Y-direction moving mechanism are parallel to the respective lead screws.
  • the guide rod can move in the guide seat to play a guiding role, and can also define the spacing between the Y-direction moving plate and the fixed plate, define the spacing between the X-direction moving plate and the Y-direction moving plate, or cooperate with each other.
  • the concave guide rail and the convex guide rail serve as a support, and in order to reduce the resistance of the movement, the roller can be disposed on the opposite surface of the concave guide rail and the convex guide rail.
  • the universal joint device comprises a ball body and a ball seat for containing the ball body.
  • the ball seat is provided with a spherical cavity matched with the ball body.
  • the spherical cavity has a containing area larger than 50% of the surface area of the ball body, and the ball body is embedded in the ball seat.
  • a round table is fixed on the lower surface of the workbench, and the ball is fixed on the round table.
  • the sphere and the workbench are connected by the round table, one can increase the support area of the workbench, optimize the force of the workbench, and the second is to enlarge the distance between the sphere and the lower surface of the workbench to facilitate the rotation of the sphere.
  • the workbench does not interfere with the interference, ensuring that the angle of rotation of the ball meets the set requirements.
  • the locking mechanism comprises two locking rods with external threads, the ends of the locking rods are connected with V-shaped clamping forks, and the opposite surfaces of the clamping forks are provided with curved concave surfaces matching the spheres
  • the ball seat is provided with a rod hole with an internal thread, the rod hole passes through the center of the spherical cavity, and the inner surface of the ball seat is provided with a cavity matching the shape of the clamping fork, and the cavity communicates with the rod hole.
  • the locking rod penetrates into the rod hole, and the clamping fork is hidden into the cavity.
  • the tail end of the locking rod protrudes out of the ball seat and the locking nut is screwed on the exposed end.
  • the ball is embedded in the spherical cavity, and the locking rod rotates along the axis of the rod hole.
  • the V-shaped opening of the clamping fork gradually catches the ball, and the locking nut locks the locking rod to prevent the locking rod from retreating, and the clamping fork
  • the contact surface with the sphere is a curved concave surface, and the area of the force is large, which does not affect the sphere.
  • the axis of the locking rod passes through the center point of the spherical cavity, and the force of the clamping fork on the sphere passes through the sphere of the sphere.
  • the heart does not deflect the ball.
  • the two locking bars can be installed at 180° intervals or at 90° intervals.
  • the universal joint device comprises a universal joint
  • the universal joint comprises a middle cross shaft and two U-shaped forks arranged vertically, the U-shaped forks are oppositely arranged, and a U-shaped fork is fixed to the central portion of the worktable.
  • the other U-shaped fork is fixed to the X-direction moving mechanism or the Y-direction moving mechanism.
  • the two U-shaped forks are perpendicular to each other, and the movement of the two U-shaped forks is combined to realize the universal rotation of the table.
  • the two vertical shaft ends of the cross shaft protrude to the outside of the U-shaped fork, and the connecting portion of the U-shaped fork corresponding to the two shaft ends is a tapered hole, and the protruding shaft end is sleeved with a cone
  • the tapered hole is matched with a tapered locking sleeve, and the tapered locking sleeve is fixed by a lock nut.
  • the tapered bore cooperates with the locking cap to lock the U-shaped fork, thereby locking the table.
  • the upper and lower lifting mechanism, the moving mechanism and the multi-angle rotating mechanism are respectively connected with an automatic driving device
  • the automatic driving device is a servo motor and a hydraulic mechanism
  • the adjusting screw of the rotating sleeve side of the upper and lower lifting mechanism is connected to the servo motor
  • the moving mechanism wire is connected to the servo motor
  • the hydraulic mechanism includes a hydraulic cylinder and a hydraulic system.
  • the hydraulic cylinder is hinged to the lower surface of the table by a central interval of two relative multi-angle rotation mechanisms, and the upper hinge point of the hydraulic cylinder and the rotation center of the table The connection is parallel to the workbench.
