A high-speed, high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability

Abstract

The present invention provides a high-speed, high-rigidity, direct-drive, multi-axis synchronous operation platform with high mechanical stability, and relates to the technical field of mechanical platform equipment. The high-speed, high-rigidity, direct-drive, multi-axis synchronous operation platform with high mechanical stability includes a transverse synchronization mechanism, a longitudinal synchronization mechanism, and a rotation synchronization mechanism. The rear side of the transverse synchronization mechanism is provided with a longitudinal synchronization mechanism, and the top of the transverse synchronization mechanism and the longitudinal synchronization mechanism is provided with a rotation synchronization mechanism; the transverse synchronization mechanism is used to realize the lateral movement synchronization capability of the workbench. By making the rotating shaft column rotate along a group of main bearings on a group of fixed tables, and the rotational torque of the group of rotating shaft columns is then transmitted to another group of rotating shaft columns through an additional secondary belt drive assembly, the two groups of rotating shaft columns are respectively rotated on a group of fixed tables through a group of main bearings, and the worktables fixed at the top of the two groups of rotating shaft columns respectively realize synchronous rotation.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical platform equipment, and in particular to a high-speed and high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability. Background Art

[0002] Multi-axis synchronous control, also known as multi-axis system synchronous control, refers to maintaining a certain synchronous operation relationship between the axes in most multi-axis transmission system applications. The multi-axis system is a nonlinear, strongly coupled multi-input and multi-output system. The main performance indicators of multi-axis synchronous control are: speed proportional synchronization, position (or angle) synchronization and absolute error less than a certain limit value. Multi-axis synchronous control is an interdisciplinary comprehensive technology, which is an organic combination of power electronics technology, electrical transmission technology, information technology, control technology and mechanical technology. Its development is closely linked to the development of other related technologies.

[0003] Existing platforms that can achieve synchronous operation of equipment often cannot achieve longitudinal movement while achieving horizontal synchronous operation, and cannot achieve synchronous rotation of the equipment while achieving longitudinal movement. It is impossible to synchronize multiple axes and achieve simultaneous synchronous operation without mutual interference. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a high-speed and high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability, which solves the problem that the existing synchronous operation equipment cannot achieve simultaneous multi-axis synchronous operation.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a high-speed, high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability, comprising a transverse synchronization mechanism, a longitudinal synchronization mechanism and a rotation synchronization mechanism, wherein a longitudinal synchronization mechanism is arranged at the rear side of the transverse synchronization mechanism, and a rotation synchronization mechanism is arranged at the top of the transverse synchronization mechanism and the longitudinal synchronization mechanism;

[0006] The lateral synchronization mechanism is used to achieve the lateral movement synchronization capability of the workbench;

[0007] The longitudinal synchronization mechanism is used to achieve the longitudinal movement synchronization capability of the workbench;

[0008] The rotation synchronization mechanism is used to achieve the rotation synchronization capability of the workbench;

[0009] The longitudinal synchronization mechanism includes a drive box, a longitudinal slide, a rack column, a fixed bearing, a double gear rod, a fixed platform, a longitudinal synchronous motor and a longitudinal belt drive assembly. The left and right parts of the inner wall of the drive box are fixedly connected to a group of longitudinal slides, and the insides of the two groups of longitudinal slides are longitudinally slidably connected to a group of rack columns. The middle left and middle right parts of the inner wall of the drive box are fixedly connected to a group of fixed bearings, the inner ring parts of the two groups of fixed bearings are fixedly connected to the same group of double gear rods, the top ends of the two groups of rack columns are fixedly connected to a fixed platform, the inner bottom wall of the drive box is fixedly connected to the longitudinal synchronous motor, and the output shaft of the longitudinal synchronous motor is connected to the double gear rod through a longitudinal belt drive assembly.

[0010] Preferably, the transverse synchronization mechanism includes a base plate, a limit slide rail, a bearing frame, a drive screw, a coupling, a limit slider, a synchronization frame, a nut sub-block, a motor frame and a transverse synchronous motor, a group of limit slide rails are fixedly connected to the middle left and middle right sides of the top of the base plate, a group of bearing frames are fixedly connected to the left and right sides of the top of the base plate, two groups of bearing frame inner rings are fixedly connected to a group of drive screws, and a coupling is fixedly connected between the two groups of drive screws.

