CN104464837B - High-precision based on DC motor Driver and three-dimensional motion system - Google Patents

Abstract

The invention discloses a high-precision positioning platform driven by a DC motor, which includes a base and a motion table. The base is provided with a recessed accommodation cavity, and the motion table is slid on the base through two cross ball guide rails located on both sides. And the moving table is located at the opening end of the accommodating cavity to form a closed space, and the closed space is provided with a driving device for driving the moving table to slide back and forth, a grating ruler for detecting the sliding position of the moving table, and a photoelectric sensor for limiting the sliding stroke of the moving table. The limit switch, the driving device includes a DC motor and a ball screw driving mechanism connected between the base and the motion table, and the DC motor is connected with the ball screw driving mechanism through a transmission mechanism. The invention has the advantages of simple and compact structure, low cost, stable and reliable action, small running damping, high response sensitivity and the like.

Description

High-precision positioning platform and three-dimensional motion system driven by DC motor

technical field

The invention relates to the technical field of precision motion equipment, in particular to a high-precision positioning platform driven by a DC motor and a three-dimensional motion system.

Background technique

With the development of information technology and the advent of a series of high-end chips, the alignment accuracy requirements of optoelectronic packaging systems are getting higher and higher. At present, optoelectronic packaging companies mainly rely on manual coupling, which not only has low efficiency and poor quality, but also makes it difficult to couple and align new-generation chips that require higher precision.

Studies have shown that the core diameter of a single-mode fiber is 8-9 μm, while the characteristic size of the optical channel section of a photonic chip is 4-8 μm, both of which are on the micron scale. The coupling system is required to achieve such accuracy, and the positioning accuracy of the motion platform of the alignment system must be sub-micron to meet the precise alignment requirements of optical fibers and photonic chips. Precision motion platforms usually use stepper motors and servo motors as driving devices, which have disadvantages such as complex structure, high cost, and slow response speed.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and provide a high-precision positioning platform driven by a DC motor and a three-dimensional motion based on a simple and compact structure, low cost, stable and reliable action, small operating damping, and high response sensitivity. system.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A high-precision positioning platform driven by a DC motor, including a base and a motion table, the base is provided with a recessed accommodation cavity, and the motion table is slid on the base through two cross ball guide rails on both sides, And the moving table is located at the opening end of the accommodating chamber to form a closed space, and the closed space is provided with a driving device for driving the moving table to slide back and forth, a grating ruler for detecting the sliding position of the moving table, and a grating ruler for limiting the sliding stroke of the moving table. The photoelectric limit switch, the driving device includes a DC motor and a ball screw driving mechanism connected between the base and the motion table, and the DC motor is connected with the ball screw driving mechanism through a transmission mechanism.

As a further improvement of the present invention:

The ball screw driving mechanism includes a matched screw and a screw nut, the screw is installed on the base in a unilaterally supported manner through a bearing assembly, and the screw nut is connected to the motion table through a nut adapter seat connected.

The bearing assembly includes a bearing seat fixedly connected to the base, and the screw rod is installed in the bearing seat through two angular contact ball bearings arranged side by side.

The transmission mechanism is a synchronous belt transmission mechanism or a full-circle rolled ultra-thin steel belt transmission mechanism; the synchronous belt transmission mechanism includes a synchronous belt and two pulleys matched with the synchronous belt, and the two pulleys are respectively connected to the DC The output shaft of the motor is connected with the screw rod of the ball screw drive mechanism.

The positioning platform also includes a pre-tensioning mechanism for pre-tensioning the synchronous belt. The pre-tensioning mechanism includes a swing rod and an adjusting screw. One end of the swing rod is hinged on the base, and the other end of the swing rod is set There is a pinch wheel against the synchronous belt, the pinch wheel is a rolling bearing, the base is provided with a threaded hole, and the adjusting screw is fitted in the threaded hole and offset against the middle of the swing rod.

The base includes a seat body and two side cover plates, the seat body is provided with a U-shaped through groove, and the two side cover plates are respectively connected to the two ends of the U-shaped through groove through fasteners to form the accommodating cavity; One of the side cover plates is provided with an electrical connector and an adjustment knob connected with the screw rod for manually adjusting the sliding position of the motion table.

