Differential driving and rigid-flexible composite guiding motion platform

Abstract

The invention relates to the technical field of motion platforms, in particular to a differential driving and rigid-flexible composite guiding motion platform. The problems that although a rigid-flexible coupling motion platform can reduce friction and improve precision, a flexible hinge is prone to vibration, and the lead, the driving precision and the load capacity of ball screw driving in a motion platform driving mode restrict one another are mainly solved. According to the technical scheme, the device comprises a base with a top opening structure and a driving mechanism installed on the base and further comprises a rigid-flexible composite guide mechanism and a differential lead screw driving unit, and the rigid-flexible composite guide mechanism comprises a flexible platform and a rigid guide assembly for guiding the flexible platform; the flexible platform comprises a mounting frame, a flexible hinge group and an output platform. The application efficiency of the motion platform in industrial production and scientific research can be improved, the increasing requirements for high precision and high stability are met, and the motion platform has important practical significance and application value.

Description

Technical Field

[0001] The present invention relates to the technical field of motion platforms, and in particular to a differential drive and rigid-flexible composite guiding motion platform. Background Art

[0002] In the field of modern industrial production and scientific research, the accuracy and performance of motion platforms play a vital role in the completion of many key tasks. Traditional rigid motion platforms have been widely used in early industrial applications due to their structural stability and high load-bearing capacity. However, with the continuous advancement of science and technology, the requirements for the accuracy and performance of motion platforms are increasing, and the limitations of rigid platforms are gradually emerging.

[0003] During the operation of a rigid platform, due to its own structural characteristics, friction between components is difficult to avoid, and this friction will seriously affect the motion accuracy of the platform. The tiny friction resistance will not only cause hysteresis in the platform movement, but also cause wear of components after long-term operation, further reducing the accuracy and reliability of the platform. In order to overcome these shortcomings of the rigid platform, the rigid-flexible coupling motion platform came into being. By introducing a flexible structure, the rigid-flexible coupling platform can effectively reduce the impact of friction on the platform movement, and has better accuracy performance than the traditional rigid platform.

[0004] In terms of the driving mode of the motion platform, the traditional driving mode also has certain limitations in terms of accuracy and stability. At present, the ball screw driving mode has been more and more widely used in the field of motion platforms due to its many advantages. With the ball screw drive, good contact can be generated between the rigid-flexible coupling platform and the screw. This contact mode helps to reduce the vibration of the platform and improve the stability of the platform movement. At the same time, under the condition of the same servo motor accuracy, the driving accuracy of the ball screw is inversely proportional to the lead, that is, the smaller the lead, the higher the driving accuracy. However, the lead is inversely proportional to the load capacity, and the smaller the lead, the lower the load capacity. This requires that the balance between driving accuracy and load capacity be comprehensively considered during the design and application process to meet the needs of the motion platform in different scenarios. In view of this, the present invention proposes a differential drive and rigid-flexible composite guide motion platform. Summary of the invention

[0005] The purpose of the present invention is to propose a differential drive and rigid-flexible composite guide motion platform to address the problem that although a rigid-flexible coupling motion platform in the background technology can reduce friction and improve precision, the flexible hinge is prone to vibration, and the ball screw drive in the motion platform driving mode has the problem of mutual constraints between the lead, driving accuracy and load capacity.

[0006] The technical solution of the present invention is as follows: a differential drive and rigid-flexible composite guiding motion platform, comprising a base with a top opening structure and a driving mechanism installed on the base, and also comprising a rigid-flexible composite guiding mechanism and a differential screw driving unit, the rigid-flexible composite guiding mechanism comprising a flexible platform and a rigid guiding assembly for guiding the flexible platform, the flexible platform comprising an installation frame, a flexible hinge group and an output platform, the installation frame being connected to the output end of the differential screw driving unit through the flexible hinge group and the output platform in sequence; a positioning plate and a motor plate being in the same plane as the flexible platform, the positioning plate being connected to the output end of the driving mechanism, and the differential screw driving unit being installed at the bottom of the motor plate.