  • the servo motor drives the lead screw to control the rotation angle of the lead screw, thereby controlling the moving distance between the Y-moving plate and the X-direction moving plate, and the scale can be set on the fixed plate and the Y-direction moving plate to facilitate accurate positioning of the working table, and two hydraulic pressures.
  • the cylinder controls the rotation angle of the table, and the position of the hinge point of the hydraulic cylinder ensures that one of the hydraulic cylinders does not interfere when the table is rotated while pushing the table.
  • the utility model has the beneficial effects that the moving mechanism can drive the worktable to move on the horizontal plane, and can ensure that the worktable reaches any position within the effective range of the horizontal plane, and the X-direction moving mechanism and the Y-direction moving mechanism can work alone or in combination.
  • the vertical superposition ensures that the moving direction of the two does not interfere, and the arrangement space is increased, and the arrangement is more convenient.
  • the upper and lower lifting mechanism drives the table up and down, and the multi-angle rotating mechanism drives the table surface to tilt. These mechanisms are combined with each other to complete the surface of the table. The position changes.
  • Figure 1 is a schematic view showing the structure of the present invention
  • Figure 2 is a side elevational view of the structure of Figure 1 of the present invention.
  • Figure 3 is a cross-sectional view of a spherical seat of the present invention.
  • FIG. 4 is a schematic structural view of another multi-angle rotating mechanism of the present invention.
  • Figure 5 is a partial cross-sectional view of a universal joint of the present invention.
  • Figure 6 is a schematic structural view of a tapered locking sleeve of the present invention.
  • a multi-degree-of-freedom workbench (see FIG. 1 and FIG. 2) includes a base having a frame structure, a moving device disposed on the base, and a table 6 connected to the moving device, and the work table is provided with a plurality of a positioning hole, the base has a plurality of square steel splicing, the upper surface of the base is a support plate 2, the support plate is provided with a threaded hole, and two optical holes symmetrically with respect to the threaded hole, the moving device comprises an up and down lifting mechanism, a moving mechanism on the horizontal surface and a multi-angle rotating mechanism, the upper and lower lifting mechanism includes a screw rod 15 disposed on the vertical supporting plate and a rotating sleeve 12 connected to the screw rod, the screw rod passes through the rotating sleeve, and the rotating sleeve is provided with gear teeth
  • the gear the center of the gear is provided with a threaded hole, the screw thread penetrates into the threaded hole, and the rotating sleeve is
  • the moving mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism
  • the Y-direction moving mechanism includes a fixing plate 3, a Y-direction moving plate 4, a lead screw and a screw nut connecting the fixing plate and the Y-direction moving plate, a fixing plate and an up-and-down lifting mechanism
  • the lead screw is vertically fixed, and the lead screw of the Y-direction moving mechanism is arranged along the Y direction, and both ends of the screw rod are fixed to the middle portion of the side edges of the fixing plate by bearings, and the two sides of the fixing plate and the lead screw are fixed.
  • the guide seat 8 is provided with a through hole parallel to the lead screw, and a screw nut is fixed to an intermediate portion of the lower surface of the Y-moving plate.
  • the screw nut and the lead screw cooperate, and the Y-direction moves the lower surface of the plate.
  • Guide rods 14 are disposed on both sides, and both ends of the guide rods are fixed to the lower surface of the Y-direction moving plate by the support 9, the guide rods pass through the through holes of the guide seat, and the adjustable hand wheel with the scale is fixed at the end of the lead screw 10.
  • the X-direction moving mechanism comprises an X-direction moving plate 5, and an X-direction screw is fixed on the upper surface of the Y-moving plate, and the two ends of the screw are fixed by bearings, wherein one end is fixed with a scale-adjusting hand wheel, and the X-direction moving plate is fixed.
  • the lower surface is fixed with a screw nut corresponding to the position, the screw nut is matched with the X-direction screw, and the guide seat 8 is fixed on the X-direction side of the upper surface of the Y-moving plate, and the guide is provided with a hole, X A guide rod is fixed to the corresponding position of the lower surface of the moving plate through the support 9, and the guide rod passes through the perforation of the corresponding guide.
