3D space mobile platform

Abstract

The application discloses a 3D space moving platform, and relates to the technical field of platform mechanisms, which comprises a lifting frame, the lifting frame is used for completing the lifting of the platform in the Z axis, an XY axis moving mechanism arranged on the upper surface of the lifting frame, the XY axis moving mechanism is used for the movement of the platform in the X axis and the Y axis and the error correction of the Z axis, an XY axis compensation mechanism arranged on the top of the XY axis moving mechanism, the XY axis compensation mechanism is used for the error correction of the platform in the X axis and the Y axis, an X axis compensation assembly arranged in the XY axis compensation mechanism, the X axis compensation assembly is used for the error correction of the platform in the X axis, and a Y axis compensation assembly arranged in the XY axis compensation mechanism, the Y axis compensation assembly is used for the error correction of the platform in the Y axis. Through the arrangement of the XY axis moving mechanism, the XY axis compensation mechanism, the X axis compensation assembly and the Y axis compensation assembly, the double three-axis mechanism can effectively perform error compensation, and the error correction can be performed without disassembling parts.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrier mechanism, in particular to a 3D space mobile carrier. BACKGROUND

[0002] For the automated production line, it is often necessary to use a mobile carrier to carry and move workpieces between different stations. In order to ensure the position of the workpiece relative to the mobile carrier during the carrying process, improve the machining accuracy, a three-axis mechanism is usually used to move the carrier.

[0003] However, the conventional three-axis mechanism has poor flexibility. The conventional three-axis mechanism can only be adjusted in a fixed manner. When the error is small, further fine adjustment and compensation cannot be achieved. Unless the previously installed components are removed, corrected or replaced, the installation and use costs will be increased. At the same time, when the equipment is stressed and deformed, the corresponding parts need to be replaced. SUMMARY

[0004] To solve the above technical problems, a 3D space mobile carrier is provided. The technical solution solves the problems of poor flexibility of the conventional three-axis mechanism, fixed adjustment of the conventional three-axis mechanism, inability to achieve further fine adjustment and compensation when the error is small, the need to remove the previously installed components for correction or replacement, and the increase in installation and use costs. At the same time, when the equipment is stressed and deformed, the corresponding parts need to be replaced.

[0005] To achieve the above purposes, the technical solution adopted by the present application is as follows:

[0006] A 3D space mobile carrier, comprising:

[0007] A lifting frame, which is used to complete the lifting of the carrier in the Z-axis;

[0008] An XY-axis moving mechanism, which is arranged on the upper surface of the lifting frame, and is used for the movement of the carrier in the X-axis and Y-axis and the error calibration of the Z-axis;

[0009] The XY axis compensation mechanism is arranged on the top of the XY axis moving mechanism, and is used for error calibration of the platform on the X axis and the Y axis.

[0010] The X axis compensation assembly is arranged in the XY axis compensation mechanism, and is used for error calibration of the platform on the X axis.

[0011] The Y axis compensation assembly is arranged in the XY axis compensation mechanism, and is used for error calibration of the platform on the Y axis.

[0012] Preferably, the XY axis moving mechanism comprises a base, the base is fixedly connected to the top of the lifting frame, a plurality of X axis sliding rails are slidably connected to the top of the base, X axis moving frames are fixedly connected to the top of the X axis sliding rails, Y axis sliding rails are fixedly connected to the two sides of the upper surface of each X axis moving frame, Y axis moving frames are slidably connected to the top of the Y axis sliding rails, guide rods are fixedly connected to the two sides of the top of each Y axis moving frame, and the guide rods are slidably connected to the support plate.

[0013] Preferably, the X-axis moving frame middle part is fixedly connected with an X-axis servo motor, the X-axis moving frame bottom is rotatably connected with an X-axis screw rod, the X-axis screw rod end is fixedly connected with a driven gear, the X-axis servo motor output end is sleeved with a transmission belt, the driven gear surface is sleeved with the transmission belt, the X-axis screw rod middle part is threadedly connected with the base, the X-axis moving frame front side is fixedly connected with a Y-axis servo motor, the X-axis moving frame right front side is rotatably connected with a Y-axis screw rod, the Y-axis screw rod front end is fixedly connected with a transmission gear, the Y-axis screw rod is threadedly connected with the Y-axis moving frame, and the Y-axis servo motor output end is sleeved with a belt, and the transmission gear surface is sleeved with the belt.