[0007] Optionally, the flexible hinge group includes a first flexible sheet and a second flexible sheet, multiple groups of the first flexible sheets are fixedly connected to the inner side of the installation frame, the installation frame is connected to the output platform through the first flexible sheets, multiple groups of the second flexible sheets are respectively arranged on both sides of the output platform, a first pressure block is arranged on the side of the second flexible sheet away from the output platform, the first pressure block is fixed to the output platform by bolts, and a second pressure block is also arranged on the side of the second flexible sheet close to the output platform, the second pressure block is fixed to the installation frame by bolts.

[0008] Optionally, the rigid guide assembly includes an installation frame, a positioning plate, and a first slider installed at the bottom of the motor plate, and multiple groups of the first sliders on the same side are slidably connected with first slide rails underneath, and two groups of the first slide rails are installed on the top of the base.

[0009] Optionally, the driving mechanism includes a first servo motor installed on the inner side of the base, the output end of the first servo motor is fixedly connected to a first threaded rod, at least two groups of positioning blocks are rotatably connected to the first threaded rod, and the positioning blocks are fixedly connected to the inner side of the base.

[0010] Optionally, a first threaded sleeve is threadedly connected to the first threaded rod, a moving block is fixedly connected to the first threaded sleeve, and the moving block is fixedly connected to the positioning plate.

[0011] Optionally, the differential screw drive unit includes a second threaded sleeve installed in the moving block, a second threaded rod is threadedly connected to the second threaded sleeve, a third threaded sleeve is threadedly connected to the second threaded rod, a synchronization block is fixedly connected to the third threaded sleeve, and the synchronization block is fixedly connected to the output platform.

[0012] Optionally, the differential screw drive unit also includes a second servo motor, a mounting plate is provided on the outside of the second servo motor, the second servo motor is mounted on the mounting plate, the output end of the second servo motor passes through the mounting plate and is fixedly connected to the second threaded rod, and the mounting plate is connected to the bottom of the motor plate.

[0013] Optionally, when the motor plate is fixedly connected to the mounting frame or the motor plate is fixedly connected to the positioning plate, a matching mechanism is provided between the mounting plate and the motor plate.

[0014] Optionally, the matching mechanism includes a second slide rail fixedly connected to the top of the mounting plate, a second slider is slidably connected to the second slide rail, and the second slider is fixedly connected to the motor plate.

[0015] Optionally, the internal thread pitch of the second threaded sleeve is greater than the internal thread pitch of the third threaded sleeve, and the thread pitches at both ends of the second threaded rod are different.

[0016] In summary, the present application includes at least one of the following beneficial technical effects:

[0017] The present invention can effectively reduce the influence of the friction between the first slider and the first slide rail on the movement of the output platform by setting the flexible platform, and has better precision performance;

[0018] Furthermore, by setting the driving mechanism, the movement stroke of the output platform can be increased, and by setting the differential screw drive unit, the position of the output platform can be accurately adjusted to ensure accurate positioning;

[0019] In summary, the present invention can improve the application efficiency of motion platforms in industrial production and scientific research, meet the growing demand for high precision and high stability, and has important practical significance and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A structural schematic diagram of a differential drive and rigid-flexible composite guiding motion platform of the present invention is given;

[0021] Figure 2 for Figure 1 A schematic cross-sectional structure diagram of ;

[0022] Figure 3 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0023] Figure 4 It is a structural diagram of fixing the motor plate and the mounting frame;

[0024] Figure 5 for Figure 4 A schematic cross-sectional structure diagram of ;

[0025] Figure 6 is a structural schematic diagram of another installation position of the second servo motor;

[0026] Figure 7 for Figure 6 A schematic cross-sectional structure diagram of ;

[0027] Figure 8 It is a structural schematic diagram of fixing the motor plate and the positioning plate;

[0028] Fig. 9 for Figure 8 Schematic diagram of the cross-sectional structure.

