A high-speed precision turntable and method based on parallel compound motion

Abstract

The present invention relates to the field of precision drive technology, and in particular to a high-speed precision turntable based on parallel compound motion and a method thereof, comprising a base; a rotation output platform, which is rotatably connected to the base via a nested central axis; a stick-slip drive device, which is disposed between the base and the rotation output platform and is used to drive a relatively small-angle rotation between the two, wherein the friction head of the stick-slip drive device maintains a friction state with the rotation output platform; a drive motor, which is disposed in parallel with the stick-slip drive device and independently drives the rotation output platform to rotate at a large angle, wherein the drive motor controls the connection or disconnection with the rotation output platform by engaging or disengaging a transmission gear set. The present invention combines the high-speed drive of the drive motor with the high-precision drive of the stick-slip drive device to achieve the purpose of high-speed and high-precision angle control.

Description

Technical Field

[0001] The present invention relates to the field of precision drive technology, and in particular to a high-speed precision turntable based on parallel compound motion and a method thereof. Background Art

[0002] High-precision turntables are common mechanical motion devices, widely used in fields such as optics, precision instruments, and bioscience. Piezoelectric materials, with their advantages of wide bandwidth, fast response, high resolution, compact size, and resistance to electromagnetic interference, have become a key driver component in precision actuation. Stick-slip actuators using piezoelectric materials (which utilize the acceleration generated by the rapid deformation of piezoelectric ceramics to eliminate the acceleration caused by kinetic friction) are widely used in the design of stick-slip drive turntables due to their simple structure and control.

[0003] Although existing stick-slip drive turntables can achieve high-precision rotation control, the rotation speed is relatively limited and cannot meet the needs when fast, large-angle, and high-precision angle control is required. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-speed precision turntable and method based on parallel compound motion to address the problem that existing stick-slip drive turntables are unable to achieve fast, large-angle, and high-precision angle control. To achieve the above objectives, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a high-speed precision turntable based on parallel compound motion, comprising:

[0006] base;

[0007] The rotating output platform is connected to the base through nesting and rotation via a central axis;

[0008] a stick-slip drive device, disposed between the base and the rotating output platform and configured to drive a small relative rotation between the two, wherein the friction head of the stick-slip drive device maintains a friction state with the rotating output platform;

[0009] The drive motor is arranged in parallel with the stick-slip drive device, and independently drives the rotation output platform to rotate at a large angle. The drive motor is connected or disconnected with the rotation output platform through the engagement or disengagement of the transmission gear set.

[0010] As a further technical solution, the transmission gear set includes a driving gear and a driven gear, wherein the driving gear is fixedly connected to the main shaft of the drive motor, and the driven gear is fixedly connected to the rotation output platform.

[0011] As a further technical solution, the driving gear is an external gear, the driven gear is an internal gear, and the two gears adopt internal meshing transmission.

[0012] As a further technical solution, a clutch is also included for controlling the engagement and disengagement of the transmission gear set.

[0013] As a further technical solution, the clutch is of electromagnet type, including an electromagnetic push rod, which is connected to the drive motor. By controlling the on and off of the electromagnet, the electromagnetic push rod pushes the drive motor up and down to achieve the clutch of the transmission gear set.

[0014] As a further technical solution, a spring and a guide shaft are provided between the drive motor and the base, the spring is used to push the drive motor to move downward, and the guide shaft is used to control the movement direction of the drive motor.

[0015] As a further technical solution, an angle sensor is further included, and the angle sensor is placed between the base and the central axis.

[0016] As a further technical solution, the angle sensor is a coding sensor, and the drive motor is a stepping motor.

[0017] As a further technical solution, a bearing is provided between the base and the central shaft, and the rotation output platform, the central shaft and the bearing are coaxially arranged.

[0018] In a second aspect, the present invention provides a method for operating the high-speed precision turntable according to the first aspect, comprising the following steps:

[0019] Control the transmission gear set to mesh and start the drive motor to drive the rotating output platform to quickly rotate to a position close to the required angle. The reserved angle value is 1 to 5 times the maximum error value generated by the drive motor, completing the rapid adjustment of the rotating output platform at a large angle.

[0020] The transmission gear set is controlled to separate and the stick-slip drive device is started to drive the rotating output platform to move to the preset position, completing the high-precision adjustment of the rotating output platform at a small angle.