  • the multi-angle rotation mechanism is disposed above the X-direction moving plate and below the worktable, and the multi-angle rotation mechanism includes a universal joint device and a locking mechanism.
  • the universal joint device includes a ball 18 and a ball seat 17 for containing the ball.
  • the seat is provided with a spherical cavity matched with the sphere.
  • the containing area of the spherical cavity is 65% of the surface area of the sphere, the opening plane of the spherical cavity is horizontal, the sphere is embedded in the ball seat, and the round table 19 is fixed on the lower surface of the table.
  • the ball is fixed on the round table, and the ball seat is provided with two horizontal rod holes with internal threads (see FIG. 3).
  • the rod hole passes through the center of the spherical cavity, and the rod hole is internally screwed with the locking rod 21
  • the outer periphery of the locking rod is provided with an external thread matched with the internal thread of the rod hole, and the end of the locking rod is rotatably connected with the clamping fork 22, the clamping fork has a V-shaped bayonet, and the end of the bayonet
  • the surface is a curved concave surface matching the sphere, and the inner surface of the spherical seat is provided with a concave cavity which is matched with the shape of the clamping fork, the concave cavity communicates with the rod hole, the locking rod penetrates into the rod hole, and the locking fork is hidden Entering into the cavity, the tail end of the locking rod protrudes out of the ball seat and A lock nut 20 is screwed on the exposed end.
  • the two hydraulic cylinders 13 hinged on the upper surface of the X-moving plate.