The DC motor is a dual-axis output DC motor, and a DC speed measuring machine is installed on the end shaft of the dual-axis output DC motor.

Bolt mounting holes are provided on the moving platform; both the base and the moving platform are made of aviation aluminum.

As a general technical concept, the present invention also provides a three-dimensional motion system, including an X-axis positioning platform, a Y-axis positioning platform, a Z-axis positioning platform and a working table, the X-axis positioning platform, Y-axis positioning platform and Z-axis positioning platform The positioning platforms are all the positioning platforms described in any one of the above claims to, the base of the Y-axis positioning platform is installed on the motion table of the X-axis positioning platform, and the base of the Z-axis positioning platform is connected with the The motion table of the Y-axis positioning platform is connected, and the work surface is connected with the motion table of the Z-axis positioning platform; the Z-axis positioning platform is located on one side of the X-axis positioning platform and the Y-axis positioning platform, and the movement of the Z-axis positioning platform The middle position of the table corresponds to the junction of the X-axis positioning platform and the Y-axis positioning platform, and the working table is located on the side of the Y-axis positioning platform relative to the X-axis positioning platform and is set near the motion table of the Y-axis positioning platform.

In the above-mentioned three-dimensional motion system, preferably, the adapter part includes two connection plates respectively connected to both sides of the motion table of the Y-axis positioning platform, and each connection plate is provided with an L-shaped joint connected to the motion table of the Y-axis positioning platform. The connection part, the L-shaped connection part is extended to form a vertical plate part, the plane where the vertical plate part is located is perpendicular to the X-axis, and the Z-axis positioning platform is fixed to the two connecting plates through the fixed bottom plate and fasteners. Between the risers; the worktable includes an integrally connected installation panel and a connection panel, the connection panel is connected to the motion table of the Z-axis positioning platform, and the installation panel is parallel to the motion table of the Z-axis positioning platform.

Compared with the prior art, the advantage of the present invention is that the high-precision positioning platform driven by a DC motor is a sub-micron high-precision positioning platform, which adopts a moving table and is slid on the base through a cross ball guide rail. It cooperates with the accommodating cavity of the base to form a closed space. The driving device is installed in the closed space. The driving device adopts a DC motor as the driving part. At the same time, a grating ruler for detecting the sliding position of the moving table and a A photoelectric limit switch that limits the sliding travel of the motion table. On the one hand, components such as the drive device, grating ruler and photoelectric limit switch are located in a closed space, which can be effectively protected and can avoid interference with other components during the working process; on the other hand, the structure of the positioning platform is simple It is compact, stable and reliable in operation, low in production cost, small in operation damping, and high in motion precision. When used in small device processing equipment in the optoelectronic field, it can greatly improve the compactness of the overall structure of the equipment and improve the overall accuracy of the equipment; moreover, The positioning platform is driven by a DC motor, which has the advantages of low cost and sensitive response. Combined with PID and other control algorithms, it is very suitable for the field of precision motion positioning. The structure of the three-dimensional motion system of the present invention is simple and compact, and the overall height of the system is greatly reduced, which is beneficial to improving the overall precision of the system after construction.

Description of drawings

Fig. 1 is the three-dimensional structure diagram of the positioning platform adopting the experimental panel type table top in the present invention.

Fig. 2 is a schematic diagram of the three-dimensional structure of the positioning platform adopting the transfer table in the present invention.

Fig. 3 is a top structural schematic view of the positioning platform of the present invention after removing the moving platform.

Fig. 4 is a schematic diagram of the three-dimensional structure of the positioning platform of the present invention after removing the moving platform.

Fig. 5 is a schematic cross-sectional structure diagram of the positioning platform of the present invention at the screw driving mechanism.

Fig. 6 is a schematic side view of the positioning platform of the present invention.

Fig. 7 is a schematic diagram of the three-dimensional structure of the three-dimensional motion system of the present invention.

FIG. 8 is a schematic perspective view of the three-dimensional motion system of the present invention from another perspective.

Fig. 9 is a schematic diagram of the three-dimensional structure of the connecting plate in the three-dimensional motion system of the present invention.

Fig. 10 is a schematic diagram of the three-dimensional structure of the fixed base plate in the three-dimensional motion system of the present invention.