[0021] The beneficial effects of the present invention are as follows:

[0022] (1) The present invention arranges the drive motor and the stick-slip drive device in parallel, with the drive motor taking on most of the angle adjustment tasks in the initial stage, and the stick-slip drive device taking on the final high-precision positioning stage. Thus, the high-speed drive of the drive motor and the high-precision drive of the stick-slip drive device are combined and applied, thereby achieving the purpose of high-speed and high-precision angle control.

[0023] (2) The present invention fully utilizes the anti-wear characteristics of the friction head of the stick-slip drive device, so when the drive motor drives the rotating output platform to rotate, it will not have a significant impact on the stick-slip drive device, and can ensure that the stick-slip drive device can promptly continue to drive the rotating output platform after the transmission gear set is separated.

[0024] (3) The stick-slip drive device and the drive motor of the present invention are driven in the same direction. After the gears are engaged, there is a tooth gap. The extremely small angle rotation of the driven gear under the drive of the stick-slip drive device is not enough to eliminate the tooth gap. Therefore, it not only does not affect the subsequent re-engagement of the driving gear and the driven gear, but also makes the engagement smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which form part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their description are provided to illustrate the present invention and are not intended to limit the present invention. It should also be understood that these drawings are shown for simplicity and clarity and are not necessarily drawn to scale. The present invention will now be described and explained with additional specificity and detail through the use of the accompanying drawings, in which:

[0026] Figure 1 The figure shows the overall structure of the high-speed precision turntable according to the embodiment of the present invention (with cutouts to facilitate observation of the interior of the structure);

[0027] Figure 2 It shows a schematic diagram of the overall structure of the high-speed precision turntable in an embodiment of the present invention;

[0028] Figure 3 shows a cross-sectional view of a high-speed precision turntable according to an embodiment of the present invention;

[0029] Figure 4 It shows a schematic structural diagram of the rotating output platform in an embodiment of the present invention;

[0030] Figure 5 shows a partial cross-sectional view of a drive motor according to an embodiment of the present invention;

[0031] Figure 6 It shows a schematic diagram of the turntable transmission gear separation state in an embodiment of the present invention;

[0032] Figure 7 A schematic diagram of the meshing state of the turntable transmission gears in an embodiment of the present invention is shown.

[0033] In the figure: 1. Base; 101. Through hole; 102. Mounting hole; 2. Stick-slip drive device; 3. Rotating output platform; 4. Middle shaft; 401. Bearing; 5. Angle sensor; 501. Encoder disc; 502. Encoder base; 6. Drive motor; 601. Spring; 602. Guide shaft; 603. Motor housing; 7. Clutch; 701. Electromagnet housing; 702. Electromagnetic push rod; 8. Transmission gear set; 801. Driving gear; 802. Driven gear. DETAILED DESCRIPTION

[0034] The technical solutions in typical embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] Example 1

[0036] like Figures 1 to 7 As shown, this embodiment provides a high-speed precision turntable based on parallel compound motion, including:

[0037] Base 1;

[0038] The output platform 3 is rotated and connected to the base 1 by nesting and rotating through the central axis 4;

[0039] The stick-slip drive device 2 is provided between the base 1 and the rotating output platform 3 and is used to drive a relatively small angle rotation between the two. The friction head of the stick-slip drive device 2 maintains a friction state with the rotating output platform 3.

[0040] The drive motor 6 is arranged in parallel with the stick-slip drive device 2 to independently drive the rotating output platform 3 to rotate at a large angle. The drive motor 6 is connected or disconnected with the rotating output platform 3 by controlling the engagement or disengagement of the transmission gear set 8.

[0041] When starting work, the transmission gear set 8 is controlled to mesh and the drive motor 6 is started to drive the rotating output platform 3 to rotate quickly to a position close to the required angle, completing the rapid adjustment of the rotating output platform 3 to a large angle;

[0042] The transmission gear set 8 is controlled to separate and the stick-slip drive device 2 is started to drive the rotating output platform 3 to move to a preset position, thereby completing high-precision adjustment of the rotating output platform 3 at a small angle.

[0043] The drive motor 6 and the stick-slip drive device 2 are arranged in parallel. The drive motor 6 is responsible for most of the angle adjustment tasks in the initial stage, and the stick-slip drive device 2 is responsible for the final high-precision positioning stage. In this way, the high-speed drive of the drive motor 6 and the high-precision drive of the stick-slip drive device 2 are combined and applied to achieve the purpose of high-speed and high-precision angle control.

