CN108957674A - Five degree of freedom motion platform support device - Google Patents

Abstract

The five-degree-of-freedom motion platform support device belongs to the technical field of mechanical equipment. In order to solve the problems of the existing motion platform with single form, small load bearing and low degree of freedom of the mechanism, the device's first guide rail pair, second guide rail pair and ball screw The two ends of the ball screw of the pair are connected to the base through the first bearing seat and the second bearing seat, and the support plate is installed on the sliders of the first guide rail pair and the second guide rail pair, and is connected with the nut of the ball screw pair at the same time. connection; the lower support seat is fixed on the support plate in the vertical direction, the rotating platform is fixed on the lower support seat, the upper support seat is fixed on the rotating platform, and the upper end of the upper support seat is connected with the first cross universal direction The other end of the first cross universal joint is fixedly connected with the turning platform, the turning platform has a bushing on the upper end surface, and the guide shaft of the vertical translation platform is arranged in the turning platform bushing; the present invention improves the degree of freedom of the mechanism At the same time, it also greatly increases the load that the mechanism can bear.

Description

Five degrees of freedom motion platform support device

technical field

The invention relates to the technical field of mechanical equipment, in particular to a five-degree-of-freedom motion platform support device.

Background technique

In the process of debugging the optical path of large optical components, it is often necessary to adjust the position of the optical components in certain directions and rotate them to a specific angle.

The Chinese patent publication number is "CN107791216A", and the patent name is "a rotary translation device". The device realizes the horizontal movement of the mobile platform through the cylinder driving the bottom plate, and at the same time installs a rotary table on the mobile platform to realize the rotary motion. But this device can only carry out translation and rotation, can't realize the inclination of table top at a certain angle, and the load that can bear is relatively small.

Contents of the invention

The present invention provides a five-degree-of-freedom motion platform supporting device and method for solving the problems of single form, small load bearing and low degree of freedom of mechanism in the existing motion platform.

The technical scheme that the present invention adopts for solving technical problems is as follows:

The five-degree-of-freedom motion platform support device is characterized in that the device includes: a base, a horizontal translation platform, a lower support base, a rotating platform, an upper support base, a first cross universal joint, an overturning platform and a vertical displacement platform; The horizontal translation stage includes: the first guide rail pair, the second guide rail pair, the ball screw pair, the support plate, the first servo motor, the first bearing seat and the second bearing seat; the first guide rail pair, the second guide rail pair and the ball screw The two ends of the ball screw of the bar pair are connected to the base through the first bearing seat and the second bearing seat, and the support plate is installed on the sliders of the first guide rail pair and the second guide rail pair, and is connected with the nut of the ball screw pair connected; the lower support seat is fixed on the support plate in the vertical direction, the rotating platform is fixed on the lower support seat, the upper support seat is fixed on the rotating platform, and the upper end of the upper support seat is connected with the first cross ten thousand The knuckles are fixedly connected, the other end of the first cross universal joint is fixedly connected with the turning platform, the turning platform has a bushing on the upper end surface, and the guide shaft of the vertical translation platform is arranged in the turning platform bushing.

The beneficial effects of the present invention are:

The invention improves the degree of freedom of the mechanism and makes the adjustment of the mechanism more flexible by arranging a horizontal translation platform, a rotating platform and a vertical displacement guide shaft. By using the electric cylinder to push the single arm of the cross member to realize the flip and pitch of the motion platform, the degree of freedom of the mechanism is improved, and the load that the mechanism can bear is also greatly improved.

Description of drawings

Fig. 1 is a structural schematic diagram of a five-degree-of-freedom motion platform supporting device of the present invention.

Fig. 2 is a front view of Fig. 1 .

Fig. 3 is a structural schematic diagram of the horizontal translation platform and the rotary platform of the present invention.

Fig. 4 is a structural schematic diagram of the inversion platform of the present invention.

Fig. 5 is a schematic diagram of the structure of the vertical displacement platform of the present invention.

In the figure: 1. Base, 2. Horizontal translation platform, 2-1, first guide rail pair, 2-2, second guide rail pair, 2-3, ball screw pair, 2-4, support plate, 2-5 , The first servo motor, 2-6, the first bearing seat, 2-7, the second bearing seat, 3, the lower support seat, 3-1, the lower support seat flange, 3-2, the lower support seat connecting plate , 3-3, the connecting column of the lower support seat, 4, the rotating platform, 4-1, the second servo motor, 5, the upper support seat, 5-1, the first support plate of the upper support seat, 5-2, the upper support seat The second support plate, 5-3, the connecting column of the upper support seat, 6, the first cross universal joint, 7, the turning platform, 7-1, the second cross universal joint, 7-2, the third cross universal joint , 7-3, the fourth cross universal joint, 7-4, the fifth cross universal joint, 7-5, the first electric cylinder, 7-6, the second electric cylinder, 7-7, bushing, 7- 8. The cross-shaped member of the flip platform, 8. The vertical translation platform, 8-1, the third electric cylinder, 8-2, the fourth electric cylinder, 8-3, the cross-shaped member of the vertical translation platform, 8-4, the vertical The fixed end of the guide shaft of the linear translation stage, 8-5, the guide shaft of the vertical translation platform.