Fig. 11 is a schematic diagram of the three-dimensional structure of the working table in the three-dimensional motion system of the present invention.

Fig. 12 is a schematic diagram of the exploded structure of the three-dimensional motion system of the present invention.

illustration:

1. Base; 11. Accommodating cavity; 12. Base body; 13. Side cover; 2. Motion table; 21. Bolt mounting holes; 3. Cross ball guide rail; 4. Driving device; 41. DC motor; 42. Screw rod; 43, screw nut; 44, nut adapter seat; 45, bearing seat; 46, angular contact ball bearing; 47, synchronous belt transmission mechanism; 471, synchronous belt; 472, pulley; 48, pretension mechanism ;481, swing rod; 482, adjusting screw; 483, pressing wheel; 49, adjusting knob; 5, scale; 6, photoelectric limit switch; 7, DC speed measuring machine; ; 811, L-shaped connection part; 812, vertical plate part; 82, fixed bottom plate; 901, X-axis positioning platform; 902, Y-axis positioning platform; 903, Z-axis positioning platform; 904, work table; 9041, installation panel; 9042, connection panel; 10, electrical connector.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 6, the present invention is based on a high-precision positioning platform driven by a DC motor, including a base 1 and a moving table 2. The base 1 is provided with a recessed accommodation cavity 11, and the moving table 2 passes through two Two cross ball guide rails 3 are slidably arranged on the base 1, and the moving table 2 can slide along the guiding direction of the cross ball guide rail 3, and the moving table 2 is located at the opening end of the accommodation cavity 11 to form a closed space, and the closed space is provided with a The driving device 4 that drives the moving table 2 to slide back and forth, the grating ruler 5 used to detect the sliding position of the moving table 2, and the photoelectric limit switch 6 used to limit the sliding stroke of the moving table 2, the grating ruler 5 and the photoelectric limit switch 6 are respectively located in Both sides of the base 1 are prior art. When the moving table 2 moves, the moving scale of the grating ruler 5 and the stopper of the photoelectric limit switch 6 move together with the moving table 2, thereby completing the feedback of the displacement and the stroke limit. bit. The driving device 4 includes a DC motor 41 and a ball screw drive mechanism, the ball screw drive mechanism is connected between the base 1 and the motion table 2, the DC motor 41 is connected with the ball screw drive mechanism through a transmission mechanism, and the DC motor 41 is connected through the transmission mechanism It can drive the ball screw drive mechanism to move, and then drive the motion table 2 to reciprocate and slide, so as to realize high-precision translational positioning.

The present invention is based on a high-precision positioning platform driven by a DC motor. The motion table 2 is slid on the base 1 through the cross ball guide rail 3, and cooperates with the accommodating cavity 11 of the base 1 to form a closed space. The driving device 4 is installed in the closed space. In the space, the driving device 4 adopts a DC motor 41 as a driving member, and a grating ruler 5 for detecting the sliding position of the moving table 2 and a photoelectric limit switch 6 for limiting the sliding stroke of the moving table 2 are provided in the closed space. On the one hand, components such as the driving device 4, the grating ruler 5 and the photoelectric limit switch 6 are located in a closed space, which can be effectively protected and can avoid interference with other components during the working process; on the other hand, the positioning platform The structure is simple and compact, the operation is stable and reliable, the production cost is low, the operation damping is small, and the motion precision is high. When used in small device processing equipment in the optoelectronic field, it can greatly improve the compactness of the overall structure of the equipment and reduce the installation accuracy requirements of the equipment. And improve the overall accuracy of the equipment after installation; moreover, the positioning platform is driven by a DC motor 41, which has the advantages of low cost and sensitive response, and is very suitable for the field of precision motion positioning when combined with control algorithms such as PID.

