CN112809650A - Two-degree-of-freedom positioning platform with embedded driving type stepping motor - Google Patents
Two-degree-of-freedom positioning platform with embedded driving type stepping motor Download PDFInfo
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Abstract
The invention discloses a two-degree-of-freedom positioning platform with an embedded driving type stepping motor, which comprises a base, a working platform, an x-direction positioning platform, an x-direction static platform, a y-direction positioning platform, a y-direction static platform, a through type stepping motor, a ball screw, a crossed roller guide rail, an end cover and a two-degree-of-freedom flexible decoupling mechanism, wherein the x-direction static platform is arranged on the base; the through type stepping motors are respectively arranged below the x-direction positioning platform and the y-direction positioning platform through screws; the x-direction positioning platform and the y-direction positioning platform are respectively arranged above the x-direction static platform and above the y-direction static platform through crossed roller guide rails; the x-direction static platform and the y-direction static platform are both arranged on the base; the ball screws are arranged on the x-direction static platform and the y-direction static platform and are matched with the through stepping motor; the y is to installing the guide rail on the locating platform, and work platform connects in y to locating platform top, and two degree of freedom flexible decoupling zero mechanisms comprise upper ledge and hypoplastron two parts, and the upper ledge is connected with work platform, and the hypoplastron is connected with x to the locating platform.
Description
Technical Field
The invention belongs to the field of micro-assembly robots, and particularly relates to a two-degree-of-freedom positioning platform with a flexible decoupling mechanism and an embedded driving type stepping motor.
Background
With the development of micro-nano technology, the miniaturization and the precision of complex micro-devices in industrial production equipment play more and more important roles in improving the national high-precision industry and the civil science and technology level. Although the traditional industrial robot can meet the flexibility and the rapidity of the assembling process, the industrial robot has more joints, is easy to generate error accumulation, has larger size and can not meet the high precision of the assembly of complex micro devices.
In order to improve the high precision requirement of the assembly of the complex micro device, a micro positioning platform can be connected in series at the tail end of the industrial robot. The micro-positioning platform changes the posture along with the motion of the serial robot, so the micro-positioning platform needs certain self-locking force in the motion process of the industrial robot, but the traditional stick-slip driving and ultrasonic driving mode self-locking force is smaller, and the self-locking force is larger in the motor and ball screw driving mode and is suitable for the field with higher requirement on the self-locking force because inertia generates certain displacement and cannot meet the requirement on positioning precision in the motion process of the industrial robot. The main structural form of the traditional two-degree-of-freedom micro-positioning platform adopts a mode that a first-level positioning platform and a second-level positioning platform are connected in series and overlapped, and the structural form has higher requirements on the load of a motor of the first-level positioning platform, so that the design scheme adopts a mode that the first-level positioning platform and the second-level positioning platform are fixedly connected on a base, and the two-degree-of-freedom motion of a working platform is realized by adopting a flexible decoupling mechanism, and the structural form greatly lightens the load of the motor of the first-level positioning platform.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a stepping motor embedded driving type two-degree-of-freedom positioning platform with a flexible decoupling mechanism. In order to reduce the load to be born by the positioning platform, the x-direction positioning platform mechanism and the y-direction positioning platform mechanism are unfolded and arranged to form a 90-degree angle to be fixedly connected on the base, a flexible decoupling mechanism is added to realize two-degree-of-freedom movement of the working platform, and the flexible decoupling mechanism is provided with a flexible hinge which can generate a certain amount of deformation when a motor moves at high speed, so that the impact on the working platform is reduced. The through type stepping motor can be arranged in the platform, so that the size of the positioning platform is reduced, and the through type stepping motor is adopted. Finally, the purposes that the micro-positioning platform has small size, large self-locking force, quick response, high positioning precision and decoupling function are achieved.