[0029] Reference numerals:

[0030] 1. base; 11. first slide block; 12. first slide rail;

[0031] 2. driving mechanism; 21. first servo motor; 22. first threaded rod; 23. positioning block; 24. first threaded sleeve; 25. moving block;

[0032] 3. Flexible platform; 31. Mounting frame; 32. First flexible sheet; 33. Output platform; 34. Second flexible sheet; 35. First pressing block; 36. Second pressing block;

[0033] 4. Positioning plate; 5. Motor plate;

[0034] 6. differential screw drive unit; 61. second threaded sleeve; 62. second threaded rod; 63. third threaded sleeve; 64. synchronous block; 65. second servo motor; 66. mounting plate;

[0035] 7. Matching mechanism; 71. Second slide rail; 72. Second slide block. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0037] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0038] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Embodiment 1

[0042] like Figure 1 As shown, the differential drive and rigid-flexible composite guided motion platform proposed by the present invention includes a base 1 with a top opening structure, and the base 1 is formed by welding multiple steel plates or assembling them with threads. The base 1 of this structure has high strength and stability. The welding method can make the steel plates tightly connected and have strong integrity; the threaded assembly is easy to install and disassemble, and convenient for later maintenance and adjustment.

[0043] For further information, see Figure 2The above-mentioned motion platform is installed on the driving mechanism 2 on the base 1. The output end of the driving mechanism 2 is fixedly connected with the positioning plate 4. A motor plate 5 is arranged on one side of the positioning plate 4. The driving mechanism 2 is used to drive the flexible platform 3, the positioning plate 4 and the motor plate 5 to move synchronously. The driving mechanism 2 includes a first servo motor 21 installed on the inner side of the base 1. The output end of the first servo motor 21 is fixedly connected with the first threaded rod 22 through a coupling. The first servo motor 21 drives the first threaded rod 22 to rotate after starting. At least two sets of positioning blocks 23 are rotatably connected to the first threaded rod 22 through bearings. The positioning blocks 23 are fixedly connected to the inner side of the base 1. The positioning blocks 23 enable the first threaded rod 22 to rotate in place, effectively avoiding the axial movement of the threaded rod during the rotation process, and ensuring the stability and accuracy of the transmission. A first threaded sleeve 24 is threadedly connected to the first threaded rod 22, and a moving block 25 is fixedly connected to the first threaded sleeve 24. The moving block 25 is fixedly connected to the positioning plate 4. When the first threaded rod 22 rotates, it drives the first threaded sleeve 24 to move, and drives the positioning plate 4 to move through the moving block 25. This structure realizes the efficient conversion of the motor's rotational motion to linear motion, and provides stable power for the overall movement of the platform.

[0044] The driving mechanism 2 can also use a linear motor, the moving end of which is connected to the positioning plate 4 to achieve long-stroke movement. The linear motor drive mode has fast response speed and high precision, and can meet the needs of the motion platform in some scenarios where fast and long-distance movement is required.

[0045] Furthermore, the above-mentioned motion platform also includes a rigid-flexible composite guiding mechanism, which includes a flexible platform 3 and a rigid guiding component for guiding it. The flexible platform 3 includes an installation frame 31, a flexible hinge group and an output platform 33. The installation frame 31 is connected to the output end of the differential screw drive unit 6 through the flexible hinge group and the output platform 33 in turn.

[0046] The motion platform also includes a positioning plate 4 and a motor plate 5 in the same plane as the flexible platform 3. The positioning plate 4 is connected to the output end of the driving mechanism 2, and the differential screw drive unit 6 is installed at the bottom of the motor plate 5. The positioning plate 4 is arranged on the side of the flexible platform 3 close to the first servo motor 21, and the motor plate 5 is arranged on the side of the flexible platform 3 away from the first servo motor 21.

