Carrier

Abstract

The invention discloses a carrier which is characterized by comprising a support, a supporting frame and a driving device, a carrier on which a workpiece is loaded; the connecting assembly comprises a first rotating shaft and a second rotating shaft which is connected to one end of the first rotating shaft in a mode of being perpendicular to the first rotating shaft, the first rotating shaft and the support are restrained together, and the second rotating shaft and the carrier are restrained together, so that the carrier can rotate around the first rotating shaft and the second rotating shaft respectively; and the assembly clearance of a local area between the fixed part and the movable part is smaller.

Description

Technical Field

[0001] The invention relates to loading equipment, in particular to a carrier. Background Art

[0002] During the process of machining, assembling or measuring a workpiece, it is often necessary to use a carrier to position the workpiece. With the high requirements for workpiece machining accuracy, assembly accuracy or measurement accuracy, such as in the field of optical device processing, the carrier is required to have a fine-tuning function in at least one direction to change the position or angle of the workpiece, so that the workpiece has higher accuracy and resolution.

[0003] In the prior art, there are two main ways to fine-tune the carrier: movement and rotation. Whether it is movement or rotation, it involves a set of relative fixed parts and movable parts, resulting in the number of parts involved in the carrier being at least one more than the number of adjustable directions. For example, if the carrier can rotate in three directions that are orthogonal to each other, it often involves four parts, and two adjacent parts together constitute a set of relative fixed parts and movable parts, and the fixed parts and movable parts are often connected by a rotating shaft, resulting in a larger volume of the carrier.

[0004] Some carriers also have two-directional rotation between a set of relative fixed parts and movable parts, such as a W-axis component and an adjusting component between the fixed part and the movable part, the adjusting component deviates from the W-axis component, and the adjusting component can adjust the gap between the fixed part and the movable part in the extension direction of the W-axis component, so that the movable part can not only rotate around the W-axis relative to the fixed part, but also deflect relative to the fixed part (its deflection axis is perpendicular to the W-axis component and parallel to the fixed part), thereby saving at least one component and reducing the overall size of the carrier; however, due to the deviation of the movable part from the fixed part, the movable part can be rotated around the W-axis relative to the fixed part. The relative position relationship between the rotation axis and the central axis of the W-axis component in space is skew, and a movable gap needs to be reserved in the shaft hole for assembling the W-axis component to allow the relative deflection between the central axes of the W-axis component and the shaft hole when the movable part is deflected relative to the fixed part. It is precisely because of the existence of the movable gap that the movable part is easy to shake relative to the fixed part, which not only increases the risk of noise generation and wear, but more importantly, it is easy for the movable part to cause the workpiece to deviate, seriously affecting the positioning accuracy of the carrier for the workpiece, and it is difficult to meet its requirements as a carrier for high-precision products such as optical devices. Summary of the invention

[0005] An advantage of the present application is that it provides a carrier, and the assembly gap in the local area between the fixed part and the movable part is smaller.

[0006] Another advantage of the present application is that it provides a carrier with a smaller size.

[0007] Another advantage of the present application is that it provides a carrier that has a higher positioning accuracy for the workpiece.

[0008] Another advantage of the present application is that a carrier is provided that can adjust the position of a workpiece in three directions.

[0009] Another advantage of the present application is to provide a carrier that can adjust its position in one direction more smoothly.

[0010] Another advantage of the present application is that it provides a carrier with a larger load range and better buffering and shock-absorbing performance.

[0011] In order to achieve at least one of the above advantages or other advantages and purposes, the present application provides a vehicle, characterized by comprising:

[0012] Bracket;

[0013] A carrier for loading the workpiece thereon;

[0014] The connecting component includes a first rotating shaft and a second rotating shaft connected to one end of the first rotating shaft in a manner perpendicular to the first rotating shaft, so that the connecting component is L-shaped or T-shaped, and the first rotating shaft is constrained together with the bracket, and the second rotating shaft is constrained together with the carrier, so that the carrier can rotate around the first rotating shaft and the second rotating shaft respectively.