The purpose of the invention is realized by the following technical scheme:
a two-degree-of-freedom positioning platform with an embedded driving type stepping motor comprises a base, a working platform, an x-direction positioning platform, an x-direction static platform, a y-direction positioning platform, a y-direction static platform, a through type stepping motor, a ball screw, a crossed roller guide rail, an end cover and a two-degree-of-freedom flexible decoupling mechanism; the through type stepping motor and the ball screw are driving parts of the positioning platform; the through type stepping motors are respectively arranged below the x-direction positioning platform and the y-direction positioning platform in a built-in mode through screws; the x-direction positioning platform and the y-direction positioning platform are respectively arranged above the x-direction static platform and above the y-direction static platform through crossed roller guide rails; the x-direction static platform and the y-direction static platform are both arranged on the base;
the ball screws are arranged on the x-direction static platform and the y-direction static platform and are matched with the through stepping motors; the through type stepping motor is used for driving the x-direction positioning platform and the y-direction positioning platform to move on the ball screw; the end covers are assembled on the outer walls of the x-direction static platform and the y-direction static platform and are matched with the ball screws; the y-direction positioning platform is provided with a guide rail capable of moving along the x direction, the working platform is connected above the y-direction positioning platform through a crossed roller guide rail and can move along the x direction along the x-direction guide rail above the y-direction positioning platform, and the y-direction positioning platform can drive the working platform to move along the y direction; the two-degree-of-freedom flexible decoupling mechanism consists of an upper frame and a lower plate, wherein the upper frame is connected with the working platform, and the lower plate is connected with the x-direction positioning platform; motion decoupling of the two-degree-of-freedom micro-positioning platform is realized; the x-direction positioning platform can drive the working platform to move towards the x direction through the two-degree-of-freedom flexible decoupling mechanism, so that the two-degree-of-freedom movement of the working platform is realized.
Further, a group of leaf hinges and a group of S-shaped hinges are integrally arranged on the lower plate, and a group of leaf hinges is arranged on the upper frame; the lower plate is provided with a roller shaft, the roller shaft is provided with a needle bearing, and the needle bearing is in rolling connection with the frame wall of the upper frame; the needle roller bearing can roll relatively along the frame wall in the y direction, and when the x-direction positioning platform moves along the x direction, the working platform can be driven to slide in the x direction, so that two-degree-of-freedom movement of the two-degree-of-freedom working platform is realized.
Furthermore, the x-direction positioning platform and the y-direction positioning platform are arranged in a 90-degree crossed and unfolded mode, and the load required by the motor of the first-stage single-degree-of-freedom motion platform is reduced.
Furthermore, the working platform is connected to the y-direction positioning platform in a sliding mode through the x-direction crossed roller guide rail, the working platform can move along the crossed roller guide rail in the x direction when being subjected to the force of x, and meanwhile the y-direction positioning platform can drive the working platform to move in the y direction.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the invention is suitable for being connected to the tail end of an industrial robot and can realize accurate positioning of two degrees of freedom. The driving mode of the invention adopts a stepping motor to drive, the stepping motor has certain self-locking force through the transmission of the ball screw, the stepping motor adopts a through structure to be arranged in the positioning platform, the size of the platform is greatly reduced, the movement space is smaller, and the movement mode is more flexible.
2. The lower plate main mechanism of the decoupling mechanism is an S-shaped hinge and a leaf-shaped hinge, and the upper frame main mechanism of the decoupling mechanism is a leaf-shaped hinge and a guide plate, namely a frame wall. The flexible hinge can generate a certain amount of deformation under the condition of larger stress to reduce the impact on the positioning platform during high-speed motion; the S-shaped hinge and the leaf-shaped hinge of the lower plate of the decoupling mechanism can adaptively adjust the self stretching length so as to eliminate the assembly gap, the deformation of the leaf-shaped hinge of the upper frame of the decoupling mechanism can also eliminate the system interference caused by assembly errors, and simultaneously, the system instantaneous interference caused when the positioning platform moves towards the x direction and the y direction simultaneously can be eliminated through the self micro deformation.
3. The two single-degree-of-freedom positioning platforms are arranged in a 90-degree crossed and unfolded mode, and compared with a transmission mode that two-stage single-degree-of-freedom motion platforms are arranged in a series and overlapped mode, the single-degree-of-freedom positioning platform is beneficial to reducing the load required by a motor of the first-stage single-degree-of-freedom motion platform.
4. Meanwhile, the frame wall of the upper frame of the decoupling mechanism has a limiting effect, and the positioning platform is limited by the limit of the displacement of the relative movement of the frame wall and the needle roller bearing. The limiting mechanism of the positioning platform can be reduced, and the size of the positioning platform is favorably reduced.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is an overall exploded view of the present invention;
fig. 3 is an enlarged structural schematic diagram of the two-degree-of-freedom flexible decoupling mechanism in fig. 1.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 3, a two-degree-of-freedom positioning platform with a stepping motor embedded drive type flexible decoupling mechanism includes an x-direction moving mechanism, a y-direction moving mechanism and a base 15, the y-direction moving mechanism includes a working platform 1, a y-direction static platform 2, a y-direction positioning platform 3, a cross roller guide rail 4, a through stepping motor 5, a ball screw 6, an end cover 7 and a cross roller guide rail 8, and the x-direction moving mechanism includes a cross roller guide rail 9, a through stepping motor 10, an x-direction static platform 11, an x-direction positioning platform 12, a ball screw 13, an end cover 14 and a two-degree-of-freedom decoupling mechanism 16.