Detailed ways

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

As shown in Figures 1 and 2, the supporting device for the five-degree-of-freedom motion platform includes: a base 1, a horizontal translation platform 2, a lower support base 3, a rotating platform 4, an upper support base 5, the first cross universal joint 6, and an overturning platform 7 and vertical displacement stage 8.

The horizontal translation platform 2 includes: a first guide rail pair 2-1, a second guide rail pair 2-2, a ball screw pair 2-3, a support plate 2-4, a first servo motor 2-5, and a first bearing seat 2-6, the second bearing seat 2-7. Both ends of the ball screw of the first guide rail pair 2-1, the second guide rail pair 2-2 and the ball screw pair 2-3 are connected to the base 1 through the first bearing seat 2-6 and the second bearing seat 2-7 , the support plate 2-4 is installed on the sliders of the first guide rail pair 2-1 and the second guide rail pair 2-2, and is connected with the nut of the ball screw pair 2-3 at the same time. The lower support base 3 is fixed on the support plate 2-4 along the vertical direction, the rotary platform 4 is fixed on the lower support base 3, the upper support base 5 is fixed on the rotary platform 4, and the upper support base 5 The upper end is fixedly connected with the first cross universal joint 6, and the other end of the first cross universal joint 6 is fixedly connected with the turning platform 7, and the turning platform 7 has a shaft sleeve on the upper surface, and the guide shaft of the vertical translation platform 8 is arranged on the turning platform 7 shaft sleeve.

The first guide rail pair 2-1 and the second guide rail pair 2-2 are selected from THK-SNR series, and the model is SNR45-LCH-1-QZ.

The ball screw pair 2-3 is THK-BNK series, and the model is BNK-1208-2.6RG2+380LC7Y.

As shown in FIG. 3 , the lower support base 3 includes: a flange 3-1, a connecting plate 3-2 and a connecting column 3-3. The lower end of the flange 3-1 is connected to the support plate 2-4, and the upper end is fixedly connected to the connecting column 3-3. The connecting plate 3-2 is arranged in parallel with the flange plate 3-1. The lower end of the connecting plate 3-2 is connected with the connecting column 3-3, and the upper end is connected with the rotating platform 4.

The upper end of the rotating platform 4 is connected with the lower end surface of the upper supporting seat 5, and the rotation of the rotating platform 4 can drive all parts on it to rotate.

The rotary platform 4 is selected from Beiguang New Century MRS101 electric control rotary platform.

The upper support base 5 includes a first support plate 5-1, a second support plate 5-2 and a connecting column 5-1; the first support plate 5-1 and the second support plate 5-2 are welded vertically to each other along the horizontal direction and connected Column 5-1 on.

As shown in Figure 4, the turning platform 7 includes: the second cross universal joint 7-1, the third cross universal joint 7-2, the fourth cross universal joint 7-3, and the fifth cross universal joint 7-4 , the first electric cylinder 7-5, the second electric cylinder 7-6, the shaft sleeve 7-7 and the first cross member 7-8. The lower end of the turning platform 7 is connected with the upper supporting seat 5 through the first cross universal joint 6 . The second cross universal joint 7-1 and the third cross universal joint 7-2 are respectively connected to both ends of the first electric cylinder 7-5, and the upper end of the second cross universal joint 7-1 is connected to the first cross member 7 On a single arm of -8, the lower end of the third cross universal joint 7-2 is connected to the first support plate 5-1. In the same way, the fourth cross universal joint 7-3, the fifth cross universal joint 7-4 and the second electrical cylinder 7-6 are installed between the turning platform 7 and the upper support seat 5 in the same installation manner.

As shown in Figure 5, the vertical displacement table 8 includes: a third electric cylinder 8-1, a fourth electric cylinder 8-2, a second cross member 8-3, a fixed end of the guide shaft 8-4 and a guide shaft 8- 5. The cylinder blocks of the third electric cylinder 8-1 and the fourth electric cylinder 8-2 are all connected to the cross member 7-8, and the cylinder push rods are all connected on the second cross member 8-3, so that the vertical displacement platform 8 Can move vertically. The guide shaft 8-5 is fixedly installed on the fixed end 8-4 of the guide shaft to provide guidance for the movement of the vertical displacement table 8.

Specific work process

One end of the lead screw of the ball screw pair 2-3 is connected to the first servo motor 2-5, and the rotation of the motor drives the ball screw pair 2-3 to move, so that the support plate 2-4 moves along the direction of the guide rail, thereby driving the horizontal All parts on the translation platform 2 move to realize the freedom of the movement platform in one moving direction.

