CN105099072A - Two-motor drive mobile device - Google Patents
Two-motor drive mobile device Download PDFInfo
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- CN105099072A CN105099072A CN201510599804.2A CN201510599804A CN105099072A CN 105099072 A CN105099072 A CN 105099072A CN 201510599804 A CN201510599804 A CN 201510599804A CN 105099072 A CN105099072 A CN 105099072A
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Abstract
The invention discloses a two-motor drive mobile device, and belongs to the technical field of smelting equipment. The mobile device has the advantages of relatively high carrying capacity, relatively high running speed, relatively high running acceleration, relatively stable dynamic property, relatively high impact resistance, relatively compact overall structure and relatively high running accuracy. According to the two-motor drive mobile device, a bracket is arranged on a fixed plane; both guide rails and rotary motion-linear motion transformation mechanisms are arranged on the brackets; two pairs of guide rails are arranged in parallel along the length direction of the bracket; two rotary motion-linear motion transformation mechanisms are arranged in parallel along the length direction of the bracket; a plurality of guide wheels are arranged at the bottom of the mobile platform; two drive motors are arranged at the top of the mobile platform; the guide wheels are attached to the guide rails; each drive motor is articulated with individual rotary motion-linear motion transformation mechanisms respectively; and the two drive motors move reversely and synchronously. The two-motor drive mobile device is used for bearing the smelting equipment.
Description
Technical field
The present invention relates to a kind of mobile device, belong to smelting equipment technical field.
Background technology
Common mobile device generally adopts single-power to drive, actuating force is arranged in moving parts side, then opposite side is free state, a torsional moment can be applied on moving parts when moving parts acceleration and deceleration, the trouble-free operation of impede motion assembly, also there is very large challenge, and the power-actuated actuating force of single action is limited to guiding mechanism and moving parts, the volume of driver may be increased while increasing actuating force, be not easy to install and structural design.
Summary of the invention
Give hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
Given this, according to an aspect of the present invention, provide a kind of double dynamical driving mobile device, at least to make mobile device have larger bearing capacity, the higher speed of service, larger operation acceleration, more stable dynamic property, larger impact resistance, compacter overall structure, higher running precision.
The double dynamical driving mobile device that the present invention proposes, comprises support, guide rail, rotary motion-linear motion conversion mechanism, directive wheel, mobile platform and drive motors; Support installing is on fixed pan, and guide rail and rotary motion-linear motion conversion mechanism are installed on support; Multiple directive wheel is installed bottom mobile platform, the top of mobile platform is provided with two drive motors, directive wheel is fitted on guide rail, and rotary motion-linear motion conversion mechanism is hinged respectively with independently for each drive motors, two drive motors oppositely, be synchronized with the movement.
In the program, double dynamical driving mobile device adopts Dual Drive motor to drive, each drive motors connects with independently rotary motion-linear motion conversion mechanism respectively, Dual Drive motor adopts more advanced synchronous control technique, be synchronized with the movement, sync equalizing is exerted oneself, automatic deviation correction, overall driving force strengthens, compact conformation, avoids single motor-driven unbalance loading problem, improves the dynamic property of mobile platform motion simultaneously.
In the program, the guiding rail of double dynamical driving mobile device adopts two closed slide mechanism, effectively can offset the turning moment because complicated applied force situation produces, ensure the fluency that mobile platform seesaws, without clamping stagnation, higher requirement is also proposed to the installation accuracy of guide rail simultaneously.
Further: the directive wheel bottom mobile platform is divided into upper and lower two parts, the directive wheel on top and fitting above of guide rail, fit in the directive wheel of bottom and the lower surface of support upper rail installation portion.The directive wheel on top mainly plays guide effect, and the directive wheel of bottom plays the effect of equilibrium torsion moment.
Further: described rotary motion-linear motion conversion mechanism comprises tooth bar, tooth bar is two and is arranged in parallel, and each drive motors is all connected with a gear by decelerator, and gear engages with corresponding tooth bar.The rotary motion of drive motors is finally converted into the rectilinear motion of mobile platform, the speed of drive motors and torque can be controlled thus control the point-to-point speed of mobile platform and the impulsive force in the direction of motion, the moving assembly high-speed motion when needs impulsive force, the inertia force of the torque provided by drive motors and mobile platform itself provides an impulsive force needed in the movement direction.
Further: described guide rail is semicircle long guideway.
Further: described drive motors is servomotor, full closed loop control is adopted.Flexible movements, precisely, compact conformation, floor space is little, is easy to safeguard, convenient operation for repetitive positioning accuracy and movement locus precision controlling.
Further: double dynamical driving mobile device also comprises soft stop, soft stop distributes on a mobile platform, for limiting the moving range of mobile platform.