In this embodiment, as shown in FIG. 5 , the ball screw driving mechanism includes a matched screw 42 and a screw nut 43 , the screw 42 is installed on the base 1 in a unilaterally supported manner through a bearing assembly, and the screw The nut 43 is connected and fixed with the motion table 2 through the nut adapter 44 . The bearing assembly includes a bearing seat 45 fixed on the base 1, and the screw 42 is installed in the bearing seat 45 through two angular contact ball bearings 46 arranged side by side. This kind of unilateral support installation method not only increases the compactness of the structure It also reduces the installation accuracy requirements of the ball screw drive mechanism. The DC motor 41 is installed on the base 1 parallel to the screw mandrel 42 through the motor seat, and the transmission mechanism is a synchronous belt transmission mechanism 47 or a full-circle rolling ultra-thin steel belt transmission mechanism; The belt transmission mechanism 47 includes a synchronous belt 471 and two pulleys 472 matched with the synchronous belt 471. The two pulleys 472 are respectively connected to the output shaft of the DC motor 41 and the screw rod 42 of the ball screw drive mechanism, and realize DC Motor 41 to the reduction ratio transmission of screw mandrel 42. When working, the DC motor 41 drives the screw rod 42 to rotate correspondingly through the matching synchronous belt 471 and the pulley 472, and the screw rod 42 makes the screw nut 43 reciprocate and linearly move along its axis direction, and then can be driven by the nut adapter seat 44 to move The table top 2 makes a reciprocating linear motion correspondingly.

In this embodiment, the positioning platform also includes a pretension mechanism 48 for pretensioning the synchronous belt 471. As shown in FIG. On the base 1, the other end of the swing rod 481 is provided with a pinch wheel 483 which is offset against the timing belt 471. The pinch wheel 483 is a rolling bearing, and the base 1 is provided with a threaded hole, and the adjusting screw 482 is fitted in the threaded hole and Offset with the middle part of fork 481. Turning the adjusting screw 482 can adjust the swing angle of the swing rod 481, and then adjust the pressing force of the pressing wheel 483 on the timing belt 471, so as to realize the pre-tightening of the timing belt 471. The lever-type pretensioning mechanism 48 is simple in structure, convenient to adjust, and stable and reliable in action.

In this embodiment, the base 1 includes a seat body 12 and two side cover plates 13, the seat body 12 is provided with a U-shaped through groove, and the two side cover plates 13 are respectively connected to both ends of the U-shaped through groove through fasteners, Two side cover plates 13 seal the two ends of the U-shaped through groove to form an accommodating cavity 11; one of the side cover plates 13 is provided with an electrical connector 10 and an adjustment knob 49, and the adjustment knob 49 passes through the side cover plate 13 and the wire The ends of the rod 42 are connected, and the screw rod 42 can be rotated by adjusting the knob 49, thereby realizing manual adjustment of the sliding position of the moving table 2.

In the present embodiment, the DC motor 41 is a dual-shaft output DC motor, and a DC tachometer 7 is installed on the terminal shaft of the dual-axis output DC motor, that is, the dual-axis output DC motor has a front shaft and a terminal shaft, and the front shaft passes through a synchronous belt. The transmission mechanism 47 is connected with the ball screw driving mechanism, and the DC tachometer 7 is installed on the end shaft, and the DC tachometer 7 can detect and feed back the running speed of the DC motor 41 .

In this embodiment, bolt mounting holes 21 are provided on the moving platform 2, and the number and opening positions of the bolt mounting holes 21 are determined according to actual conditions. The motion table 2 can be either an experimental panel type table or a transfer type table. When the motion table 2 is an experimental panel type table, the number of bolt installation holes 21 is relatively large, including bolt installation for positioning between platforms. Holes 21 and bolt mounting holes 21 for connecting other peripheral components, and the board surface is thicker; when the moving table 2 is a transfer table, only the bolt mounting holes 21 for installation between positioning platforms are provided That is, the board surface can be set to be thinner. Above-mentioned base 1 and motion platform 2 are aviation aluminum parts.

As shown in Figures 7 to 12, the three-dimensional motion system of the present invention includes an X-axis positioning platform 901, a Y-axis positioning platform 902, a Z-axis positioning platform 903 and a worktable 904, an X-axis positioning platform 901, and a Y-axis positioning platform 902 and the Z-axis positioning platform 903 are the above-mentioned positioning platforms. The base 1 of the Y-axis positioning platform 902 is installed on the motion table 2 of the X-axis positioning platform 901, the base 1 of the Z-axis positioning platform 903 is connected to the motion table 2 of the Y-axis positioning platform 902 through the adapter part 8, and the work table 904 is connected to the motion table 2 of the Y-axis positioning platform 902. The motion table 2 of the Z-axis positioning platform 903 is connected; the Z-axis positioning platform 903 is located on one side of the X-axis positioning platform 901 and the Y-axis positioning platform 902, and the middle position of the motion table 2 of the Z-axis positioning platform 903 is in line with the X-axis positioning platform. 901 corresponds to the connection of the Y-axis positioning platform 902 , and the worktable 904 is located on the side of the Y-axis positioning platform 902 relative to the X-axis positioning platform 901 and is set close to the motion table 2 of the Y-axis positioning platform 902 .