[0047] like Figure 1 and Figure 3As shown, the flexible hinge group includes a first flexible sheet 32 ​​and a second flexible sheet 34, the flexible platform 3 includes a mounting frame 31, multiple groups of first flexible sheets 32 are fixedly connected to the inner side of the mounting frame 31, the mounting frame 31 is connected to the output platform 33 through the first flexible sheet 32, and the output platform 33 is connected to the mounting frame 31 through the first flexible sheet 32, which is used to eliminate the influence of the friction between the first slider 11 and the first slide rail 12. The first flexible sheet 32 ​​can effectively buffer and absorb the tiny vibration and impact force caused by the friction between the slider and the slide rail, making the movement of the output platform 33 more stable and smooth, and avoiding the interference of these adverse factors on the positioning accuracy of the platform. Multiple groups of second flexible sheets 34 are respectively arranged on both sides of the output platform 33. A first pressing block 35 is arranged on the side of the second flexible sheet 34 away from the output platform 33. The first pressing block 35 is fixed to the output platform 33 by bolts. A second pressing block 36 is also arranged on the side of the second flexible sheet 34 close to the output platform 33. The second pressing block 36 is fixed to the mounting frame 31 by bolts. The second flexible sheet 34 is firmly fixed to the mounting frame 31 and the output platform 33 by the arrangement of the first pressing block 35 and the second pressing block 36. The second flexible sheet 34 is further improved in connection stability between the output platform 33 and the mounting frame 31 by the second flexible sheet 34, while eliminating the influence of friction. The design of the double flexible sheet greatly improves the stability and anti-interference ability of the output platform 33.

[0048] Specifically, the rigid guide assembly includes a first slider 11 installed at the bottom of the mounting frame 31, the positioning plate 4 and the motor plate 5, and a first slide rail 12 is slidably connected to the bottom of multiple groups of first sliders 11 on the same side. Both groups of first slide rails 12 are installed on the top of the base 1. The first slider 11 and the first slide rail 12 are arranged to ensure stable movement of the mounting frame 31, the positioning plate 4 and the motor plate 5. This matching mode of the slider and the slide rail can accurately guide the movement direction of each component, ensure the straightness and flatness of the platform during movement, and provide a basic guarantee for achieving high-precision positioning.

[0049] Furthermore, the motion platform includes a differential screw drive unit 6 connected to the flexible platform 3, the positioning plate 4 and the bottom of the motor plate 5, and the output end of the differential screw drive unit 6 is connected to the output platform 33 in the rigid-flexible composite guide mechanism. The differential screw drive unit 6 includes a second threaded sleeve 61 installed in the moving block 25, and the position of the second threaded sleeve 61 remains fixed after the first servo motor 21 stops. A second threaded rod 62 is threadedly connected in the second threaded sleeve 61, and the second threaded rod 62 moves along its own length direction when rotating. A third threaded sleeve 63 is threadedly connected to the second threaded rod 62, and the second threaded rod 62 drives the third threaded sleeve 63 to move along its length direction when rotating. A synchronization block 64 is fixedly connected to the third threaded sleeve 63, and the synchronization block 64 is fixedly connected to the output platform 33. When the third threaded sleeve 63 moves, it drives the output platform 33 to move through the synchronization block 64. The differential screw drive unit 6 also includes a second servo motor 65, a mounting plate 66 is provided outside the second servo motor 65, the second servo motor 65 is installed on the mounting plate 66, the output end of the second servo motor 65 passes through the mounting plate 66 and is fixedly connected to the second threaded rod 62 through a coupling, the mounting plate 66 is connected to the bottom of the motor plate 5, and the second servo motor 65 drives the second threaded rod 62 to rotate after starting. When the second threaded rod 62 rotates, its moving direction is opposite to the moving direction of the third threaded sleeve 63. Since the internal thread pitch of the second threaded sleeve 61 is greater than the internal thread pitch of the third threaded sleeve 63, the thread pitches at both ends of the second threaded rod 62 are different, and the moving distance of the third threaded sleeve 63 is less than the moving distance of the second threaded rod 62, thereby reducing the displacement of the third threaded sleeve 63 and improving the positioning accuracy of the output platform 33. The differential screw drive unit 6 with this differential screw structure can achieve high-precision fine-tuning of the position of the output platform 33, meeting the needs of the motion platform in some working scenarios with extremely high positioning accuracy requirements.