[0011] Preferably, the rotating synchronous mechanism includes a main bearing, a rotating shaft column, a worktable, a connecting groove, a secondary fixed frame, a rotating synchronous motor, a main belt drive assembly and a secondary belt drive assembly. The inner ring portions of the two groups of main bearings are fixedly connected to a group of rotating shaft columns. The secondary fixed frame is fixedly connected to the upper and middle part of the left synchronous frame. The front side wall of the secondary fixed frame is fixedly connected to the rotating synchronous motor. The top output shaft of the rotating synchronous motor is connected to the left rotating shaft column through the main belt drive assembly. The two groups of rotating shaft columns are connected through the secondary belt drive assembly.

[0012] Preferably, the right side of the top of the base plate is fixedly connected to a motor frame, the right side of the motor frame is fixedly connected to a transverse synchronous motor, and the left output end of the transverse synchronous motor is fixedly connected to a driving screw on the right side.

[0013] Preferably, the two groups of couplings are respectively slidably connected to a group of limit sliders, and the tops of the two groups of limit sliders are fixedly connected to a group of synchronization frames.

[0014] Preferably, the double gear rod is rotatably connected to the drive box via two sets of fixed bearings, and the two sets of rack columns both longitudinally penetrate the top wall of the drive box and are slidably connected to the top wall of the drive box.

[0015] Preferably, the two groups of main bearings are respectively fixedly connected to the inner center of a group of fixed platforms.

[0016] Preferably, the communicating groove is arranged at the middle and upper part of the right synchronous frame, and the two groups of rotating shaft columns are rotatably connected to a group of fixed platforms through a group of main bearings respectively.

[0017] Working principle: First, use the transverse synchronization mechanism to start the transverse synchronous motor fixed on the base plate through the motor frame, so that the transverse synchronous motor drives a group of driving screws fixed on its left output shaft to start rotating through a group of bearing frames, and this group of driving screws drives another group of driving screws to rotate on the base plate through another group of bearing frames through mutually fixed couplings, so that the two groups of driving screws can achieve synchronous rotation, and the rotation of the two groups of driving screws drives a group of synchronous frames to move horizontally through a group of threaded nut sub-blocks respectively, and the two groups of synchronous frames move horizontally on the limiting slide rails installed on the top of the base plate through the limiting slider installed at the bottom, so that the platforms installed on the top of the two groups of synchronous frames can achieve synchronous and stable lateral movement, and then use the longitudinal synchronization mechanism to start the longitudinal synchronous motor installed inside the drive box, and the rotational torque of the longitudinal synchronous motor is transmitted to the double gear through the longitudinal belt drive assembly connected to the output shaft. The double-gear rod makes the double-gear rod rotate inside the drive box by using two sets of fixed bearings, and the gears installed at the left and right ends of the double-gear rod respectively drive a set of meshing rack columns to move, so that the two sets of rack columns move up and down inside the drive box along their respective corresponding longitudinal slides, so that the fixed tables fixed on the top of the two sets of rack columns can realize synchronous up and down movement, and then by utilizing the rotating synchronous mechanism, the rotating synchronous motor fixed on a set of synchronous frames through the auxiliary fixed frame is started, and the rotating torque generated by the rotating synchronous motor is transmitted to a set of rotating shaft columns through the main belt driving assembly fixed on the output shaft, so that the rotating shaft columns rotate on a set of fixed tables along a set of main bearings, and the rotating torque of the set of rotating shaft columns is then transmitted to another set of rotating shaft columns through the installed auxiliary belt driving assembly, so that the two sets of rotating shaft columns respectively rotate on a set of fixed tables through a set of main bearings, and the worktables fixed on the top of the two sets of rotating shaft columns realize synchronous rotation.

[0018] The present invention provides a high-speed and high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability.

[0019] It has the following beneficial effects:

[0020] 1. The present invention starts a longitudinal synchronous motor installed inside a driving box, and the rotational torque of the longitudinal synchronous motor is transmitted to the double gear rod through a longitudinal belt driving assembly connected to the output shaft, so that the double gear rod rotates inside the driving box by using two sets of fixed bearings, and the gears installed at the left and right ends of the double gear rod respectively drive a set of meshing rack columns to move, so that the two sets of rack columns move up and down inside the driving box along their respective corresponding longitudinal slides, so that the fixed tables respectively fixed on the tops of the two sets of rack columns can realize synchronous up and down movement, and realize longitudinal synchronous movement while realizing lateral synchronous operation.