[0014] Preferably, the Y-axis moving frame top is fixedly connected with a Z-axis compensation motor, the Z-axis compensation motor output end is fixedly connected with a pinion, the Y-axis moving frame top is fixedly connected with a mounting plate, the mounting plate is rotatably connected with a calibration gear, the calibration gear is engaged with the pinion, the Y-axis moving frame top is fixedly connected with a guide rail, the guide rail surface is slidably connected with a trapezoidal block, the calibration gear front side is fixedly connected with a Z-axis compensation screw rod, the Z-axis compensation screw rod is threadedly connected with the trapezoidal block, the supporting plate lower surface is fixedly connected with a jacking block, the jacking block bottom end is a slope one, the trapezoidal block top end is a slope two, the slope one and the slope two have consistent slopes, and the jacking block bottom end and the trapezoidal block top end are in abutment.

[0015] Preferably, the lifting frame two sides are slidably connected with mounting frames, the mounting frame bottom end is fixedly connected with a workbench, the workbench upper surface middle part is fixedly connected with a fixing frame, the fixing frame middle part is fixedly connected with a Z-axis servo motor, the Z-axis servo motor output end is fixedly connected with a gear one, the mounting frame middle part is rotatably connected with a Z-axis screw rod, the Z-axis screw rod top end is threadedly connected with the lifting frame, the Z-axis screw rod bottom end is fixedly connected with a gear two, and the gear one and the gear two are engaged with each other.

[0016] Preferably, the screw rod end abuts against the rotary ring surface, the convex rod left end abuts against the rotary ring surface, the rotating shaft passes through the rotary ring middle part, the auxiliary spring right end is fixedly connected to the rotary disc side, the auxiliary spring left end is fixedly connected to the compensation cylinder right end, and the receiving block top end is fixedly connected with the balance plate.

[0017] Preferably, the X-axis compensation assembly and the Y-axis compensation assembly have consistent structures, and the X-axis compensation assembly is installed between the stage plate and the balance plate.

[0018] Preferably, the combined gear is composed of a bevel gear and a gear combination.

[0019] Preferably, the balance plate lower surface rear side is fixedly connected with an X-axis limit switch, the supporting plate upper surface rear side is fixedly connected with a Y-axis limit switch, and the air cylinder is controllably connected with the X-axis limit switch and the Y-axis limit switch.

[0020] Preferably, the X-axis limit switch is located in the same region as the lower bevel gear, and the Y-axis limit switch is located in the same vertical plane as the transition gear.

[0021] Compared with the prior art, the 3D space moving platform has the following beneficial effects:

[0022] By setting the XY-axis moving mechanism, the XY-axis compensation mechanism, the X-axis compensation assembly and the Y-axis compensation assembly, the double three-axis mechanism is adopted for driving, and the flexibility is higher than that of the conventional mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0024] Figure 2 is a schematic diagram of the explosion structure of the present application;

[0025] Figure 3 is a schematic diagram of the XY-axis moving mechanism structure of the present application;

[0026] Figure 4 is a schematic diagram of the rear view structure of the XY-axis moving mechanism of the present application;

[0027] Figure 5 is a schematic diagram of the XY-axis compensation mechanism structure of the present application;

[0028] Figure 6 is a schematic diagram of the explosion structure of the XY-axis compensation mechanism of the present application;

[0029] Figure 7 is a schematic diagram of the rear view explosion structure of the XY-axis compensation mechanism of the present application;

[0030] Figure 8 is a schematic diagram of the Y-axis compensation assembly structure of the present application;

[0031] Reference numerals in the drawings are:

[0032] 101, workbench; 102, mounting frame; 103, Z-axis screw; 104, lifting frame; 105, fixed frame; 106, Z-axis servo motor;