The y-direction positioning platform 3 and the x-direction positioning platform 12 are arranged in a crossed mode at an angle of 90 degrees in the moving direction and form a group of two-degree-of-freedom micro-positioning platforms through a two-degree-of-freedom decoupling mechanism.
Work platform 1 is through the X to 4 sliding connection of cross roller guide rail on y to locating platform 3 to can freely slide along X to along cross roller guide rail 4, y is to locating platform 3 through cross roller guide rail 8 sliding connection on y to quiet platform 2, place y in through-going step motor 5 in to locating platform 3, and through the screw connection, ball 6 cooperatees with through-going step motor 5, through-going step motor 5 can move along ball 6, and drive y to 3 along the y to the motion of locating platform, ball 6 both ends and y cooperate to quiet platform 2. The end cover 7 is arranged outside the y-direction static platform 2 and is matched with the ball screw 6.
The y-direction static platform 2 is arranged on the base 15 through bolts. An x-direction static platform 11 is further arranged on the base 15, an x-direction positioning platform 12 is connected with the x-direction positioning platform 12 in a sliding mode through a crossed roller guide rail 9, a through type stepping motor 10 is arranged in the x-direction positioning platform 12 through screws and can drive the x-direction positioning platform 12 to slide towards the x direction along the crossed roller guide rail 9, a ball screw 13 is matched with the through type stepping motor 10, two ends of the ball screw are matched with the x-direction static platform, and an end cover 14 is arranged outside the x-direction static platform and is matched with the ball screw 13.
The two-degree-of-freedom decoupling mechanism 16 is mainly divided into an upper frame and a lower plate, the upper frame of the two-degree-of-freedom decoupling mechanism 16 is fixedly connected with the working platform 1, and the lower plate of the two-degree-of-freedom decoupling mechanism 16 is fixedly connected with the x-direction positioning platform 12.
The driving mechanism of the invention adopts the through type stepping motor, which is beneficial to reducing the size of the platform, and meanwhile, the stepping motor has certain self-locking force, which is beneficial to keeping the positioning precision in the use process of the platform. The main structure of the flexible decoupling mechanism is composed of four flexible hinges and a pair of needle roller bearings, the flexible hinge mechanisms can realize self adjustment, and can play a role in buffering when the platform moves at high speed.
The working principle of the invention is as follows:
referring to fig. 1 to 3, when the present invention is used, an x-direction stationary platform 11 and a y-direction stationary platform 2 are fixedly connected to a base 15, in an x-direction moving direction, a through stepping motor 10 converts a rotary motion into a linear motion along the x-direction through a ball screw 13, the through stepping motor 10 is fixedly connected to an x-direction positioning platform 12, and the movement of the through stepping motor 10 along the x-direction can drive the x-direction positioning platform 12 to move along a cross roller guide rail 9 on the x-direction stationary platform 11 towards the x-direction. Similarly, in the y-direction moving direction, the through-type stepping motor 5 converts the rotation motion into linear motion along the y-direction through the ball screw 6, the through-type stepping motor 5 is fixedly connected with the y-direction positioning platform 3, and the through-type stepping motor 5 can drive the y-direction positioning platform 3 to move along the y-direction cross roller guide rail 8 on the y-direction static platform 2 towards the y-direction. The y-direction positioning platform 3 is provided with a crossed roller guide rail 4 arranged along the x direction, and when the y-direction positioning platform 3 moves towards the y direction, the working platform 1 can also move along the y direction due to the lateral force of the guide rail. Meanwhile, the x-direction positioning platform 12 pushes the working platform 1 to move towards the x direction along the crossed roller guide rail 4 through the two-degree-of-freedom flexible decoupling mechanism 16, but the two-degree-of-freedom flexible decoupling mechanism 16 cannot interfere with the x-direction positioning platform 12 when the working platform 1 moves towards the y direction.
