A drive platform

Abstract

The present invention provides a driving platform, comprising: a fixed platform, a movable platform, and a driving unit; the movable platform is arranged above the fixed platform; the driving unit is arranged on the fixed platform and comprises six groups of driving assemblies, the six groups of driving assemblies being used to support and drive the movable platform; the driving assembly comprises a fixed rod, a movable rod, and a driving member, the fixed rod being provided with a first connecting end and a slot end, the movable rod being provided with a second connecting end and a plug end adapted to the slot end, the first connecting end being connected to the fixed platform, the second connecting end being connected to the movable platform, and the driving member driving the plug end to move within the slot end. By providing six groups of driving assemblies, the driving member is used to drive the movable rod to perform telescopic movement relative to the fixed rod, thereby achieving multi-degree-of-freedom movement of the movable platform relative to the fixed platform, thereby expanding the scope of application and resolving the problem that the existing driving platform can only achieve overall axial movement in the vertical direction and has an insufficient scope of application.

Description

Technical Field

[0001] The present invention relates to the technical field of drive mechanisms, and in particular to a drive platform. Background Art

[0002] From the perspective of mechanics, robots can be divided into two categories: serial robots and parallel robots. Compared with serial robots, parallel robots have the advantages of high rigidity, strong load-bearing capacity, high precision and small inertia of end parts.

[0003] The existing drive platform can generally only realize the lifting function, and cannot realize the function of tilting the platform working surface. That is, the existing drive platform can only realize the overall axial movement in the vertical direction, which leads to a limited scope of application. Summary of the Invention

[0004] Based on this, in order to solve the problem that the existing drive platform can only achieve overall axial movement in the vertical direction and has a limited scope of application, the present invention provides a drive platform, and its specific technical solution is as follows:

[0005] A driving platform comprises: a fixed platform, a movable platform, and a driving unit; the movable platform is arranged above the fixed platform; the driving unit is arranged on the fixed platform, and comprises six groups of driving components, and the six groups of driving components are used to support and drive the movable platform; the driving components comprise a fixed rod, a movable rod and a driving member, the fixed rod is provided with a first connecting end and a slot end, the movable rod is provided with a second connecting end and a plug end adapted to the slot end, the first connecting end is connected to the fixed platform, the second connecting end is connected to the movable platform, and the driving member drives the plug end to move in the slot end.

[0006] The above-mentioned driving platform is equipped with six groups of driving components, and uses the driving components to drive the moving rod to perform telescopic movement relative to the fixed rod, thereby realizing multi-degree-of-freedom movement of the moving platform relative to the fixed platform, thereby expanding the scope of application and solving the problem that the existing driving platform can only realize overall axial movement in the vertical direction and has an insufficient scope of application.

[0007] Furthermore, the fixed platform is provided with three first mounting portions evenly arranged along the circumference of the fixed platform, and the first connecting ends of the fixed rods are arranged close to each other in pairs and rotatably connected to the first mounting portions; the movable platform is provided with three second mounting portions evenly arranged along the circumference of the movable platform, and the second connecting ends of the movable rods are arranged close to each other in pairs and rotatably connected to the second mounting portions.

[0008] Furthermore, the driving member includes a driving motor and a connecting rod group, the driving motor is arranged on the fixed rod member, the driving motor is provided with an output end, the connecting rod group is provided with a hinged end and an input end connected to the output end hub, and the moving rod member is provided with a hinged block hinged to the hinged end; the driving motor drives the input end of the connecting rod group to rotate, thereby driving the moving rod member to perform telescopic movement along the rod direction of the fixed rod member.

[0009] Furthermore, the fixed rod member includes a fixed rod and a guide block fixedly connected to the fixed rod, the fixed rod is provided with a mounting groove adapted to the plug end; the guide block is provided with a guide hole adapted to the hinge block.

[0010] Furthermore, the first mounting portion is arranged on the fixed platform in an equilateral triangle shape, and the fixed rods are arranged in pairs in a V shape on the first mounting portion.

[0011] Furthermore, the first connecting end and the first mounting portion are connected via a ball joint;

[0012] The second connecting end and the second mounting portion are connected via a ball joint.

[0013] Furthermore, a controller is included, and the drive motor is electrically connected to the controller, so as to achieve synchronous control of the six groups of drive components.