[0050] Furthermore, multiple groups of bases 1 may be arranged orthogonally to perform precise multi-directional position adjustment, and the output platform 33 and its orthogonally arranged bases 1 may be fixedly connected in multiple groups of orthogonally arranged bases 1. The orthogonal arrangement of multiple groups of bases 1 greatly expands the motion dimension of the motion platform, enabling precise position adjustment in multiple directions, greatly improving the applicability and flexibility of the platform.

[0051] In this embodiment, when the approximate position of the output platform 33 is adjusted, the first servo motor 21 is started to drive the first threaded rod 22 to rotate, and the first threaded rod 22 drives the first threaded sleeve 24 to move when rotating, and the first threaded sleeve 24 drives the positioning plate 4 to move through the moving block 25, and the positioning plate 4 moves smoothly under the limiting action of the first slider 11 and the first slide rail 12. At this time, since the flexible platform 3, the positioning plate 4, and the motor plate 5 are connected together through the differential screw drive unit 6, the flexible platform 3 moves synchronously when the positioning plate 4 moves. When the position of the output platform 33 is fine-tuned, the second servo motor 65 is started, and the second servo motor 65 drives the second threaded rod 62 to rotate. When the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, and at the same time drives the third threaded sleeve 63 to move, and at the same time drives the second servo motor 65, the mounting plate 66 and the motor plate 5 to move. At the same time, when the second threaded rod 62 rotates, the third threaded sleeve 63 is also driven to move, and the moving direction of the third threaded sleeve 63 is opposite to the moving direction of the second threaded rod 62. Since the internal thread pitch of the second threaded sleeve 61 is greater than the internal thread pitch of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one circle is small, which is convenient for making a slight adjustment to the position of the output platform 33, so that the output platform 33 is accurately positioned. At the same time, the arrangement of the first flexible sheet 32 ​​and the second flexible sheet 34 can effectively prevent the friction between the first slider 11 and the first slide rail 12 from affecting the output platform 33.

[0052] Embodiment 2

[0053] like Figure 4 and Figure 5 As shown, based on the first embodiment, the motor plate 5 is fixedly connected to the mounting frame 31 in this embodiment, and the motor plate 5 moves synchronously with the output platform 33. A matching mechanism 7 is provided between the mounting plate 66 and the motor plate 5, and the matching mechanism 7 includes a second slide rail 71 fixedly connected to the top of the mounting plate 66, and a second slider 72 is slidably connected to the second slide rail 71. The second slider 72 is fixedly connected to the motor plate 5, and the mounting plate 66 slides at the bottom of the motor plate 5 through the arrangement of the second slide rail 71 and the second slider 72. The matching of the second slide rail 71 and the second slider 72 provides precise guidance for the movement of the mounting plate 66, so that during the fine-tuning process, the mounting plate 66 can slide smoothly relative to the motor plate 5, further ensuring the stability and accuracy of the output platform 33 during fine-tuning.

[0054] In this embodiment, when the position of the output platform 33 is fine-tuned, the second servo motor 65 is started, and the second servo motor 65 drives the second threaded rod 62 to rotate. When the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, and drives the third threaded sleeve 63 to move at the same time. When the second threaded rod 62 moves, it drives the second servo motor 65 and the mounting plate 66 to move, and the mounting plate 66 slides under the motor plate 5 due to the arrangement of the second slide rail 71 and the second slider 72. At the same time, when the second threaded rod 62 rotates, it also drives the third threaded sleeve 63 to move, and the moving direction of the third threaded sleeve 63 is opposite to the moving direction of the second threaded rod 62, and since the internal thread pitch of the second threaded sleeve 61 is greater than the internal thread pitch of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one circle is small, which is convenient for making slight adjustments to the position of the output platform 33, so that the positioning of the output platform 33 is accurate. Meanwhile, the arrangement of the first flexible sheet 32 ​​and the second flexible sheet 34 can effectively prevent the friction between the first sliding block 11 and the first sliding rail 12 from affecting the output platform 33 .