The two-degree-of-freedom flexible decoupling mechanism 16 mainly comprises an upper frame, a lower plate and a needle bearing, wherein the upper frame is fixedly connected to the working platform 1, and the lower plate is fixedly connected to the x-direction positioning platform. The upper frame is in rolling friction with the front frame wall 16-10 through the front needle bearing 16-11, the rear needle bearing 16-4 is in rolling friction with the rear frame wall 16-2, relative movement along the y direction is achieved, in the x direction, the front needle bearing 16-11, the front frame wall 16-10, the rear needle bearing 16-4 and the rear frame wall 16-2 are in rolling friction with each other to limit movement in the x direction, and therefore decoupling effect in the two directions can be achieved. At the same time they also have the function of a stop mechanism. The front needle bearing 16-11 and the rear needle bearing 16-4 are arranged on the front roller shaft 16-9 and the rear roller shaft 16-3, leaf hinges of 16-8 and 16-12 and S hinges of 16-6 and 16-7 are arranged on the lower plate, and the two pairs of flexible hinges have self-adjusting function under stress, so that the installation clearance or installation interference can be eliminated. When the positioning platform moves along the y direction, instantaneous impact caused by rapid movement can be avoided through deformation of the leaf hinges 16-1 and 16-5, and system errors caused by assembly can be eliminated through deformation of the leaf hinges 16-1 and 16-8.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A two-degree-of-freedom positioning platform with an embedded driving type stepping motor is characterized by comprising a base, a working platform, an x-direction positioning platform, an x-direction static platform, a y-direction positioning platform, a y-direction static platform, a through type stepping motor, a ball screw, a crossed roller guide rail, an end cover and a two-degree-of-freedom flexible decoupling mechanism; the through type stepping motor and the ball screw are driving parts of the positioning platform; the through stepping motors are respectively arranged below the x-direction positioning platform and the y-direction positioning platform; the x-direction positioning platform and the y-direction positioning platform are respectively arranged above the x-direction static platform and above the y-direction static platform through crossed roller guide rails; the x-direction static platform and the y-direction static platform are both arranged on the base;
the ball screws are arranged on the x-direction static platform and the y-direction static platform and are matched with the through stepping motors; the through type stepping motor is used for driving the x-direction positioning platform and the y-direction positioning platform to move on the ball screw; the end covers are assembled on the outer walls of the x-direction static platform and the y-direction static platform and are matched with the ball screws; the y-direction positioning platform is provided with a guide rail capable of moving along the x direction, the working platform is connected above the y-direction positioning platform through a crossed roller guide rail and can move along the x direction along the x-direction guide rail above the y-direction positioning platform, and the y-direction positioning platform can drive the working platform to move along the y direction; the two-degree-of-freedom flexible decoupling mechanism consists of an upper frame and a lower plate, wherein the upper frame is connected with the working platform, and the lower plate is connected with the x-direction positioning platform; motion decoupling of the two-degree-of-freedom micro-positioning platform is realized; the x-direction positioning platform can drive the working platform to move towards the x direction through the two-degree-of-freedom flexible decoupling mechanism, so that the two-degree-of-freedom movement of the working platform is realized.
2. The embedded driven two-degree-of-freedom positioning platform of the stepping motor according to claim 1, wherein a set of leaf hinges and a set of S-shaped hinges are integrally arranged on the lower plate, and a set of leaf hinges is arranged on the upper frame; the lower plate is provided with a roller shaft, the roller shaft is provided with a needle bearing, and the needle bearing is in rolling connection with the frame wall of the upper frame; the needle roller bearing can roll relatively along the frame wall in the y direction, and when the x-direction positioning platform moves along the x direction, the working platform can be driven to slide in the x direction, so that two-degree-of-freedom movement of the two-degree-of-freedom working platform is realized.
3. The embedded driving type two-degree-of-freedom positioning platform of the stepping motor as claimed in claim 1, wherein the x-direction positioning platform and the y-direction positioning platform are arranged in a cross-spread manner at an angle of 90 ° so as to reduce the required load of the motor of the first-stage single-degree-of-freedom motion platform.
4. The embedded driven two-degree-of-freedom positioning platform of the stepping motor as claimed in claim 1, wherein the working platform is slidably connected to the y-direction positioning platform through an x-direction cross roller guide, the working platform can move along the cross roller guide in the x-direction when being subjected to the x-direction force, and the y-direction positioning platform can drive the working platform to move in the y-direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110183588.9A CN112809650A (en) | 2021-02-08 | 2021-02-08 | Two-degree-of-freedom positioning platform with embedded driving type stepping motor |
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| CN202110183588.9A CN112809650A (en) | 2021-02-08 | 2021-02-08 | Two-degree-of-freedom positioning platform with embedded driving type stepping motor |
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Cited By (1)
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