When the X-axis positioning platform 901 moves, drive the Y-axis positioning platform 902, the Z-axis positioning platform 903 and the worktable 904 to move together along the X-axis direction, and when the Y-axis positioning platform 902 moves, drive the Z-axis positioning platform 903 and the worktable 904 move together along the Y-axis direction, when the Z-axis positioning platform 903 moves, the drive table 904 moves along the Z-axis direction, correspondingly control the movement of the X-axis positioning platform 901, the Y-axis positioning platform 902 and the Z-axis positioning platform 903, and then Realize the three-dimensional movement of the driving table 904 and the positioning in the three-dimensional space. Obviously, there should be enough clearance between the Z-axis positioning platform 903 and the X-axis positioning platform 901 to ensure that there will be no interference during the Y-axis movement. There should also be enough clearance to ensure that no interference occurs when making Z-axis motion.

In this three-dimensional motion system, the Z-axis positioning platform 903 is located on one side of the X-axis positioning platform 901 and the Y-axis positioning platform 902, and the middle position of the motion table 2 of the Z-axis positioning platform 903 is aligned with the X-axis positioning platform 901 and the Y-axis positioning platform. Corresponding to the connection of 902, the entire three-dimensional motion system has a spatial layout similar to the "pin" font, which greatly reduces the overall height of the system, and the system is more compact in structure and takes up less space, which is also conducive to improving At the same time, the worktable 904 is located on the side of the Y-axis positioning platform 902 relative to the X-axis positioning platform 901, and the worktable 904 is set close to the motion table 2 of the Y-axis positioning platform 902, which further improves the compactness of the system structure .

In this embodiment, as shown in Fig. 9 and Fig. 10, the adapter part 8 includes two connecting plates 81 respectively connected to the two sides of the motion table 2 of the Y-axis positioning platform 902, each connecting plate 81 is provided with a Y-axis positioning The L-shaped connecting portion 811 connected to the moving platform 2 of the platform 902, the L-shaped connecting portion 811 is extended to form a vertical plate portion 812, the plane where the vertical plate portion 812 is located is perpendicular to the X-axis, and the Z-axis positioning platform 903 passes through the fixed base plate 82 and the tight The firmware is fixed between the vertical plate portions 812 of the two connecting plates 81 . As shown in Figure 11, the motion table 2 includes an integrally connected installation panel 9041 and a connection panel 9042, wherein the installation panel 9041 and the connection panel 9042 are perpendicular to each other, and the connection panel 9042 is connected to the motion table 2 of the Z-axis positioning platform 903, which Located between the motion table 2 of the Z-axis positioning platform 903 and the X-axis positioning platform 901 and the Y-axis positioning platform 902 , the installation panel 9041 is parallel to the motion table 2 of the Z-axis positioning platform 903 .

The above descriptions are only preferred implementations of the present invention, and the scope of protection of the present invention is not limited to the above examples. For those skilled in the art, improvements and transformations obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims (8)