[0021] 2. The present invention starts a rotating synchronous motor fixed on a group of synchronous frames through a secondary fixed frame. The rotating torque generated by the rotating synchronous motor is transmitted to a group of rotating shaft columns through a main belt drive assembly fixed to the output shaft, so that the rotating shaft columns rotate along a group of main bearings on a group of fixed tables. The rotating torque of the group of rotating shaft columns is then transmitted to another group of rotating shaft columns through an additional secondary belt drive assembly, so that the two groups of rotating shaft columns rotate on a group of fixed tables respectively through a group of main bearings, and the work tables fixed at the top ends of the two groups of rotating shaft columns respectively realize synchronous rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an isometric schematic diagram of the present invention;

[0023] Figure 2 It is a left and right isometric schematic diagram of the present invention;

[0024] Figure 3 It is a rear view schematic diagram of the internal structure of the present invention;

[0025] Figure 4 It is a schematic diagram of the front and rear isometric views of the present invention.

[0026] Among them, 1. horizontal synchronization mechanism; 2. longitudinal synchronization mechanism; 3. rotation synchronization mechanism; 101. base plate; 102. limit slide rail; 103. bearing frame; 104. drive screw; 105. coupling; 106. limit slider; 107. synchronization frame; 108. nut auxiliary block; 109. motor frame; 110. horizontal synchronous motor; 201. drive box; 202. longitudinal slide; 203. rack column; 204. fixed bearing; 205. double gear rod; 206. fixed table; 207. longitudinal synchronous motor; 208. longitudinal belt drive assembly; 301. main bearing; 302. rotating shaft column; 303. workbench; 304. connecting groove; 305. auxiliary fixed frame; 306. rotation synchronous motor; 307. main belt drive assembly; 308. auxiliary belt drive assembly. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example:

[0029] like Figure 1-4As shown, an embodiment of the present invention provides a high-speed and high-rigidity direct-drive multi-axis synchronous operation platform with high mechanical stability, comprising a transverse synchronization mechanism 1, a longitudinal synchronization mechanism 2 and a rotation synchronization mechanism 3, wherein the longitudinal synchronization mechanism 2 is arranged at the rear side of the transverse synchronization mechanism 1, and the rotation synchronization mechanism 3 is arranged at the top of the transverse synchronization mechanism 1 and the longitudinal synchronization mechanism 2;

[0030] The lateral synchronization mechanism 1 is used to realize the lateral movement synchronization capability of the workbench;

[0031] The longitudinal synchronization mechanism 2 is used to realize the longitudinal movement synchronization capability of the workbench;

[0032] The rotation synchronization mechanism 3 is used to realize the rotation synchronization capability of the workbench;

[0033] The longitudinal synchronization mechanism 2 includes a drive box 201, a longitudinal slide 202, a rack column 203, a fixed bearing 204, a double gear rod 205, a fixed platform 206, a longitudinal synchronous motor 207 and a longitudinal belt drive assembly 208. The left and right parts of the inner wall of the drive box 201 are fixedly connected to a group of longitudinal slides 202, and the insides of the two groups of longitudinal slides 202 are longitudinally slidably connected to a group of rack columns 203. The middle left and middle right parts of the inner wall of the drive box 201 are fixedly connected to a group of fixed bearings 204, and the inner ring parts of the two groups of fixed bearings 204 are fixedly connected to the same group of double gear rods 205. The tops of the two groups of rack columns 203 are fixedly connected to a group of fixed platforms 206. The inner bottom wall of the drive box 201 is fixedly connected to the longitudinal synchronous motor 207, and the output shaft of the longitudinal synchronous motor 207 is connected to the double gear rod 205 through the longitudinal belt drive assembly 208. The double gear rod 205 is rotatably connected to the drive box 201 through two sets of fixed bearings 204, and the two sets of rack columns 203 both longitudinally penetrate the top wall of the drive box 201 and are slidably connected to the top wall of the drive box 201. The longitudinal synchronization mechanism 2 is used to start the longitudinal synchronous motor 207 installed inside the drive box 201. The rotational torque of the longitudinal synchronous motor 207 is transmitted to the double gear rod 205 through the longitudinal belt drive assembly 208 connected to the output shaft, so that the double gear rod 205 rotates inside the drive box 201 using the two sets of fixed bearings 204, and the gears installed on the left and right ends of the double gear rod 205 respectively drive a set of meshing rack columns 203 to move, so that the two sets of rack columns 203 move up and down inside the drive box 201 along their respective corresponding longitudinal slides 202, so that the fixed platforms 206 fixed on the tops of the two sets of rack columns 203 can achieve synchronous up and down movement.