[0033] 200, XY axis moving mechanism; 201, Z axis compensation motor; 202, guide rod; 203, Y axis moving frame; 204, Y axis slide rail; 205, Y axis servo motor; 206, X axis slide rail; 207, base; 208, calibration gear; 209, trapezoidal block; 210, Z axis compensation screw; 211, guide rail; 212, belt; 213, X axis moving frame; 214, transmission gear; 215, X axis servo motor; 216, X axis screw; 217, driven gear; 218, transmission belt;

[0034] 300, XY axis compensation mechanism; 301, Y axis supporting block; 302, Y axis guide rail; 303, stage plate; 304, X axis supporting block; 305, balance plate; 306, X axis guide rail; 307, total compensation motor; 308, air cylinder; 309, supporting plate; 310, driven bevel gear; 311, upper bevel gear; 312, movable rod; 313, X axis limit switch; 314, Y axis limit switch; 315, combined gear; 316, transition gear; 317, driving gear; 318, lower bevel gear; 319, jacking block;

[0035] 400, X axis compensation assembly;

[0036] 500, Y axis compensation assembly; 501, rotating ring; 502, screw rod; 503, fixed plate; 504, convex rod; 505, receiving block; 506, auxiliary spring; 507, rotating disc; 508, rotating shaft; 509, compensation cylinder; 510, insertion rod. DETAILED DESCRIPTION

[0037] The following description is provided to enable those skilled in the art to implement the present application. The preferred embodiments in the following description are only examples of the present application, and other obvious modifications can be made by those skilled in the art.

[0038] Referring to Figures 1-8 As shown in the figure, a 3D space moving stage includes:

[0039] Lifting frame 104, the lifting frame 104 is used to complete the lifting of the stage in the Z axis;

[0040] XY axis moving mechanism 200, provided on the upper surface of the lifting frame 104, the XY axis moving mechanism 200 is used for the movement of the stage in the X axis and Y axis and the error calibration of the Z axis;

[0041] Referring to Figure 6 and Figure 7The XY axis compensation mechanism 300 is arranged on the top of the XY axis moving mechanism 200, and is used for error calibration of the platform in the X axis and the Y axis. The XY axis compensation mechanism 300 comprises a support plate 309, two Y axis guide rails 302 are fixedly connected to the upper surface of the support plate 309, Y axis supporting blocks 301 are slidably connected to the surfaces of the Y axis guide rails 302, a balance plate 305 is fixedly connected to the top of the Y axis supporting blocks 301, two X axis guide rails 306 are fixedly connected to the upper surface of the balance plate 305, X axis supporting blocks 304 are slidably connected to the surfaces of the X axis guide rails 306, a platform plate 303 is fixedly connected to the top of the X axis supporting blocks 304, a gas cylinder 308 is fixedly connected to the middle of the upper surface of the support plate 309, a total compensation motor 307 is fixedly connected to the output end of the gas cylinder 308, a combination gear 315 is fixedly connected to the output end of the total compensation motor 307, a plurality of transition gears 316 are installed on the rear side of the upper surface of the support plate 309, a movable rod 312 is rotatably connected to the rear side of the balance plate 305, an upper bevel gear 311 is fixedly connected to the top end of the movable rod 312, and a lower bevel gear 318 is fixedly connected to the bottom end of the movable rod 312.

[0042] The X axis compensation assembly 400 is arranged in the XY axis compensation mechanism 300, and is used for error calibration of the platform in the X axis. A driven bevel gear 310 is installed at the end of the X axis compensation assembly 400, and the driven bevel gear 310 is engaged with the upper bevel gear 311.

[0043] When the combination gear 315 is detected by the X axis limit switch 313, the combination gear 315 is engaged with the lower bevel gear 318, so that the lower bevel gear 318 can drive the upper bevel gear 311 to rotate, and then drive the driven bevel gear 310 to rotate. At this time, the operation mode of the X axis compensation assembly 400 is similar to that of the subsequent Y axis compensation assembly 500.