[0044] like Figure 1 and Figure 2As shown, in this embodiment, the base 1 has an overall circular appearance and contains space for mounting the drive motor 6 and the stick-slip drive device 2. The base 1 functions as the outer shell of the high-precision turntable. A circular ring is provided at the bottom, with mounting holes 102 defined in the ring for securing the turntable. A through-hole 101 is provided in the sidewall of the base 1, through which the turntable's wiring harness enters the turntable.

[0045] The base 1 and the rotating output platform 3 are nested and connected through the central axis 4. It is not difficult to understand that the rotating output platform is set in a circular shape in order to adapt to the base 1. The rotating output platform 3 is fixedly connected to the central axis 4. Figure 3 As shown, a bearing 401 is provided between the base 1 and the central axis 4, and the rotating output platform 3, the central axis 4, and the bearing 401 are coaxially arranged. The central axis 4 rotates relative to the base 1 via the bearing 401. The rotating output platform 3 is nested on top of the base 1.

[0046] like Figure 3 As shown, an angle sensor 5 is also included. The angle sensor 5 is placed between the base 1 and the central axis 4. The angle sensor 5 is used to monitor the rotation angle between the base 1 and the rotating output platform 3. In this embodiment, the angle sensor 5 is an encoder sensor. The encoder disc 501 is fixedly connected to the central axis 4, and the encoder base 502 is fixedly connected to the base 1.

[0047] The stick-slip drive device 2 is positioned between the base 1 and the rotating output platform 3 to drive relative rotation between them. The stick-slip drive device 2 in this embodiment can be implemented using existing devices, and its structure and operating principle are not described in detail here. Each stick-slip drive device 2 is equipped with a friction head for driving another object in rotation. In this embodiment, the friction head of the stick-slip drive device 2 maintains a constant friction state with the rotating output platform 3. When the drive motor 6 rotates the rotating output platform 3, the friction head, typically made of ceramic, generally does not affect the stick-slip drive device 2, and any impact is generally within an acceptable range.

[0048] The anti-wear characteristics of the friction head of the stick-slip drive device are fully utilized, so when the drive motor 6 drives the rotating output platform 3 to rotate, it will not have a significant impact on the stick-slip drive device, which can ensure that the stick-slip drive device can promptly continue to drive the rotating output platform 3 after the transmission gear set is separated.

[0049] The driving motor 6 and the rotating output platform 3 are connected by a transmission gear set 8 , and the clutch 7 is used to control the engagement and disengagement of the transmission gear set 8 .

[0050] like Figure 3 and Figure 4As shown, the transmission gear set 8 includes a driving gear 801 and a driven gear 802. The driving gear 801 is fixedly connected to the main shaft of the drive motor 6, and the driven gear 802 is fixedly connected to the rotating output platform 3. The rotating output platform 3 has a downward flange, and the driven gear 802 is embedded inside the flange. The driving gear 801 is an external gear, and the driven gear 802 is an internal gear. The two gears adopt internal meshing transmission.

[0051] In this embodiment, the driving motor 6 is a stepping motor, and a speed reducer is provided between the driving motor 6 and the driving gear 801 .

[0052] like Figure 3 and Figure 5 As shown, a spring 601 and a guide shaft 602 are provided between the drive motor 6 and the base 1 . The spring 601 is used to push the drive motor 6 to move downward, and the guide shaft 602 is used to control the movement direction of the drive motor 6 .

[0053] like Figure 1 and Figure 5 As shown, the clutch 7 is of electromagnet type, and the electromagnets are arranged on both sides of the drive motor 6. The electromagnet housing 701 is fixedly connected to the base 1, and the end of the electromagnetic push rod 702 is in contact with the drive motor housing 603. By controlling the on and off of the electromagnet, the electromagnetic push rod 702 pushes the drive motor 6 up and down, thereby realizing the clutch of the transmission gear set 8.

[0054] The transmission gear set 8 of the present application includes a driving gear 801 installed on the driving motor and a driven gear 802 installed on the rotating output platform 3. Although the driven gear 802 rotates again after being driven by the driving motor 6 and then driven by the stick-slip driving device 2, the rotation angle is extremely small. The stick-slip driving device 2 and the driving motor 6 are driven in the same direction. There is a tooth gap after the gears are engaged. The rotation of the driven gear 802 driven by the stick-slip driving device 2 is not enough to eliminate the tooth gap. Therefore, it not only does not affect the subsequent re-engagement of the driving gear 801 and the driven gear 802, but also makes the engagement smoother.