  • the upper end of the hydraulic cylinder is hinged to the fixed rod, and the fixed rod is fixed to the lower surface of the table.
  • the connection between the hinge point of the upper end of the hydraulic cylinder and the center of the sphere is parallel to the table.
  • the two hydraulic cylinders are arranged at 90° to the sphere.
  • the hydraulic cylinder is mobilized by the hydraulic system, and the two hydraulic cylinders are combined to push the table to rotate around the center of the sphere, and rotate the appropriate angle.
  • the locking lever is rotated again, so that the clamping fork clamps the ball and tightens the locking nut for locking.

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  • Mechanical Engineering (AREA)
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Abstract

一种能够多方向移动并转动的多自由度工作台，包括上下升降机构、水平面上的移动机构及多角度旋转机构，上下升降机构和移动机构采用丝杠结构，多角度旋转机构包括一个万向连接装置（7）和锁紧机构。移动机构能带动工作台（6）在水平面上移动，能确保工作台（6）到达水平面上有效范围内的任意位置，X向移动机构和Y向移动机构可以单独工作，也能结合工作，多角度旋转机构驱动工作台表面倾斜，这些机构相互结合完成工作台表面的位置变化。

Description

多自由度工作台 技术领域
本发明涉及一种工作台结构，尤其是一种能够多方向移动并转动的多自由度工作台。
 背景技术
一般的加工操作都需要配置工作台，有些还是比较专业的工作台，一个好的适合的工作台对工作起到非常重要的促进作用，能提高加工的效率、提高操作的精度及稳定性，同时也能减轻操作者的劳动负担，比较符合人机工程学。
现有的工作台一般都是固定结构的，工作台的位置不会发生变化，要改变工作台的位置，需要移动整个工作台的底座，改变底座的位置从而来改变工作台的位置，但是工作台的底座重量较大，移动不太方便，工作台要移动还需要提供能够再次放置的空位，这个空位还不能有其他物品，且原先的位置到新的位置之间必须有一个移动通道，这样需要的空间更加大，但是现有整个工作台放置在操作间内，位置比较固定，工作台要移动会受到周围空间的影响。
技术的发展及生活水平的提高，工作台的要求要逐步提高，在工作台上加工或者操作的设备也越来越复杂，使用的时候，除了位置移动外，还要对工作台的上表面进行角度调整，工作台表面倾斜后带动设备倾斜或者夹具倾斜从而适应加工的需要，有时为了扩大观察视角或者增强光线也需要对工作台表面的角度进行调节。
中国专利局于2002年9月4日公告了一份CN2508909Y号专利，名称为万向工作台，该工作台包括设有夹具的基准台面和用于台面支撑的立柱，基准台面与立柱之间设有一万向夹紧装置，该万向夹紧装置主要由缸体、缸体内的活塞、缸体内活塞外侧的球形体和法兰盖组成，活塞与球形体配合实现夹紧，球形体可以使基准台面自由转动，但是该结构不能在水平方向移动。