[0044] Referring to Figure 6 , Figure 7 and Figure 8The Y-axis compensation assembly 500 is arranged inside the XY-axis compensation mechanism 300, and is used for error calibration of the stage in the Y-axis. A drive gear 317 is mounted on the rear side of the Y-axis compensation assembly 500, and is engaged with the transition gear 316. The Y-axis compensation assembly 500 comprises a fixed plate 503, a rotating ring 501 rotatably connected to the top right side of the fixed plate 503, a threaded rod 502 threadedly connected to the middle of the fixed plate 503, a rotating shaft 508 fixedly connected to the right side of the fixed plate 503, a compensation cylinder 509 sleeved on the middle of the rotating shaft 508, an accommodating block 505 rotatably connected to the middle of the compensation cylinder 509, a rotating disc 507 rotatably connected to the right end of the rotating shaft 508, a plurality of insertion rods 510 fixedly connected to the left side of the rotating disc 507, the insertion rods 510 being slidably connected to the right end of the compensation cylinder 509, a protruding rod 504 fixedly connected to the left end of the compensation cylinder 509, and an auxiliary spring 506 sleeved on the right end of the rotating shaft 508.

[0045] The cylinder 308 retracts, so that the total compensation motor 307 moves, the Y-axis limit switch 314 limits the combined gear 315, when the combined gear 315 is detected, the cylinder 308 stops moving, at this time, the combined gear 315 is engaged with the transition gear 316, the transition gear 316 drives the drive gear 317 to rotate, and then drives the rotating disc 507 to rotate, the threaded rod 502 is twisted, the inclination of the rotating ring 501 can be adjusted, when the rotating disc 507 rotates, the compensation cylinder 509 and the protruding rod 504 are driven to rotate, so that the inclination of the protruding rod 504 follows the inclination of the rotating ring 501, the position of the compensation cylinder 509 is finely adjusted, the position of the accommodating block 505 is adjusted, and the position of the balance plate 305 is finely adjusted, so that the position of the stage plate 303 is finely adjusted in the Y-axis direction.

[0046] Referring to Figure 1 , Figure 3 and Figure 4 , specifically, the XY-axis moving mechanism 200 comprises a base 207 fixedly connected to the top of the lifting frame 104, a plurality of X-axis sliding rails 206 slidably connected to the top of the base 207, an X-axis moving frame 213 fixedly connected to the top of the X-axis sliding rails 206, Y-axis sliding rails 204 fixedly connected to both sides of the upper surface of the X-axis moving frame 213, a Y-axis moving frame 203 slidably connected to the top of the Y-axis sliding rails 204, and guide rods 202 fixedly connected to both sides of the top of the Y-axis moving frame 203 and slidably connected with the support plate 309.

[0047] The middle part of the X-axis moving frame 213 is fixedly connected with an X-axis servo motor 215, the bottom of the X-axis moving frame 213 is rotationally connected with an X-axis screw rod 216, the end of the X-axis screw rod 216 is fixedly connected with a driven gear 217, the output end of the X-axis servo motor 215 is sleeved with a transmission belt 218, the surface of the driven gear 217 is sleeved with the transmission belt 218, the middle part of the X-axis screw rod 216 is threadedly connected with the base 207, the front side of the X-axis moving frame 213 is fixedly connected with a Y-axis servo motor 205, the front right side of the X-axis moving frame 213 is rotationally connected with a Y-axis screw rod, the front end of the Y-axis screw rod is fixedly connected with a transmission gear 214, the Y-axis screw rod is threadedly connected with the Y-axis moving frame 203, the output end of the Y-axis servo motor 205 is sleeved with a belt 212, and the surface of the transmission gear 214 is sleeved with the belt 212;

[0048] The X-axis servo motor 215 operates, drives the transmission belt 218 to move, and then drives the driven gear 217 to rotate, so that the X-axis moving frame 213 moves along the direction of the X-axis sliding rail 206, and then the platform plate 303 moves in the X-axis direction.

[0049] The Y-axis servo motor 205 operates, drives the belt 212 to move, and then drives the transmission gear 214 to rotate, so that the Y-axis moving frame 203 moves along the Y-axis sliding rail 204, and then the movement of the platform plate 303 in the Y-axis direction is completed.