[0055] It is easy to understand that even if the rotation of the driven gear 802 exceeds the tooth gap range, a reverse angle can still be set in the lead-in direction of the gear meshing, which can also promote smooth gear meshing.

[0056] Example 2

[0057] This embodiment provides a method for operating the high-speed precision turntable in Embodiment 1, comprising the following steps:

[0058] When the turntable starts working, the clutch 7 is energized to control the transmission gear set 8 to engage. Specifically, the electromagnetic push rod 702 pushes the drive motor 6 to move upward, so that the driving gear 801 and the driven gear 802 engage with each other. Figure 7Then start the drive motor 6, drive the rotating output platform 3 to rotate quickly to a position close to the desired angle, the reserved angle value is 1 to 5 times the maximum error value generated by the drive motor 6, and complete the rapid adjustment of the rotating output platform 3 at a large angle;

[0059] The clutch 7 is controlled to be powered off, and the transmission gear set 8 is controlled to be separated. Specifically, the drive motor 6 moves downward under the action of the spring 601, so that the driving gear 801 and the driven gear 802 are separated from each other. Figure 6 As shown, the stick-slip drive device 2 is started to drive the rotating output platform 3 to move to a preset position, thereby completing high-precision adjustment of the rotating output platform 3 at a small angle.

[0060] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A high-speed precision turntable based on parallel compound motion, characterized in that: include: base; The rotating output platform is connected to the base through nesting and rotation via a central axis; a stick-slip drive device, disposed between the base and the rotating output platform and configured to drive a small relative rotation between the two, wherein the friction head of the stick-slip drive device maintains a friction state with the rotating output platform; A drive motor is arranged in parallel with the stick-slip drive device, and independently drives the rotation output platform to rotate at a large angle. The drive motor controls the connection or disconnection with the rotation output platform by engaging or disengaging the transmission gear set. The device also includes a clutch for controlling the engagement and disengagement of the transmission gear set. The clutch is an electromagnet type, including an electromagnetic push rod, which is connected to the drive motor. By controlling the on and off of the electromagnet, the electromagnetic push rod pushes the drive motor up and down to achieve the clutch of the transmission gear set. A spring and a guide shaft are provided between the drive motor and the base, the spring is used to push the drive motor downward, and the guide shaft is used to control the movement direction of the drive motor. By connecting the drive motor and the stick-slip drive in parallel, the drive motor takes on most of the angle adjustment tasks in the initial stage, while the stick-slip drive takes on the final high-precision positioning stage. This combination of the high-speed drive of the drive motor and the high-precision drive of the stick-slip drive can achieve the goal of high-speed and high-precision angle control. The stick-slip drive device and the drive motor are driven in the same direction; The transmission gear set includes a driving gear and a driven gear, wherein the driving gear is fixedly connected to the main shaft of the driving motor, and the driven gear is fixedly connected to the rotation output platform.

2. A high-speed precision turntable based on parallel compound motion as claimed in claim 1, characterized in that: The driving gear is an external gear, the driven gear is an internal gear, and the two gears adopt internal meshing transmission.

3. The high-speed precision turntable based on parallel compound motion according to claim 1, characterized in that: An angle sensor is also included, and the angle sensor is placed between the base and the central axis.

4. The high-speed precision turntable based on parallel compound motion according to claim 3, characterized in that: The angle sensor is a coding sensor, and the driving motor is a stepping motor.

5. The high-speed precision turntable based on parallel compound motion according to claim 1, characterized in that: A bearing is provided between the base and the central shaft, and the rotation output platform, the central shaft and the bearing are coaxially arranged.

6. The operating method of the high-speed precision turntable according to any one of claims 1 to 5, characterized in that: The following steps are involved: Control the transmission gear set to mesh and start the drive motor to drive the rotating output platform to quickly rotate to a position close to the required angle. The reserved angle value is 1 to 5 times the maximum error value generated by the drive motor, completing the rapid adjustment of the rotating output platform at a large angle. Control the transmission gear set to separate and start the stick-slip drive device to drive the rotating output platform to the preset position, completing the high-precision adjustment of the rotating output platform at a small angle; By connecting the drive motor and the stick-slip drive in parallel, the drive motor takes on most of the angle adjustment tasks in the initial stage, and the stick-slip drive takes on the final high-precision positioning stage. In this way, the high-speed drive of the drive motor and the high-precision drive of the stick-slip drive are combined to achieve the purpose of high-speed and high-precision angle control.

Images