[0014] Furthermore, the controller performs synchronous drive control on the six groups of drive components through a "position-position" control method.

[0015] Furthermore, it includes a second driving mechanism arranged on the movable platform, the second driving mechanism includes a fixed platform, a movable platform and several power components, the power components include a power motor and a first connecting rod driven by the power motor, and a second connecting rod hinged to the first connecting rod; the power motor is fixedly installed on the fixed platform, the power motor drives the first connecting rod to rotate and drives the second connecting rod to swing, thereby driving the movable platform through the second connecting rod.

[0016] Furthermore, the fixed platform as a whole is a hexagonal pyramid structure, and the second driving mechanism includes six groups of power components; the six groups of power components are arranged in pairs to form three power units, and the three power units are arranged at intervals on the three sides of the hexagonal pyramid structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but rather the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0018] Figure 1 This is a schematic diagram of the structure of the driving platform according to an embodiment of the present invention. Figure 1 ;

[0019] Figure 2 1 is a schematic structural diagram of a driving component in a driving platform according to an embodiment of the present invention;

[0020] Figure 3 is a structural cross-sectional view of a driving assembly in a driving platform according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the driving platform according to an embodiment of the present invention. Figure 2 ;

[0022] Figure 5 It is a structural schematic diagram of the second driving mechanism in the driving platform according to one embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1-fixed platform, 2-moving platform, 3-driving unit, 4-controller, 5-second driving mechanism;

[0025] 11-first mounting portion, 21-second mounting portion;

[0026] 30- drive assembly;

[0027] 31-fixed rod, 32-moving rod, 33-driving member;

[0028] 311-first connecting end, 312-slot end, 314-fixing rod, 315-guide block;

[0029] 321-second connecting end, 322-plug end, 323-hinge block;

[0030] 331-drive motor, 332-connecting rod assembly;

[0031] 3321- hinged end, 3322- input end;

[0032] 51-fixed platform, 52-movable platform, 53-power assembly;

[0033] 531 - power motor, 532 - first connecting rod, 533 - second connecting rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not limit the scope of protection of the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] The "first" and "second" in the present invention do not represent specific quantities and orders, but are only used to distinguish names.

[0038] like Figure 1 and Figure 2 、 Figure 3 As shown, a driving platform in one embodiment of the present invention includes a fixed platform 1, a moving platform 2 and a driving unit 3; the moving platform 2 is arranged above the fixed platform 1; the driving unit 3 is arranged on the fixed platform 1, and includes six groups of driving components 30, and the six groups of driving components 30 are used to support and drive the moving platform 2; the driving component 30 includes a fixed rod member 31, a moving rod member 32 and a driving member 33, the fixed rod member 31 is provided with a first connecting end 311 and a slot end 312, the moving rod member 32 is provided with a second connecting end 321 and a plug end 322 adapted to the slot end 312, the first connecting end 311 is connected to the fixed platform 1, the second connecting end 321 is connected to the moving platform 2, and the driving member 33 drives the plug end 322 to move in the slot end 312.

[0039] The above-mentioned driving platform is equipped with six groups of driving components 30, and uses the driving member 33 to drive the moving rod 32 to perform telescopic movement relative to the fixed rod 31, thereby realizing multi-degree-of-freedom movement of the moving platform 2 relative to the fixed platform 1, thereby expanding the scope of application and solving the problem that the existing driving platform can only realize overall axial movement in the vertical direction and has an insufficient scope of application.

[0040] In one embodiment, the fixed platform 1 is provided with three first mounting portions 11 evenly spaced along the circumference of the fixed platform 1. The first connecting ends 321 of the fixed rods 31 are arranged in pairs close to each other and rotatably connected to the first mounting portions 11. The movable platform 2 is provided with three second mounting portions 21 evenly spaced along the circumference of the movable platform 2. The second connecting ends 321 of the movable rods 32 are arranged in pairs close to each other and rotatably connected to the second mounting portions 21. In this way, by connecting the fixed rods 31 in pairs to the first mounting portions 11 of the fixed platform 1, the two fixed rods 31 and the movable platform 2 form a stable triangular structure, ensuring the stability of the driving platform during movement.