[0055] Embodiment 3

[0056] like Figure 6 and Figure 7 As shown, based on the first embodiment, the positioning plate 4 is arranged on the side of the flexible platform 3 close to the first servo motor 21 , and the motor plate 5 is arranged on the side of the positioning plate 4 close to the first servo motor 21 .

[0057] In this embodiment, when the approximate position of the output platform 33 is adjusted, the first servo motor 21 is started to drive the first threaded rod 22 to rotate, and the first threaded rod 22 drives the first threaded sleeve 24 to move when rotating, and the first threaded sleeve 24 drives the positioning plate 4 to move through the moving block 25, and the positioning plate 4 moves smoothly under the limiting action of the first slider 11 and the first slide rail 12. At this time, since the flexible platform 3, the positioning plate 4, and the motor plate 5 are connected together through the differential screw drive unit 6, the flexible platform 3 moves synchronously when the positioning plate 4 moves. When the position of the output platform 33 is fine-tuned, the second servo motor 65 is started, and the second servo motor 65 drives the second threaded rod 62 to rotate. When the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, and at the same time drives the third threaded sleeve 63 to move, and at the same time drives the second servo motor 65, the mounting plate 66 and the motor plate 5 to move. At the same time, when the second threaded rod 62 rotates, the third threaded sleeve 63 is also driven to move, and the moving direction of the third threaded sleeve 63 is opposite to the moving direction of the second threaded rod 62. Since the internal thread pitch of the second threaded sleeve 61 is greater than the internal thread pitch of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one circle is small, which is convenient for making a slight adjustment to the position of the output platform 33, so that the output platform 33 is accurately positioned. At the same time, by setting the first flexible sheet 32 ​​and the second flexible sheet 34, the friction between the first slider 11 and the first slide rail 12 can be effectively prevented from affecting the output platform 33.

[0058] Embodiment 4

[0059] like Figure 8 and Fig. 9 As shown, based on the third embodiment, in this embodiment, the motor plate 5 is fixedly connected to the positioning plate 4, and the motor plate 5 moves synchronously with the positioning plate 4. A matching mechanism 7 is provided between the mounting plate 66 and the motor plate 5, and the matching mechanism 7 includes a second slide rail 71 fixedly connected to the top of the mounting plate 66, and a second slider 72 is slidably connected to the second slide rail 71. The second slider 72 is fixedly connected to the motor plate 5, and the mounting plate 66 slides at the bottom of the motor plate 5 through the arrangement of the second slide rail 71 and the second slider 72.

[0060] In this embodiment, when the position of the output platform 33 is fine-tuned, the second servo motor 65 is started, and the second servo motor 65 drives the second threaded rod 62 to rotate. When the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, and drives the third threaded sleeve 63 to move at the same time. When the second threaded rod 62 moves, it drives the second servo motor 65 and the mounting plate 66 to move, and the mounting plate 66 slides under the motor plate 5 due to the arrangement of the second slide rail 71 and the second slider 72. At the same time, when the second threaded rod 62 rotates, it also drives the third threaded sleeve 63 to move, and the moving direction of the third threaded sleeve 63 is opposite to the moving direction of the second threaded rod 62, and since the internal thread pitch of the second threaded sleeve 61 is greater than the internal thread pitch of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one circle is small, which is convenient for making slight adjustments to the position of the output platform 33, so that the positioning of the output platform 33 is accurate. Meanwhile, the arrangement of the first flexible sheet 32 ​​and the second flexible sheet 34 can effectively prevent the friction between the first sliding block 11 and the first sliding rail 12 from affecting the output platform 33 .

[0061] The above specific embodiments are only several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A differential drive and rigid-flexible composite guiding motion platform, comprising a base (1) with a top opening structure and a driving mechanism (2) mounted on the base (1), characterized in that: Also includes: A rigid-flexible composite guide mechanism and a differential screw drive unit (6), the rigid-flexible composite guide mechanism comprising a flexible platform (3) and a rigid guide assembly for guiding the flexible platform (3), the flexible platform (3) comprising a mounting frame (31), a flexible hinge group and an output platform (33), the mounting frame (31) being connected to the output end of the differential screw drive unit (6) via the flexible hinge group and the output platform (33) in sequence; A positioning plate (4) and a motor plate (5) are located in the same plane as the flexible platform (3), the positioning plate (4) is connected to the output end of the driving mechanism (2), and the differential screw drive unit (6) is installed at the bottom of the motor plate (5).