The effect that the present invention reaches is:
Double dynamical driving mobile device of the present invention adopts Dual Drive motor to drive, rotary motion-linear motion conversion mechanism is hinged respectively with independently for each drive motors, Dual Drive motor adopts more advanced synchronous control technique, be synchronized with the movement, sync equalizing is exerted oneself, automatic deviation correction, overall driving force strengthens, compact conformation, avoids single motor-driven unbalance loading problem, improves the dynamic property of mobile platform motion simultaneously.Guiding rail adopts two closed slide mechanism, effectively can offset the turning moment because complicated applied force situation produces, ensure the fluency that mobile platform seesaws, without clamping stagnation, also propose higher requirement to the installation accuracy of guide rail simultaneously.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the layout of directive wheel and the fiting relation figure with each parts;
Fig. 3 is the fiting relation figure of wheel and rack.
In figure: 1 support; 2 guide rails; 3 rotary motions-linear motion conversion mechanism; 4 directive wheels; 5 mobile platforms; 6 drive motors; 7 decelerators; 8 gears; 9 soft stops.
Embodiment
To be described one exemplary embodiment of the present invention by reference to the accompanying drawings hereinafter.For clarity and conciseness, all features of actual execution mode are not described in the description.But, should understand, must make a lot specific to the decision of execution mode in the process of any this practical embodiments of exploitation, to realize the objectives of developer, such as, meet those restrictive conditions relevant to system and business, and these restrictive conditions may change to some extent along with the difference of execution mode.In addition, although will also be appreciated that development is likely very complicated and time-consuming, concerning the those skilled in the art having benefited from the disclosure of invention, this development is only routine task.
At this, also it should be noted is that, in order to avoid the present invention fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related apparatus structure of the solution of the present invention and/or treatment step, and eliminate other details little with relation of the present invention.
The embodiment provides a kind of double dynamical driving mobile device as illustrated in the accompanying drawings from 1 to 3, comprise support 1, guide rail 2, rotary motion-linear motion conversion mechanism 3, directive wheel 4, mobile platform 5 and drive motors 6; Support 1 is arranged on fixed pan, and guide rail 2 and rotary motion-linear motion conversion mechanism 3 are installed on support 1; Guide rail 2 is two pairs, and the length direction along support 1 is arranged in parallel; Rotary motion-linear motion conversion mechanism 3 is two, and the length direction along support 1 is arranged in parallel; Multiple directive wheel 4 is installed bottom mobile platform 5, the top of mobile platform 5 is provided with two drive motors 6, directive wheel 4 is fitted on guide rail 2, and rotary motion-linear motion conversion mechanism 3 is hinged respectively with independently for each drive motors 6, two drive motors 6 oppositely, be synchronized with the movement.
In addition, according to a kind of implementation, as shown in Figures 2 and 3, the directive wheel 4 bottom mobile platform 5 is divided into upper and lower two parts, and the directive wheel on top and fitting above of guide rail 2, the directive wheel of bottom and the lower surface 1-1 of support upper rail installation portion fit.The directive wheel on top mainly plays guide effect, and the directive wheel of bottom plays the effect of equilibrium torsion moment.
In addition, according to a kind of implementation, as illustrated in the accompanying drawings from 1 to 3, described rotary motion-linear motion conversion mechanism comprises tooth bar, and tooth bar is two and is arranged in parallel, and each drive motors 6 is all connected with a gear 8 by decelerator 7, and gear 8 engages with corresponding tooth bar.The rotary motion of drive motors is finally converted into the rectilinear motion of mobile platform, the speed of drive motors and torque can be controlled thus control the point-to-point speed of mobile platform and the impulsive force in the direction of motion, the moving assembly high-speed motion when needs impulsive force, the inertia force of the torque provided by drive motors and mobile platform itself provides an impulsive force needed in the movement direction.
In addition, according to a kind of implementation, as shown in Figure 2, described guide rail is semicircle long guideway.
In addition, according to a kind of implementation, as shown in Figure 1, described drive motors 6 is servomotor, adopts full closed loop control.Flexible movements, precisely, compact conformation, floor space is little, is easy to safeguard, convenient operation for repetitive positioning accuracy and movement locus precision controlling.
In addition, according to a kind of implementation, as shown in Figure 1, double dynamical driving mobile device also comprises soft stop 9, and soft stop distributes on a mobile platform, for limiting the moving range of mobile platform 5.Mobile platform 5 is moved into soft stop zone can be stopped by automatic steady, and system forbidden moves platform 5 moves on, and only allows rollback, avoids producing hardware collisions.