[0041] like Figure 1 and Figure 2 、 Figure 3 As shown, in one embodiment, the driving member 33 includes a driving motor 331 and a connecting rod assembly 332. The driving motor 331 is disposed on the fixed rod 32. The driving motor 331 has an output end. The connecting rod assembly 332 has a hinged end 3321 and an input end 3322 connected to the output end hub. The movable rod 32 has a hinge block 323 hinged to the hinged end 3321. The driving motor 331 drives the input end 3322 of the connecting rod assembly 332 to rotate, thereby driving the movable rod 32 to perform telescopic motion along the rod direction of the fixed rod 32. Specifically, the driving motor 331 is a servo motor. Thus, the driving motor 331 drives the input end 3322 of the connecting rod assembly 332 to rotate, thereby driving the movable rod 32 to perform telescopic motion along the rod direction of the fixed rod 32, thereby driving the movable platform 2 to deflect, thereby achieving multi-degree-of-freedom motion of the movable platform 2 relative to the fixed platform 1.

[0042] like Figure 3 As shown, in one embodiment, the fixed rod member 31 includes a fixed rod 314 and a guide block 315 fixedly connected to the fixed rod 314. The fixed rod 314 is provided with a mounting groove adapted to fit the plug end 322; the guide block 315 is provided with a guide slot adapted to fit the hinge block 323. Thus, by arranging the guide slot of the guide block 315 to fit the hinge block 323, the hinge block 323 can move along the rod direction of the fixed rod 314 within the guide slot, thereby ensuring the driving accuracy of the drive assembly 30 and, in turn, the adjustment accuracy of the movable platform 2.

[0043] In one embodiment, the first mounting portion 11 is arranged in an equilateral triangle on the fixed platform 1, the fixed rods 32 are arranged in pairs in a V-shape on the first mounting portion 11, and the second mounting portion 21 is arranged in an equilateral triangle on the moving platform 2. Specifically, the distance from the first mounting portion 11 to the distribution center of the fixed platform 1 is greater than the distance from the second mounting portion 21 to the distribution center of the moving platform 2, so as to maintain the stability of the driving platform and avoid tilting during operation. In this way, the perpendicular line from each vertex of the fixed platform 1 to the base surface intersects with an edge of the base at the midpoint of the edge, and each vertex of the fixed platform 1 is connected to one end of the driving assembly 30, so that the structure is stable, ensuring that the driving platform is uniformly stressed during movement and the moving action is stable, thereby ensuring the adjustment accuracy of the moving platform 2.

[0044] In one embodiment, the first connection end 311 and the first mounting portion 11 are connected via a ball joint; the second connection end 321 and the second mounting portion 21 are also connected via a ball joint. Specifically, the drive unit 3 employs a redundant synchronous drive structure. This ensures unimpeded relative rotation of the ball joint connection. When the extension and retraction of the drive assembly 30 causes the position of the movable platform 2 to change, the movable platform 2 and the fixed platform 1 can maintain a variety of positional relationships, thus providing a wider range of applications.

[0045] like Figure 1 As shown, in one embodiment, a controller 4 is further included, and the drive motors 33 are electrically connected to the controller 4, thereby achieving synchronous control of the six drive assemblies 30. In this way, the six drive motors 33 are synchronously controlled by the controller 4, and the drive unit 3 provided on the fixed platform 1 provides driving force for the moving platform 2, enabling the moving platform 2 to carry the load. By controlling the driving length of the six drive assemblies 30, dynamic control of the moving platform 2 is achieved.

[0046] In one embodiment, the controller 4 synchronously controls the six drive assemblies 30 using a "position-to-position" control method. Specifically, the controller 4 controls the driver 33 to drive the movable rod 32 to move relative to the fixed rod 31, thereby changing the position of the movable rod 32 relative to the fixed rod 31. The "position-to-position" control method facilitates detection and provides timely feedback. Accordingly, the controller 4 uses a PID feedback mode to compensate for control accuracy based on position changes, thereby further improving the control accuracy of the drive platform.