2. The differential drive and rigid-flexible composite guiding motion platform according to claim 1, characterized in that: The flexible hinge group comprises a first flexible sheet (32) and a second flexible sheet (34); a plurality of groups of the first flexible sheets (32) are fixedly connected to the inner side of the installation frame (31); the installation frame (31) is connected to the output platform (33) through the first flexible sheets (32); a plurality of groups of the second flexible sheets (34) are respectively arranged on both sides of the output platform (33); a first pressing block (35) is arranged on the side of the second flexible sheet (34) away from the output platform (33); the first pressing block (35) is fixed to the output platform (33) by bolts; a second pressing block (36) is also arranged on the side of the second flexible sheet (34) close to the output platform (33); the second pressing block (36) is fixed to the installation frame (31) by bolts.

3. The differential drive and rigid-flexible composite guiding motion platform according to claim 2, characterized in that: The rigid guide assembly comprises a mounting frame (31), a positioning plate (4) and a first slide block (11) mounted at the bottom of the motor plate (5); a first slide rail (12) is slidably connected to the bottom of multiple groups of the first slide blocks (11) on the same side; and two groups of the first slide rails (12) are mounted on the top of the base (1).

4. The differential drive and rigid-flexible composite guiding motion platform according to claim 3, characterized in that: The driving mechanism (2) comprises a first servo motor (21) mounted on the inner side of the base (1); an output end of the first servo motor (21) is fixedly connected to a first threaded rod (22); at least two groups of positioning blocks (23) are rotatably connected to the first threaded rod (22); and the positioning blocks (23) are fixedly connected to the inner side of the base (1).

5. The differential drive and rigid-flexible composite guiding motion platform according to claim 4, characterized in that: A first threaded sleeve (24) is threadedly connected to the first threaded rod (22), a moving block (25) is fixedly connected to the first threaded sleeve (24), and the moving block (25) is fixedly connected to the positioning plate (4).

6. The differential drive and rigid-flexible composite guiding motion platform according to claim 5, characterized in that: The differential screw drive unit (6) comprises a second threaded sleeve (61) installed in the moving block (25), a second threaded rod (62) being threadedly connected in the second threaded sleeve (61), a third threaded sleeve (63) being threadedly connected on the second threaded rod (62), a synchronization block (64) being fixedly connected to the third threaded sleeve (63), and the synchronization block (64) being fixedly connected to the output platform (33).

7. The differential drive and rigid-flexible composite guiding motion platform according to claim 6, characterized in that: The differential screw drive unit (6) further comprises a second servo motor (65), a mounting plate (66) being arranged outside the second servo motor (65), the second servo motor (65) being mounted on the mounting plate (66), an output end of the second servo motor (65) passing through the mounting plate (66) and being fixedly connected to the second threaded rod (62), and the mounting plate (66) being connected to the bottom of the motor plate (5).

8. The differential drive and rigid-flexible composite guiding motion platform according to claim 7, characterized in that: When the motor plate (5) and the mounting frame (31) or the motor plate (5) and the positioning plate (4) are fixedly connected, a matching mechanism (7) is provided between the mounting plate (66) and the motor plate (5).

9. The differential drive and rigid-flexible composite guiding motion platform according to claim 8, characterized in that: The matching mechanism (7) comprises a second slide rail (71) fixedly connected to the top of the mounting plate (66), a second slider (72) being slidably connected to the second slide rail (71), and the second slider (72) being fixedly connected to the motor plate (5).

10. The differential drive and rigid-flexible composite guiding motion platform according to claim 9, characterized in that: The internal thread pitch of the second threaded sleeve (61) is greater than the internal thread pitch of the third threaded sleeve (63), and the thread pitches at both ends of the second threaded rod (62) are different.

Images