中国专利局于2010年11月17日公告了一份CN101326588B号专利，名称为XY工作台执行器，能内置可使搭载在工作台上的对象物在XY平面内自由移动且定位的驱动机构，并能实现显着的小型化、能将工作台的高度抑制得较低,由固定板、移动板、中间板、X驱动机构、Y驱动机构构成。固定板具有沿X方向的收容槽；移动板具有沿Y方向的收容槽；中间板的下半体借助于滚动体组装在固定板的收容槽内，上半体借助于滚动体组装在移动板的收容槽内，中间板可相对固定板向X方向、相对于移动板向Y方向自由移动;X驱动机构相对于固定板向X方向推动中间板；Y驱动机构相对于中间板向Y方向推动移动板，在中间板上分别设置了X驱动机构及Y驱动机构的收容室。该工作台能移动，但是确不能旋转。而且移动所采用的结构比较复杂。
 技术问题
本发明解决了现有技术中工作台属于固定结构不能移动的缺点，提供一种多自由度工作台，使得工作台能在水平面上的任意方向移动。
本发明还解决了现有技术中工作台属于固定结构不能转动的缺点，提供一种多自由度工作台，使得工作台的上表面能自由倾斜，实现角度调整。
本发明的目的是提供一种结构简单，并能实现多方向移动和多角度调整的多自由度工作台。
 技术解决方案
本发明解决其技术问题所采用的技术方案是：一种多自由度工作台，包括底座、设置在底座上的运动装置及与运动装置相连接的工作台，运动装置包括上下升降机构、水平面上的移动机构及多角度旋转机构，上下升降机构和移动机构采用丝杠移动结构，上下升降机构包括丝杠及与丝杠相连接的旋转套，移动机构由X向移动机构和Y向移动机构组成，X向移动机构和Y向移动机构各包括一个丝杠及与该丝杠相连接的丝杠螺母，X向移动机构和Y向移动机构相互垂直叠加并与上下升降机构的丝杠顶端相固定，多角度旋转机构包括一个万向连接装置和锁紧机构。运动装置可以是手动操控，也可以是自动操控，可以是单独控制，也可以是结合控制，可以通过编程实现数控；上下升降机构用来驱动工作台上下运动，调节工作台的高度，移动机构主要在水平面上移动，X向移动机构完成X轴方向的来回移动，Y向移动机构完成Y轴方向的来回移动，两个方向的移动可以是单独驱动，单独完成直线移动，也可以是结合移动，完成斜线或者曲线的移动，两者的移动速度可以相同也可以不同，X向移动机构和Y向移动机构垂直叠加使得X向移动机构与Y向移动机构相互分开互不干涉，可以留出更多的空间，方便装配、维修，而且更可以对移动机构进行升级或者更新，比如原先是手动控制，为了提高效率或者调节精度，升级成自动控制，增加电、液或者气的控制系统，留出的空间就可以进行布置安装这些升级所需的部件，也有更大的余地对X向移动机构或者Y向移动机构进行改装，使其能够完成比较复杂的运动；上下升降机构和移动机构采用丝杠结合丝杠螺母来实现，丝杠螺母固定不动，丝杠旋转则丝杠螺母沿着丝杠轴线移动，丝杠不转，丝杠螺母转动则丝杠沿着轴线移动；多角度旋转机构控制工作台绕着一个中心点旋转，万向连接装置可以采用万向节结构或者万向球结构或者采用两垂直的铰链组合，工作台旋转到一个设定倾斜角度时通过锁紧机构进行锁紧，将工作台固定在这个设定的角度；丝杠与丝杠螺母可以形成自动的锁止结构。
作为优选，底座呈框架结构，底座具有一个支撑板，上下升降机构设置在支撑板上，运动装置还包括与上下升降机构的丝杠平行的导向柱，导向柱插入到支撑板上的导向孔内。支撑板主要用来支撑固定运动装置，导向柱与上下升降机构相配合，上下升降机构的丝杠上下移动时，导向柱能起到导向的作用，防止升降所产生的偏转力作用到丝杠上，影响丝杠的使用寿命，同时也是一种防护措施，发生故障时能起到保护的作用，运动装置及工作台不会从上倾倒，确保使用安全。
作为优选，旋转套内部设置有齿轮，齿轮的中心部位设置有螺纹孔，上下升降机构的丝杠穿入到螺纹孔内相配合，旋转套侧边的位置处设置有带调节手柄的调节螺杆，调节螺杆与齿轮的轮齿相啮合，旋转套固定到底座上的支撑板的下表面处。丝杠穿入到旋转套内，旋转套内的齿轮可以任意转动，齿轮带有内螺纹形成螺母结构，相当于与丝杠相配合的丝杠螺母，齿轮外部带有轮齿，轮齿与调节螺杆相配合形成涡轮蜗杆结构，调节螺杆在调节手柄的带动下旋转，从而驱动齿轮旋转，旋转套为固定状态，齿轮与旋转套之间不会产生相对移动，因此齿轮转动，丝杠就沿着轴线上下移动。