[0034] The transverse synchronization mechanism 1 includes a base plate 101, a limit slide rail 102, a bearing frame 103, a drive screw 104, a coupling 105, a limit slider 106, a synchronous frame 107, a nut sub-block 108, a motor frame 109 and a transverse synchronous motor 110. A group of limit slide rails 102 are fixedly connected to the middle left and middle right sides of the top of the base plate 101, a group of bearing frames 103 are fixedly connected to the left and right sides of the top of the base plate 101, and the inner rings of the two groups of bearing frames 103 are fixedly connected to a group of drive screws 104. The coupling 105 is fixedly connected between the two groups of drive screws 104. The right side of the top of the base plate 101 is fixedly connected to the motor frame 109, and the right side of the motor frame 109 is fixedly connected to the transverse synchronous motor 110. The left output end of the transverse synchronous motor 110 is fixedly connected to the right drive screw 104. The two groups of couplings 105 are respectively slidably connected to a group of limit sliders 106, and the tops of the two groups of limit sliders 106 are fixed A group of synchronous frames 107 are connected. First, the horizontal synchronous mechanism 1 is used to start the horizontal synchronous motor 110 fixed on the base plate 101 through the motor frame 109, so that the horizontal synchronous motor 110 drives a group of driving screws 104 fixed to its left output shaft to start rotating through a group of bearing frames 103, and the group of driving screws 104 drives another group of driving screws 104 to rotate on the base plate 101 through another group of bearing frames 103 through mutually fixed couplings 105, so that the two groups of driving screws 104 can achieve synchronous rotation, and the rotation of the two groups of driving screws 104 drives a group of synchronous frames 107 to move horizontally through a group of threaded nut sub-blocks 108 respectively. The two groups of synchronous frames 107 move horizontally on the limiting slide rail 102 installed on the top of the base plate 101 through the limiting slider 106 installed at the bottom, so that the platforms installed on the top of the two groups of synchronous frames 107 can achieve synchronous and stable horizontal movement.