Operation principle of the present invention:
Mobile platform 5 is under the driving of two drive motors 6, mobile platform 5 is driven to do linear reciprocating motion along guide rail 2, with the speed of specifying, acceleration arrives the position of specifying, drive motors 6 is arranged on the both sides of mobile platform 5, two drive motors must turn to contrary guarantee mobile platform 5 to move toward the direction, drive motors adopts full closed loop control, the synchronous control technique adopted, Dual Drive motor in synchrony moves, sync equalizing is exerted oneself, automatic deviation correction, overall driving force strengthens, compact conformation, operate steadily, acceleration and deceleration speed is fast and steady, positioning precision is high, drive motors 6 itself can according to the automatic regulation output moment of torsion of self stressing conditions, ensure the speed of mobile platform 5 movement and the synchronism of acceleration and movement, the torque suffered by platform can be offset, the both sides of Platform movement are provided with the protection of soft limiting position, mobile platform 5 is moved into soft stop zone can be stopped by automatic steady, system forbidden moves platform 5 moves on, only allow rollback, avoid producing hardware collisions, soft spacing outside separately can be provided with hard position limitation protection structure, play double protection.Time equipment carried on a mobile platform is subject to the force and moment of different directions, the special construction of guide rail and directive wheel can ensure the trouble-free operation of platform.
Although disclosed execution mode as above, the execution mode that its content just adopts for the ease of understanding technical scheme of the present invention, is not intended to limit the present invention.Technical staff in any the technical field of the invention; under the prerequisite not departing from disclosed core technology scheme; any amendment and change can be made in the form implemented and details; but the protection range that the present invention limits, the scope that still must limit with appending claims is as the criterion.
Claims (5)
1. double dynamical driving mobile device, comprises support (1), guide rail (2), rotary motion-linear motion conversion mechanism (3), directive wheel (4), mobile platform (5) and drive motors (6); It is characterized in that: support (1) is arranged on fixed pan, guide rail (2) and rotary motion-linear motion conversion mechanism (3) are installed on support (1); Mobile platform (5) is provided with directive wheel (4), the top of mobile platform (5) is provided with two drive motors (6), directive wheel (4) is fitted on guide rail (2), and each drive motors (6) connects with independently rotary motion-linear motion conversion mechanism (3) respectively.
2. double dynamical driving mobile device according to claim 1, it is characterized in that: the directive wheel (4) of mobile platform (5) bottom is divided into upper and lower two parts, fitting above of the directive wheel on top and guide rail (2), fits in the directive wheel of bottom and the lower surface (1-1) of support upper rail installation portion.
3. double dynamical driving mobile device according to claim 1 and 2, it is characterized in that: described rotary motion-linear motion conversion mechanism comprises tooth bar, tooth bar is two and is arranged in parallel, each drive motors (6) is all connected with a gear (8) by decelerator (7), and gear (8) engages with corresponding tooth bar.
4. double dynamical driving mobile device according to claim 3, is characterized in that: described drive motors (6) is servomotor, adopts full closed loop control.
5. double dynamical driving mobile device according to claim 3, it is characterized in that: double dynamical driving mobile device also comprises soft stop (9), soft stop distributes on a mobile platform, for limiting the moving range of mobile platform (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510599804.2A CN105099072B (en) | 2015-09-18 | 2015-09-18 | Double dynamical driving mobile device |
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| CN201510599804.2A CN105099072B (en) | 2015-09-18 | 2015-09-18 | Double dynamical driving mobile device |
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| CN105099072B CN105099072B (en) | 2017-06-30 |
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| CN108306450A (en) * | 2018-01-19 | 2018-07-20 | 源秩科技（上海）有限公司 | Line angle coupling driving mechanism |
| CN109093066A (en) * | 2018-08-20 | 2018-12-28 | 黟县新达机械铸造有限公司 | A kind of small-sized sand mixer for casting convenient for adjusting discharging flow |
| CN110907209A (en) * | 2019-11-27 | 2020-03-24 | 北京强度环境研究所 | Mobile platform system for carrying test equipment |
| CN112654229A (en) * | 2020-12-22 | 2021-04-13 | 合肥欣奕华智能机器有限公司 | Binding equipment and control method thereof |
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| CN109093066A (en) * | 2018-08-20 | 2018-12-28 | 黟县新达机械铸造有限公司 | A kind of small-sized sand mixer for casting convenient for adjusting discharging flow |
| CN109093066B (en) * | 2018-08-20 | 2023-09-22 | 黟县新达机械铸造有限公司 | Small-size sand mixer for casting convenient to adjust ejection of compact flow |
| CN110907209A (en) * | 2019-11-27 | 2020-03-24 | 北京强度环境研究所 | Mobile platform system for carrying test equipment |
| CN112654229A (en) * | 2020-12-22 | 2021-04-13 | 合肥欣奕华智能机器有限公司 | Binding equipment and control method thereof |
| CN112654229B (en) * | 2020-12-22 | 2021-12-10 | 合肥欣奕华智能机器有限公司 | Binding equipment and control method thereof |
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| CN105099072B (en) | 2017-06-30 |
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