作为优选，Y向移动机构包括与上下升降机构的丝杠相固定的固定板、与固定板采用导轨相连接的Y向移动板，Y向移动机构的丝杠固定到固定板上，Y向移动机构的丝杠螺母固定到Y向移动板的下表面；X向移动机构包括X向移动板，X向移动机构的丝杠固定到Y向移动板的上表面，X向移动机构的丝杠螺母固定到X向移动板的下表面，两丝杠相互垂直，X向移动板与Y向移动板之间通过导轨连接。固定板只作上下移动，不产生横向的水平移动，固定板属于底下的支撑部件，工作台产生的重压力通过固定板传递给丝杠及导向杆，Y向移动板在固定板上方沿着Y向来回移动，Y向移动板移动的时候，X向移动机构随着同步移动，X向移动板沿着X向来回移动，导轨起到导向的作用，防止移动过程中发生偏转而卡滞。
作为优选，导轨包括导杆及与导杆相配合的导座，导杆穿过导座，导杆的两端通过支座固定，支座固定下方，导杆固定在上方，X向移动机构的导轨和Y向移动机构的导轨与各自对应的丝杠相平行。导杆可以在导座内移动，起到导向的作用，同时还能限定Y向移动板与固定板之间的间距、限定X向移动板与Y向移动板之间的间距，或者采用相互配合的凹导轨与凸导轨，起到支撑的作用，为减小移动的阻力，凹导轨与凸导轨的相对面上可以设置滚柱。
作为优选，万向连接装置包括一个球体及包容球体的球座，球座内设置有一个与球体相配的球形腔，球形腔的包容面积大于球体的表面积的50%，球体嵌入到球座内，工作台下表面固定有倒圆台，球体固定在倒圆台上。这是一种方案，球体与球座相配合可以实现万向转动，球形腔的开口平面处于水平状，球形腔包容球体的表面积大于50%，这样球体在球形腔内转动时不会从球形腔掉出，球体与工作台通过倒圆台相连接，一能够提高工作台的支撑面积，优化工作台的受力，二是能够扩大球体与工作台下表面之间的距离，方便球体转动的时候，工作台不会发生碰撞干涉的现象，保证球体转动的角度符合设定的要求。
作为优选，锁紧机构包括两根带有外螺纹的锁紧杆，锁紧杆的端部连接有V形的的卡紧叉，卡紧叉的相对表面设置有与球体相吻合的弧形凹面，球座上设置有带有内螺纹的杆孔，该杆孔穿过球形腔的球心，球座内表面设置有与卡紧叉的外形相吻合的凹腔，凹腔与杆孔相通，锁紧杆穿入到杆孔内，卡紧叉隐入到凹腔内，锁紧杆的尾端伸出到球座外并在外露端旋有锁紧螺母。球体嵌入到球形腔内，锁紧杆转动沿着杆孔轴线移动，卡紧叉的V形口逐渐卡住球体，锁紧螺母锁住锁紧杆，防止锁紧杆后退发生松弛，卡紧叉与球体的接触表面为弧形凹面，受力的面积大，不会对球体造成影响，锁紧杆的轴线穿过球形腔的球心点，卡紧叉对球体的作用力穿过球体的球心，球体不会发生偏转，两根锁紧杆可以间隔180°安装，也可以间隔90°安装。
作为优选，万向连接装置包括一个万向节，万向节包括中间的十字轴及垂直设置的两个U形叉，U形叉相对布置，一个U形叉与工作台的中心部位相固定，另一个U形叉与X向移动机构或者Y向移动机构相固定。这是另一种方案， 两U形叉相互垂直，两个U形叉的运动组合，实现工作台万向转动。
作为优选，十字轴的两个垂直的轴端伸出到U形叉的外部，U形叉与该两轴端相对应的连接部位为锥形孔，该伸出的轴端上套有与锥形孔相配的锥形锁紧套，锥形锁紧套有锁紧螺母固定。锥形孔与锁紧帽相配合来锁紧U形叉，从而锁紧工作台。
作为优选，上下升降机构、移动机构及多角度旋转机构各自连接有自动驱动装置，自动驱动装置为伺服电机及液压机构，上下升降机构的旋转套侧边的调节螺杆连接伺服电机，移动机构的丝杠连接伺服电机，液压机构包括液压缸及液压系统，液压缸共两个相对多角度旋转机构的中心间隔90°铰接到工作台下表面，液压缸的上铰接点与工作台旋转中心之间的连线与工作台相平行。伺服电机驱动丝杠，控制丝杠的转动角度，从而控制Y向移动板及X向移动板的移动距离，可以在固定板及Y向移动板上设置刻度，方便工作台精确定位，两个液压缸来操控工作台的转动角度，液压缸的铰接点的位置保证其中一个液压缸在推动工作台转动的时候，另一个液压缸不会发生干涉。
 有益效果
本发明的有益效果是：移动机构能带动工作台在水平面上移动，能确保工作台到达水平面上有效范围内的任意位置，X向移动机构和Y向移动机构可以单独工作，也能结合工作，垂直叠加保证两者的移动方向不会发生干涉，而且布置空间增加，布置更加方便，上下升降机构带动工作台上下升降，多角度旋转机构驱动工作台表面倾斜，这些机构相互结合完成工作台表面的位置变化。