[0035] The rotating synchronous mechanism 3 includes a main bearing 301, a rotating shaft column 302, a workbench 303, a connecting groove 304, a sub-fixed frame 305, a rotating synchronous motor 306, a main belt driving assembly 307 and a sub-belt driving assembly 308. The inner rings of the two sets of main bearings 301 are fixedly connected to a set of rotating shaft columns 302. The sub-fixed frame 305 is fixedly connected to the middle and upper part of the left synchronous frame 107. The front side wall of the sub-fixed frame 305 is fixedly connected to the rotating synchronous motor 306. The top output shaft of the rotating synchronous motor 306 is connected to the left rotating shaft column 302 through the main belt driving assembly 307. The two sets of rotating shaft columns 302 are connected through the sub-belt driving assembly 308. The two sets of main bearings 301 are respectively fixedly connected to the inner center of a set of fixed tables 206. The connecting groove 304 is set in the middle and upper part of the right synchronous frame 107. The two sets The rotating shaft columns 302 are rotatably connected to a set of fixed tables 206 through a set of main bearings 301 respectively. By utilizing the rotating synchronous mechanism 3, the rotating synchronous motor 306 fixed on a set of synchronous frames 107 through the auxiliary fixed frame 305 is started. The rotating torque generated by the rotating synchronous motor 306 is transmitted to a set of rotating shaft columns 302 through the main belt drive component 307 fixed to the output shaft, so that the rotating shaft columns 302 rotate on a set of fixed tables 206 along a set of main bearings 301, and the rotating torque of the set of rotating shaft columns 302 is further transmitted to another set of rotating shaft columns 302 through the additional auxiliary belt drive component 308, so that the two sets of rotating shaft columns 302 rotate on a set of fixed tables 206 respectively through a set of main bearings 301, and the work tables 303 fixed at the top of the two sets of rotating shaft columns 302 respectively realize synchronous rotation.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability, comprising a transverse synchronization mechanism (1), a longitudinal synchronization mechanism (2) and a rotation synchronization mechanism (3), characterized in that: A longitudinal synchronization mechanism (2) is arranged at the rear side of the transverse synchronization mechanism (1), and a rotation synchronization mechanism (3) is arranged at the top of the transverse synchronization mechanism (1) and the longitudinal synchronization mechanism (2); The lateral synchronization mechanism (1) is used to realize the lateral movement synchronization capability of the workbench; The longitudinal synchronization mechanism (2) is used to realize the longitudinal movement synchronization capability of the workbench; The rotation synchronization mechanism (3) is used to realize the rotation synchronization capability of the workbench; The longitudinal synchronization mechanism (2) comprises a drive box (201), a longitudinal slide (202), a rack column (203), a fixed bearing (204), a double gear rod (205), a fixed platform (206), a longitudinal synchronous motor (207) and a longitudinal belt drive assembly (208); the left and right parts of the inner wall of the drive box (201) are both fixedly connected to a group of longitudinal slides (202); the insides of the two groups of longitudinal slides (202) are both longitudinally slidably connected to a group of rack columns (203); the drive box ( A set of fixed bearings (204) are fixedly connected to the middle left and middle right parts of the inner wall of the two sets of fixed bearings (204), the inner ring parts of the two sets of fixed bearings (204) are fixedly connected to the same set of double gear rods (205), the top ends of the two sets of rack columns (203) are fixedly connected to a set of fixed platforms (206), the inner bottom wall of the drive box (201) is fixedly connected to a longitudinal synchronous motor (207), and the output shaft of the longitudinal synchronous motor (207) is connected to the double gear rod (205) via a longitudinal belt drive assembly (208); The transverse synchronization mechanism (1) comprises a base plate (101), a limit slide rail (102), a bearing frame (103), a driving screw (104), a coupling (105), a limit slide block (106), a synchronization frame (107), a nut auxiliary block (108), a motor frame (109) and a transverse synchronous motor (110); a group of limit slide rails (102) are fixedly connected on the middle left and middle right sides of the top of the base plate (101); a group of bearing frames (103) are fixedly connected on the left and right sides of the top of the base plate (101); the inner ring parts of the two groups of bearing frames (103) are fixedly connected to a group of driving screws (104); and a coupling (105) is fixedly connected between the two groups of driving screws (104); The rotating synchronous mechanism (3) comprises a main bearing (301), a rotating shaft column (302), a workbench (303), a connecting groove (304), a secondary fixed frame (305), a rotating synchronous motor (306), a main belt driving assembly (307) and a secondary belt driving assembly (308); the inner ring parts of two groups of the main bearings (301) are fixedly connected to a group of rotating shaft columns (302); the secondary fixed frame (305) is fixedly connected to the upper middle part of the left synchronous frame (107); the front side wall of the secondary fixed frame (305) is fixedly connected to the rotating synchronous motor (306); the top output shaft of the rotating synchronous motor (306) is connected to the left rotating shaft column (302) through the main belt driving assembly (307); and the two groups of rotating shaft columns (302) are connected through the secondary belt driving assembly (308).

2. According to claim 1, a high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability, characterized in that: The right side of the top of the base plate (101) is fixedly connected to a motor frame (109), the right side of the motor frame (109) is fixedly connected to a transverse synchronous motor (110), and the left output end of the transverse synchronous motor (110) is fixedly connected to a driving screw rod (104) on the right side.

3. According to claim 1, a high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability, characterized in that: The two sets of couplings (105) are respectively slidably connected to a set of limiting slide blocks (106), and the tops of the two sets of limiting slide blocks (106) are fixedly connected to a set of synchronous frames (107).

4. According to claim 1, a high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability, characterized in that: The double gear rod (205) is rotatably connected to the drive box (201) via two sets of fixed bearings (204), and the two sets of rack columns (203) both longitudinally penetrate the top wall of the drive box (201) and are slidably connected to the top wall of the drive box (201).

5. According to claim 1, a high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability, characterized in that: The two groups of main bearings (301) are respectively fixedly connected to the inner center of a group of fixed platforms (206).

6. The high-speed, high-rigidity, direct-drive multi-axis synchronous operation platform with high mechanical stability according to claim 1, characterized in that: The communicating groove (304) is arranged at the middle upper part of the right synchronous frame (107), and the two groups of rotating shaft columns (302) are rotatably connected to a group of fixed platforms (206) through a group of main bearings (301) respectively.

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