[0050] The top of the Y-axis moving frame 203 is fixedly connected with a Z-axis compensation motor 201, the output end of the Z-axis compensation motor 201 is fixedly connected with a pinion, the top of the Y-axis moving frame 203 is fixedly connected with a mounting plate, the mounting plate is rotationally connected with a calibration gear 208, the calibration gear 208 is engaged with the pinion, the top of the Y-axis moving frame 203 is fixedly connected with a guide rail 211, the surface of the guide rail 211 is slidably connected with a trapezoidal block 209, the front surface of the calibration gear 208 is fixedly connected with a Z-axis compensation screw rod 210, the Z-axis compensation screw rod 210 is threadedly connected with the trapezoidal block 209, the lower surface of the support plate 309 is fixedly connected with a jacking block 319, the bottom end of the jacking block 319 is a slope one, the top end of the trapezoidal block 209 is a slope two, the slopes of the slope one and the slope two are consistent, and the bottom end of the jacking block 319 abuts against the top end of the trapezoidal block 209;

[0051] The Z-axis compensation motor 201 operates, drives the pinion to rotate, and then drives the calibration gear 208 to rotate, so that the Z-axis compensation screw rod 210 rotates, and then the trapezoidal block 209 moves along the guide rail 211, and then the jacking block 319 rises or falls, so that the platform plate 303 rises or falls, and the error calibration of the platform plate 303 in the Z-axis direction is completed.

[0052] Reference Figure 2The lifting frame 104 is slidably connected with the mounting frame 102 on both sides, the mounting frame 102 is fixedly connected with the workbench 101 at the bottom end, the workbench 101 is fixedly connected with the fixed frame 105 at the middle of the upper surface, the fixed frame 105 is fixedly connected with the Z-axis servo motor 106 at the middle, the output end of the Z-axis servo motor 106 is fixedly connected with the gear one, the mounting frame 102 is rotatably connected with the Z-axis screw rod 103 at the middle, the Z-axis screw rod 103 is threadedly connected with the lifting frame 104 at the top end, the Z-axis screw rod 103 is fixedly connected with the gear two at the bottom end, and the gear one and the gear two are meshed with each other.

[0053] The Z-axis servo motor 106 operates to drive the Z-axis screw rod 103 to rotate through the gear one and the gear two, so that the lifting frame 104 is lifted and lowered, and the lifting of the platform plate 303 in the Z-axis direction is completed.

[0054] With reference to Figure 6 , Figure 7 and Figure 8 , the end of the screw rod 502 abuts against the surface of the rotating ring 501, the left end of the convex rod 504 abuts against the surface of the rotating ring 501, the rotating shaft 508 passes through the middle of the rotating ring 501, the right end of the auxiliary spring 506 is fixedly connected to the side surface of the rotating disc 507, the left end of the auxiliary spring 506 is fixedly connected to the right end of the compensation cylinder 509, and the top end of the bearing block 505 is fixedly connected with the balance plate 305.

[0055] The X-axis compensation assembly 400 and the Y-axis compensation assembly 500 are identical in structure, and the X-axis compensation assembly 400 is installed between the platform plate 303 and the balance plate 305.

[0056] The combined gear 315 is composed of a bevel gear and a gear combination.

[0057] The X-axis limit switch 313 is fixedly connected to the rear side of the lower surface of the balance plate 305, the Y-axis limit switch 314 is fixedly connected to the rear side of the upper surface of the support plate 309, and the air cylinder 308 is in control connection with the X-axis limit switch 313 and the Y-axis limit switch 314.

[0058] The X-axis limit switch 313 and the lower bevel gear 318 are located in the same area, and the Y-axis limit switch 314 and the transition gear 316 are located in the same vertical plane.

[0059] The working principle and use process of the present application: by setting the XY axis moving mechanism 200, the XY axis compensation mechanism 300, the X axis compensation assembly 400 and the Y axis compensation assembly 500, the double three-axis mechanism is driven, which is more flexible than the conventional mechanism, the conventional three-axis mechanism can only be fixedly adjusted, when the error is small, further fine adjustment compensation cannot be realized, unless the previously installed parts are removed, corrected or replaced, the double three-axis mechanism can effectively compensate the error, without disassembling or modifying the parts, the error correction can be performed, which greatly reduces the installation and use cost, at the same time, when the equipment stress deforms, only the function parameters of the software need to be adjusted slightly, the deformation error can be compensated back, without disassembling or replacing the parts.