附图说明
图1是本发明一种结构示意图；
图2是本发明图1所示结构的侧视图；
图3是本发明一种球形座的剖视图；
图4是本发明另一种多角度旋转机构的结构示意图；
图5是本发明一种万向节的局部剖视图；
图6是本发明一种锥形锁紧套的结构示意图；
图中：1、底座，2、支撑板，3、固定板，4、Y向移动板，5、X向移动板，6、工作台，7、万向连接装置，8、导座，9、支座，10、调节轮，11、调节手柄，12、旋转套，13、液压缸，14、导杆，15、丝杠，16、导向柱，17、球座，18、球体，19、倒圆台，20、锁紧螺母，21、锁紧杆，22、卡紧叉，23、锁紧套，24、U形叉，25、十字轴，26、锥形孔，27、凸筋。
 本发明的最佳实施方式
一种多自由度工作台（参见附图1附图2），包括一个呈框架结构的底座1、设置在底座上的运动装置及与运动装置相连接的工作台6，工作台上设置有多个定位孔，底座有多根方钢拼接而成，底座的上表面为支撑板2，支撑板上设置有一个螺纹孔，及相对螺纹孔对称的两个光孔，运动装置包括上下升降机构、水平面上的移动机构及多角度旋转机构，上下升降机构包括垂直支撑板设置的丝杠15及与丝杠相连接的旋转套12，丝杠穿过旋转套，旋转套内设置有带有轮齿的齿轮，齿轮的中心部位设置有螺纹孔，丝杠穿入到螺纹孔内配合，旋转套靠侧边的位置设置有调节螺杆，调节螺杆的端部设置有调节手柄11，调节螺杆与齿轮的轮齿相啮合形成涡轮蜗杆结构，调节螺杆与该丝杠相垂直，支撑板的光孔内穿有导向柱16，导向柱与丝杠相平行。
移动机构包括X向移动机构和Y向移动机构，Y向移动机构包括固定板3、Y向移动板4及连接固定板及Y向移动板的丝杠和丝杠螺母，固定板与上下升降机构的丝杠垂直固定，Y向移动机构的丝杠沿着Y向布置，丝杠的两端通过轴承固定到固定板两侧边缘的中间部位，固定板与丝杠相平行的两侧边固定有导座8，导座上设置有与丝杠相平行的穿孔，Y向移动板的下表面的中间部位固定有丝杠螺母，丝杠螺母与丝杠相配合，Y向移动板的下表面的两侧设置有导杆14，导杆的两端通过支座9固定到Y向移动板的下表面，导杆穿过导座的穿孔，在丝杠的端部固定有带刻度的调节手轮10。
X向移动机构包括X向移动板5，Y向移动板的上表面固定有X向的丝杠，该丝杠两端通过轴承固定，其中一端固定有带刻度的调节手轮，X向移动板的下表面对应位置固定有丝杠螺母，丝杠螺母与X向的丝杠相配合，Y向移动板的上表面X向的两侧位置固定有导座8，导座上设置有穿孔，X向移动板下表面对应的位置处通过支座9固定有导杆，该导杆穿过对应的导座的穿孔。
多角度旋转机构设置在X向移动板的上方、工作台的下方，多角度旋转机构包括一个万向连接装置和锁紧机构，万向连接装置包括一个球体18及包容球体的球座17，球座内设置有一个与球体相配的球形腔，球形腔的包容面积为球体的表面积的65%，球形腔的开口平面处于水平状，球体嵌入到球座内，工作台下表面固定有倒圆台19，球体固定在倒圆台上，球座上设置有两个水平的带有内螺纹的杆孔（参见附图3），杆孔穿过球形腔的球心，杆孔内旋有锁紧杆21，锁紧杆的外围设置有与杆孔的内螺纹相配的外螺纹，锁紧杆的端部旋转式连接有卡紧叉22，卡紧叉带有V形的卡口，卡口的端部表面为与球体相吻合的弧形凹面，球座内表面设置有与卡紧叉的外形相吻合的凹腔，凹腔与杆孔相通，锁紧杆穿入到杆孔内，卡紧叉隐入到凹腔内，锁紧杆的尾端伸出到球座外并在外露端旋有锁紧螺母20。
X向移动板的上表面上铰接有两个液压缸13，液压缸的上端铰接固定杆，固定杆与工作台下表面固定，液压缸上端的铰接点与球体球心的连线与工作台平行，两个液压缸相对球体呈90°布置。
转动调节手柄，调节螺杆旋转，调节螺杆带动齿轮旋转，齿轮带动丝杠上下移动，丝杠推动固定板上下移动，从而改变工作台的高度；转动调节手轮，从而调动Y向移动板或者X向移动板，Y向移动板在导杆的导向下沿着Y向移动，X向移动板在导杆的作用下沿着X向移动，完成工作台在水平面内的移动；松开锁紧螺母，同时将锁紧杆沿着杆孔的轴线往外退出，卡紧叉与球体相分离，此时通过液压系统调动液压缸，两液压缸组合后推动工作台绕着球体的球心转动，转动合适角度后，再此转动锁紧杆，使得卡紧叉夹紧球体，同时旋紧锁紧螺母进行锁止