[0047] like Figure 4 and Figure 5As shown, in one embodiment, it includes a second driving mechanism 5 arranged on the movable platform 2, the second driving mechanism 5 includes a fixed platform 51, a movable platform 52 and a plurality of power components 53, the power component 53 includes a power motor 531 and a first connecting rod 532 driven by the power motor 531, and a second connecting rod 533 hinged to the first connecting rod 532; the power motor 531 is fixedly installed on the fixed platform 51, the power motor 531 drives the first connecting rod 532 to rotate and drives the second connecting rod 533 to swing, thereby driving the movable platform 52 through the second connecting rod 533.

[0048] In one embodiment, the fixed platform 51 is a hexagonal pyramid structure as a whole, and the second driving mechanism 5 includes six groups of power components 53; the six groups of power components 53 are arranged in pairs to form three power units, and the three power units are spaced apart on the three sides of the hexagonal pyramid structure.

[0049] In one embodiment, the drive platform further includes an electronic level mounted on the movable platform 52, which is electrically connected to the controller 4. This level information is fed back to the controller 4 via the electronic level, ensuring that the movable platform 52 remains level during the drive process. This allows the drive platform to be used in various liquid production lines and prevents the movable platform 5 from tilting and causing liquid spillage. Furthermore, the fixed platform 1, the fixed platform 51, and the movable platform 52 form a double-layer adjustment structure, facilitating fine-tuning of the drive angle. The electronic level provides feedback on the tilt angle relative to the horizontal plane, enabling precise control.

[0050] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A driving platform, characterized in that: include: Determine the platform; A movable platform is arranged above the fixed platform; A driving unit is provided on the fixed platform and includes six driving assemblies, wherein the six driving assemblies are used to support and drive the moving platform; The driving assembly includes a fixed rod, a movable rod and a driving member, wherein the fixed rod is provided with a first connecting end and a slot end, and the movable rod is provided with a second connecting end and a plug end adapted to the slot end, the first connecting end is connected to the fixed platform, and the second connecting end is connected to the movable platform, and the driving member drives the plug end to move in the slot end; The fixed platform is provided with three first mounting portions evenly arranged along the circumference of the fixed platform, and the first connecting ends of the fixed rods are arranged close to each other in pairs and rotatably connected to the first mounting portions; The movable platform is provided with three second mounting portions evenly arranged along the circumference of the movable platform, and the second connecting ends of the movable rods are arranged close to each other in pairs and rotatably connected to the second mounting portions; The first mounting portion is arranged on the fixed platform in an equilateral triangle shape, and the fixed rods are arranged in pairs in a V shape on the first mounting portion; The first connecting end and the first mounting portion are connected via a ball joint; The second connecting end and the second mounting portion are connected via a ball joint; Also included is a controller, the drive motor is electrically connected to the controller, so as to achieve synchronous control of the six drive components; The controller performs synchronous drive control on the six drive components through a "position-position" control method; It includes a second driving mechanism arranged on the movable platform, the second driving mechanism includes a fixed platform, a movable platform and a plurality of power components, the power components include a power motor and a first connecting rod driven by the power motor, and a second connecting rod hinged to the first connecting rod; The power motor is fixedly mounted on the fixed platform, and the power motor drives the first connecting rod to rotate and drives the second connecting rod to swing, thereby driving the movable platform through the second connecting rod; The utility model also includes an electronic level meter arranged on the movable platform, and the electronic level meter is electrically connected to the controller.

2. A driving platform according to claim 1, characterized in that: The driving member includes a driving motor and a connecting rod group, wherein the driving motor is arranged on the fixed rod member and has an output end, the connecting rod group has a hinged end and an input end connected to the output end hub, and the moving rod member has an articulated block hinged to the articulated end; The driving motor drives the input end of the connecting rod assembly to rotate, thereby driving the movable rod to perform telescopic movement along the rod direction of the fixed rod.

3. A driving platform according to claim 2, characterized in that: The fixed rod member includes a fixed rod and a guide block fixedly connected to the fixed rod, and the fixed rod is provided with a mounting groove adapted to the plug end; The guide block is provided with a guide hole adapted to the hinge block.

4. A driving platform according to claim 3, characterized in that: The fixed platform as a whole is a hexagonal pyramid structure, and the second driving mechanism includes six groups of power components; The six groups of power components are arranged in pairs to form three power units, and the three power units are arranged at intervals on the three sides of the hexagonal pyramid structure.

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