[0060] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, the above examples and descriptions in the specification are only the principles of the present application, various changes and improvements can be made without departing from the spirit and scope of the present application, which fall within the scope of the claimed present application. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. A 3D space mobile platform, characterized by: include: A lifting frame (104), wherein the lifting frame (104) is used to complete the lifting of the carrier on the Z axis; An XY axis moving mechanism (200) is provided on the upper surface of the lifting frame (104), and the XY axis moving mechanism (200) is used for moving the carrier on the X axis and the Y axis and for error calibration on the Z axis; An XY axis compensation mechanism (300) is arranged on the top of the XY axis moving mechanism (200). The XY axis compensation mechanism (300) is used for calibrating the errors of the carrier on the X axis and the Y axis. The XY axis compensation mechanism (300) comprises a support plate (309). Both sides of the upper surface of the support plate (309) are fixedly connected to Y axis guide rails (302). The surface of the Y axis guide rail (302) is slidably connected to a Y axis support block (301). The top of the Y axis support block (301) is fixedly connected to a balance plate (305). The upper surface of the balance plate (305) is fixedly connected to two X axis guide rails (306). The surface of the X axis guide rail (306) is slidably connected to the X axis support block (301). 4), the top of the X-axis support block (304) is fixedly connected to the carrier plate (303), the middle part of the upper surface of the support plate (309) is fixedly connected to the cylinder (308), the output end of the cylinder (308) is fixedly connected to the total compensation motor (307), the output end of the total compensation motor (307) is fixedly connected to the combined gear (315), a plurality of transition gears (316) are installed on the rear side of the upper surface of the support plate (309), the rear side of the balance plate (305) is rotatably connected to the movable rod (312), the top end of the movable rod (312) is fixedly connected to the upper bevel gear (311), and the bottom end of the movable rod (312) is fixedly connected to the lower bevel gear (318); An X-axis compensation component (400) is arranged inside the XY-axis compensation mechanism (300), and the X-axis compensation component (400) is used for calibrating the error of the carrier on the X-axis. A driven bevel gear (310) is installed at the end of the X-axis compensation component (400), and the driven bevel gear (310) is meshed with the upper bevel gear (311); The Y-axis compensation component (500) is arranged inside the XY-axis compensation mechanism (300). The Y-axis compensation component (500) is used for calibrating the error of the carrier on the Y-axis. A driving gear (317) is installed on the rear side of the Y-axis compensation component (500). The driving gear (317) is meshed with the transition gear (316). The Y-axis compensation component (500) includes a fixed plate (503). The top right side of the fixed plate (503) is rotatably connected to a rotating ring (501). The middle part of the fixed plate (503) is threadedly connected to a screw (502). The fixed plate (503) The right side is fixedly connected with a rotating shaft (508), the middle part of the rotating shaft (508) is sleeved with a compensation cylinder (509), the middle part of the compensation cylinder (509) is rotatably connected with a receiving block (505), the right end of the rotating shaft (508) is rotatably connected with a rotating disk (507), the left side of the rotating disk (507) is fixedly connected with a plurality of insertion rods (510), the insertion rods (510) are slidably connected to the right end of the compensation cylinder (509), the left end of the compensation cylinder (509) is fixedly connected with a protruding rod (504), and the right end of the rotating shaft (508) is sleeved with an auxiliary spring (506); The XY axis moving mechanism (200) comprises a base (207), the base (207) is fixedly connected to the top of the lifting frame (104), a plurality of X axis slide rails (206) are slidably connected to the top of the base (207), the top of the X axis slide rails (206) are fixedly connected to the X axis moving frame (213), both sides of the upper surface of the X axis moving frame (213) are fixedly connected to the Y axis slide rails (204), the top of the Y axis slide rails (204) is slidably connected to the Y axis moving frame (203), both sides of the top of the Y axis moving frame (203) are fixedly connected to the guide rods (202), and the guide rods (202) are slidably connected to the support plate (309); The lifting frame (104) is slidably connected to the mounting frame (102) on both sides, the bottom end of the mounting frame (102) is fixedly connected to the workbench (101), the middle part of the upper surface of the workbench (101) is fixedly connected to the fixing frame (105), the middle part of the fixing frame (105) is fixedly connected to the Z-axis servo motor (106), the output end of the Z-axis servo motor (106) is fixedly connected to the first gear, the middle part of the mounting frame (102) is rotatably connected to the Z-axis screw rod (103), the top end of the Z-axis screw rod (103) is threadedly connected to the lifting frame (104), the bottom end of the Z-axis screw rod (103) is fixedly connected to the second gear, and the first gear and the second gear are meshed with each other.