1. A high-precision positioning platform driven by a DC motor, including a base (1) and a moving table (2), characterized in that: the base (1) is provided with a concave accommodation cavity (11), the The motion table (2) is slid on the base (1) through two cross ball guide rails (3) on both sides, and the motion table (2) is located at the opening end of the accommodation chamber (11) to form a closed space, the The closed space is provided with a driving device (4) for driving the moving table (2) to slide back and forth, a grating ruler (5) for detecting the sliding position of the moving table (2), and a photoelectric sensor for limiting the sliding stroke of the moving table (2). limit switch (6), the drive device (4) includes a DC motor (41) and a ball screw drive mechanism connected between the base (1) and the motion table (2), the DC motor (41) passes The transmission mechanism is connected with the ball screw drive mechanism; the ball screw drive mechanism includes a matched screw (42) and a screw nut (43), and the screw (42) is unilaterally supported by a bearing assembly. The screw nut (43) is connected to the motion table (2) through the nut adapter (44); the transmission mechanism is a synchronous belt transmission mechanism (47) or a super Thin steel belt transmission mechanism; the synchronous belt transmission mechanism (47) includes a synchronous belt (471) and two pulleys (472) matched with the synchronous belt (471), and the two pulleys (472) are respectively connected with The output shaft of the DC motor (41) is connected to the screw mandrel (42) of the ball screw drive mechanism. 2. The positioning platform according to claim 1, characterized in that: the bearing assembly includes a bearing seat (45) fixed on the base (1), and the screw rod (42) passes through two corners arranged side by side. The contact ball bearing (46) is installed in the bearing seat (45). 3. The positioning platform according to claim 1, characterized in that: the positioning platform further includes a pretensioning mechanism (48) for pretensioning the synchronous belt (471), and the pretensioning mechanism (48) includes Swing rod (481) and adjusting screw (482), one end of the swing rod (481) is hinged on the base (1), and the other end of the swing rod (481) is provided with a pressing force against the timing belt (471). The pinch wheel (483), the pinch wheel (483) is a rolling bearing, the base (1) is provided with a threaded hole, and the adjusting screw (482) is fitted in the threaded hole and connected with the swing rod (481 ) offset in the middle. 4. The positioning platform according to claim 1, characterized in that: the base (1) includes a seat body (12) and two side cover plates (13), and the seat body (12) is provided with a U-shaped through The two side cover plates (13) are respectively connected to the two ends of the U-shaped through groove by fasteners to form the accommodating cavity (11); one of the side cover plates (13) is equipped with an electrical connector (10) And the adjustment knob (49) that is used to manually adjust the sliding position of the motion table (2) that links to each other with the screw mandrel (42). 5. The positioning platform according to claim 1, characterized in that: the DC motor (41) is a dual-axis output DC motor, and a DC speed measuring machine (7) is installed on the end shaft of the dual-axis output DC motor. 6. The positioning platform according to claim 1, characterized in that: bolt mounting holes (21) are provided on the moving table (2); the base (1) and the moving table (2) are made of aviation aluminum parts. 7. A three-dimensional motion system, characterized in that it includes an X-axis positioning platform (901), a Y-axis positioning platform (902), a Z-axis positioning platform (903) and a working table (904), and the X-axis positioning platform ( 901), the Y-axis positioning platform (902) and the Z-axis positioning platform (903) are all positioning platforms described in any one of claims 1 to 6, and the base (1) of the Y-axis positioning platform (902) Installed on the motion table (2) of the X-axis positioning platform (901), the base (1) of the Z-axis positioning platform (903) is connected with the motion table ( 2) connected, the worktable (904) is connected with the motion table (2) of the Z-axis positioning platform (903); the Z-axis positioning platform (903) is located between the X-axis positioning platform (901) and the Y-axis positioning platform ( 902), and the middle position of the motion table (2) of the Z-axis positioning platform (903) corresponds to the connection between the X-axis positioning platform (901) and the Y-axis positioning platform (902), and the working table ( 904) The Y-axis positioning platform (902) is located on one side of the X-axis positioning platform (901) and close to the motion table (2) of the Y-axis positioning platform (902). 8. The three-dimensional motion system according to claim 7, characterized in that: the adapter part (8) includes two connecting plates ( 81), each connecting plate (81) is provided with an L-shaped connecting part (811) connected with the moving table (2) of the Y-axis positioning platform (902), and the L-shaped connecting part (811) is extended to form a vertical plate part (812), the plane where the vertical plate (812) is located is perpendicular to the X-axis, and the Z-axis positioning platform (903) is fixed to the two connecting plates (81) through the fixed bottom plate (82) and fasteners Between the vertical boards (812); the worktable (904) includes an integrally connected installation panel (9041) and a connection panel (9042), and the movement of the connection panel (9041) and the Z-axis positioning platform (903) The table (2) is connected, and the installation panel (9042) is parallel to the motion table (2) of the Z-axis positioning platform (903).