Claims (10)

  1. 一种多自由度工作台，包括底座（1）、设置在底座上的运动装置及与运动装置相连接的工作台（6），其特征在于运动装置包括上下升降机构、水平面上的移动机构及多角度旋转机构，上下升降机构和移动机构采用丝杠移动结构，上下升降机构包括丝杠及与丝杠相连接的旋转套（12），移动机构由X向移动机构和Y向移动机构组成，X向移动机构和Y向移动机构各包括一个丝杠及与该丝杠相连接的丝杠螺母，X向移动机构和Y向移动机构相互垂直叠加并与上下升降机构的丝杠顶端相固定，多角度旋转机构包括一个万向连接装置（7）和锁紧机构。
  2. 根据权利要求1所述的多自由度工作台，其特征在于底座呈框架结构，底座具有一个支撑板（2），上下升降机构设置在支撑板上，运动装置还包括与上下升降机构的丝杠（15）平行的导向柱（16），导向柱插入到支撑板上的导向孔内。
  3. 根据权利要求1所述的多自由度工作台，其特征在于旋转套内部设置有齿轮，齿轮的中心部位设置有螺纹孔，上下升降机构的丝杠穿入到螺纹孔内相配合，旋转套侧边的位置处设置有带调节手柄（11）的调节螺杆，调节螺杆与齿轮的轮齿相啮合，旋转套固定到底座上的支撑板的下表面处。
  4. 根据权利要求1或2或3所述的多自由度工作台，其特征在于Y向移动机构包括与上下升降机构的丝杠相固定的固定板（3）、与固定板采用导轨相连接的Y向移动板（4），Y向移动机构的丝杠固定到固定板上，Y向移动机构的丝杠螺母固定到Y向移动板的下表面；X向移动机构包括X向移动板（5），X向移动机构的丝杠固定到Y向移动板的上表面，X向移动机构的丝杠螺母固定到X向移动板的下表面，两丝杠相互垂直，X向移动板与Y向移动板之间通过导轨连接。
  5. 根据权利要求4所述的多自由度工作台，其特征在于导轨包括导杆（14）及与导杆相配合的导座（8），导杆穿过导座，导杆的两端通过支座（9）固定，支座固定下方，导杆固定在上方，X向移动机构的导轨和Y向移动机构的导轨与各自对应的丝杠相平行。
  6. 根据权利要求1或2或3所述的多自由度工作台，其特征在于万向连接装置包括一个球体（18）及包容球体的球座（17），球座内设置有一个与球体相配的球形腔，球形腔的包容面积大于球体的表面积的50%，球体嵌入到球座内，工作台下表面固定有倒圆台（19），球体固定在倒圆台上。
  7. 根据权利要求6所述的多自由度工作台，其特征在于锁紧机构包括两根带有外螺纹的锁紧杆（21），锁紧杆的端部连接有V形的的卡紧叉（22），卡紧叉的相对表面设置有与球体相吻合的弧形凹面，球座上设置有带有内螺纹的杆孔，该倾斜的杆孔穿过球形腔的球心，球座内表面设置有与卡紧叉的外形相吻合的凹腔，凹腔与杆孔相通，锁紧杆穿入到杆孔内，卡紧叉隐入到凹腔内，锁紧杆的尾端伸出到球座外并在外露端旋有锁紧螺母（20）。
  8. 根据权利要求1或2或3所述的多自由度工作台，其特征在于万向连接装置包括一个万向节，万向节包括中间的十字轴（25）及垂直设置的两个U形叉（24），U形叉相对布置，一个U形叉与工作台的中心部位相固定，另一个U形叉与X向移动机构或者Y向移动机构相固定。
  9. 根据权利要求8所述的多自由度工作台，其特征在于十字轴的两个垂直的轴端伸出到U形叉的外部，U形叉与该两轴端相对应的连接部位为锥形孔（26），该伸出的轴端上套有与锥形孔相配的锥形锁紧套（23），锥形锁紧套有锁紧螺母固定。
  10. 根据权利要求1或2或3所述的多自由度工作台,其特征在于上下升降机构、移动机构及多角度旋转机构各自连接有自动驱动装置，自动驱动装置为伺服电机及液压机构，上下升降机构的旋转套侧边的调节螺杆连接伺服电机，移动机构的丝杠连接伺服电机，液压机构包括液压缸（13）及液压系统，液压缸共两个相对多角度旋转机构的中心间隔90°铰接到工作台下表面，液压缸的上铰接点与工作台旋转中心之间的连线与工作台相平行。
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