2. The 3D space mobile stage according to claim 1, characterized in that: The middle of the X-axis moving frame (213) is fixedly connected to an X-axis servo motor (215), the bottom of the X-axis moving frame (213) is rotatably connected to an X-axis screw rod (216), the end of the X-axis screw rod (216) is fixedly connected to a driven gear (217), the output end of the X-axis servo motor (215) is sleeved with a transmission belt (218), the surface of the driven gear (217) is sleeved with a transmission belt (218), the middle of the X-axis screw rod (216) is connected to the base (2 07) is threadedly connected, the front side of the X-axis moving frame (213) is fixedly connected to the Y-axis servo motor (205), the right front side of the X-axis moving frame (213) rotates the Y-axis screw rod, the front end of the Y-axis screw rod is fixedly connected to the transmission gear (214), the Y-axis screw rod is threadedly connected to the Y-axis moving frame (203), the output end of the Y-axis servo motor (205) is sleeved with a belt (212), and the surface of the transmission gear (214) is sleeved with a belt (212).

3. The 3D space mobile stage according to claim 2, characterized in that: The top of the Y-axis moving frame (203) is fixedly connected to a Z-axis compensation motor (201), an output end of the Z-axis compensation motor (201) is fixedly connected to a pinion, the top of the Y-axis moving frame (203) is fixedly connected to a mounting plate, the mounting plate is rotatably connected to a calibration gear (208), the calibration gear (208) is meshed with the pinion, the top of the Y-axis moving frame (203) is fixedly connected to a guide rail (211), and the surface of the guide rail (211) is slidably connected to the guide rail. A trapezoidal block (209) is provided, a Z-axis compensation screw rod (210) is fixedly connected to the front of the calibration gear (208), the Z-axis compensation screw rod (210) is threadedly connected to the trapezoidal block (209), a lifting block (319) is fixedly connected to the lower surface of the support plate (309), the bottom end of the lifting block (319) is a first inclined plane, the top end of the trapezoidal block (209) is a second inclined plane, the slopes of the first inclined plane and the second inclined plane are consistent, and the bottom end of the lifting block (319) abuts against the top end of the trapezoidal block (209).

4. The 3D space mobile stage according to claim 1, characterized in that: The end of the screw rod (502) abuts against the surface of the rotating ring (501), the left end of the protruding rod (504) abuts against the surface of the rotating ring (501), the rotating shaft (508) passes through the middle of the rotating ring (501), the right end of the auxiliary spring (506) is fixedly connected to the side of the rotating disk (507), the left end of the auxiliary spring (506) is fixedly connected to the right end of the compensation cylinder (509), and the top of the receiving block (505) is fixedly connected to the balance plate (305).

5. The 3D space mobile stage according to claim 1, characterized in that: The X-axis compensation component (400) has the same structure as the Y-axis compensation component (500), and the X-axis compensation component (400) is installed between the carrier plate (303) and the balance plate (305).

6. The 3D space mobile stage according to claim 1, characterized in that: The combined gear (315) is composed of a bevel gear and a gear combination.

7. The 3D space mobile stage according to claim 1, characterized in that: An X-axis limit switch (313) is fixedly connected to the rear side of the lower surface of the balance plate (305), a Y-axis limit switch (314) is fixedly connected to the rear side of the upper surface of the support plate (309), and the cylinder (308) is controllably connected to the X-axis limit switch (313) and the Y-axis limit switch (314).

8. The 3D space mobile stage according to claim 7, characterized in that: The X-axis limit switch (313) and the lower bevel gear (318) are located in the same area, and the Y-axis limit switch (314) and the transition gear (316) are located in the same vertical plane.

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