The rotation of the motor on the rotary platform 4 drives the upper end surface of the rotary platform to rotate. The upper support base 5 connected thereto is rotated around its axis direction, thereby driving the turning platform 7 and the vertical displacement platform 8 to rotate, and realizing a rotational degree of freedom of the motion platform.

The first electric cylinder 7-5 acts to push a single arm of the first cross member 7-8 connected to it to rotate around the first cross universal joint 6 . Similarly, the second electric cylinder 7-6 moves to push the other single arm of the first cross-shaped member 7-8 connected to it to rotate around the first cross universal joint 6 to realize two rotational degrees of freedom of the motion platform.

The third electric cylinder 8-1 and the fourth electric cylinder 8-2 act at the same time, driving the cross-shaped member 8-3 of the vertical displacement table to move along the axis direction of the guide shaft 8-4, realizing the degree of freedom of the motion platform in another moving direction .

Claims (5)

1. The five-degree-of-freedom motion platform support device is characterized in that the device includes: a base (1), a horizontal translation platform (2), a lower support base (3), a rotating platform (4), an upper support base (5), The first cross universal joint (6), the turning platform (7) and the vertical displacement platform (8); The horizontal translation platform (2) includes: a first guide rail pair (2-1), a second guide rail pair (2-2), a ball screw pair (2-3), a support plate (2-4), a first Servo motor (2-5), first bearing seat (2-6) and second bearing seat (2-7); first guide rail pair (2-1), second guide rail pair (2-2) and ball wire The two ends of the ball screw of the bar pair (2-3) are connected on the base (1) through the first bearing seat (2-6) and the second bearing seat (2-7), and the support plate (2-4) is installed on the The sliders of the first guide rail pair (2-1) and the second guide rail pair (2-2) are connected with the nuts of the ball screw pair (2-3) at the same time; The lower support base (3) is fixed on the support plate (2-4) in the vertical direction, the rotating platform (4) is fixed on the lower support base (3), and the upper support base (5) is fixed on the rotating On the platform (4), the upper end of the upper support seat (5) is fixedly connected to the first cross universal joint (6), and the other end of the first cross universal joint (6) is fixedly connected to the turning platform (7), There is an axle sleeve on the upper end surface of the overturning platform (7), and the guide shaft of the vertical translation platform (8) is arranged in the overturning platform (7) axle sleeve. 2. The five-degree-of-freedom motion platform support device according to claim 1, characterized in that, the lower support base (3) comprises: a flange (3-1), a connecting plate (3-2) and a connecting column (3-3); the lower end of the flange (3-1) is connected to the support plate (2-4), and the upper end is fixedly connected to the connecting column (3-3); the connecting plate (3-2) and the flange (3-1) are arranged in parallel; the lower end of the connecting plate (3-2) is connected with the connecting column (3-3), and the upper end is connected with the rotating platform (4). 3. The five-degree-of-freedom motion platform support device according to claim 1, characterized in that the upper support seat (5) includes a first support plate (5-1), a second support plate (5-2) and a connecting column (5-1); the first support plate (5-1) and the second support plate (5-2) are welded on the connecting column (5-1) perpendicular to each other along the horizontal plane direction. 4. The five-degree-of-freedom motion platform support device according to claim 3, characterized in that, the turning platform (7) comprises: the second cross universal joint (7-1), the third cross universal joint (7-2 ), the fourth cross universal joint (7-3), the fifth cross universal joint (7-4), the first electric cylinder (7-5), the second electric cylinder (7-6), the bushing (7 -7) and the first cross member (7-8); the second cross universal joint (7-1) and the third cross universal joint (7-2) are respectively connected to the first electric cylinder (7-5) Both ends, the upper end of the second cross universal joint (7-1) is connected to a single arm of the first cross member (7-8), and the lower end of the third cross universal joint (7-2) is connected to the first support plate (5-1); similarly, the fourth cross universal joint (7-3), the fifth cross universal joint (7-4) and the second electric cylinder (7-6) are installed in the same way Between the turning platform (7) and the upper support seat (5). 5. The five-degree-of-freedom motion platform supporting device according to claim 1, wherein the vertical displacement table (8) comprises a third electric cylinder (8-1), a fourth electric cylinder (8-2), a first electric cylinder Two cruciform components (8-3), guide shaft fixed end (8-4) and guide shaft (8-5); the cylinder body of the third electric cylinder (8-1) and the fourth electric cylinder (8-2) are all Connected to the cross-shaped member (7-8), the cylinder push rod is connected to the second cross-shaped member (8-3), so that the vertical displacement table (8) can move in the vertical direction; the guide shaft (8- 5) It is fixedly installed on the fixed end (8-4) of the guide shaft to provide guidance for the movement of the vertical displacement table (8).