[0015] In some embodiments of the present application, the first rotation axis is parallel to the bracket.

[0016] In some embodiments of the present application, the bracket is provided with a mounting groove, and at least a portion of the first rotating shaft is accommodated inside the mounting groove.

[0017] In some embodiments of the present application, the first rotating shaft is semi-cylindrical, and the cylindrical surface of the first rotating shaft is in contact with the mounting groove.

[0018] In some embodiments of the present application, the carrier is provided with an axial hole that penetrates its wall thickness, and the second rotating shaft is passed through the axial hole; the carrier is provided with a first adjustment component offset from the axial hole, and the first adjustment component is used to position the distance between the carrier and the bracket in the extension direction of the axial hole.

[0019] In some embodiments of the present application, the first adjustment component is a telescopic rod basically parallel to the axial hole, the bracket is provided with a protrusion that interferes with the first end of the telescopic rod, and the surface of the protrusion has undulations on the trajectory of the first adjustment component rotating around the second rotating axis with the carrier.

[0020] In some embodiments of the present application, the protrusion has a spherical surface.

[0021] In some embodiments of the present application, a first elastic member is provided between the carrier and the bracket, and the first elastic member enables the portion of the carrier where the first adjustment component is located to always maintain a deflection tendency close to the bracket.

[0022] In some embodiments of the present application, a base is further included, and the bracket is constrained to the base in a manner that it can rotate around a third rotation axis, and the third rotation axis is orthogonal to the central axis of the first rotation shaft and the central axis of the second rotation shaft.

[0023] In some embodiments of the present application, a slide rail assembly is also included, whose extension direction is adapted to the third rotation axis. The slide rail assembly includes a first arcuate track connected to the bracket, a second arcuate track connected to the base, and a rolling body constrained between the first arcuate track and the second arcuate track.

[0024] In some embodiments of the present application, a second elastic member and a second adjustment assembly are provided between the carrier and the bracket, the second elastic member enables the carrier to always have a tendency to rotate around the second rotation axis in the second direction, and the second adjustment assembly is used to position the carrier in the circumferential direction of the second rotation axis;

[0025] And / or, a third elastic member and a third adjustment assembly are provided between the bracket and the base, the third elastic member enables the carrier to always have a tendency to rotate along a third direction around a third rotation axis, and the third adjustment assembly is used to locate the bracket in a circumferential direction of the third rotation axis;

[0026] The plane arranged along the wall thickness direction of the carrier and passing through the central axis of the first rotating shaft is called the first plane, and the plane arranged along the wall thickness direction of the carrier and passing through the third rotating axis is called the third plane. The first plane and the second plane together divide the carrier into four areas, and at least part of the first elastic member is located in one of the areas.

[0027] Further objectives and advantages of the present application will be fully reflected through understanding of the following description and drawings.

[0028] These and other objects, features and advantages of the present application are fully reflected in the following detailed description, drawings and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional structural diagram of the carrier in some embodiments of the present application.

[0030] Figure 2 yes Figure 1 A rear view of an exemplary vehicle is shown.

[0031] Figure 3 yes Figure 1 The three-dimensional structure of the exemplary carrier shown is removed.

[0032] Figure 4 yes Figure 1The illustrated three-dimensional structure of the exemplary carrier after rotation around the first rotation axis and the second rotation axis.

[0033] Figure 5 yes Figure 4 A right side view of an exemplary carrier is shown.

[0034] Figure 6 yes Figure 4 A front view of an exemplary vehicle is shown.

[0035] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0036] Figure 8 yes Figure 1 The exemplary carrier is shown in a three-dimensional structural diagram after being rotated about a third rotation axis.

[0037] Fig. 9 It is a three-dimensional structural diagram of the slide rail assembly in the reset state in some embodiments of the present application.

[0038] Fig.10 yes Fig. 9 The illustrated three-dimensional structural diagram of the exemplary slide rail assembly in a relatively rotated state.

[0039] Fig.11 yes Fig.10 An exploded schematic diagram of an exemplary slide rail assembly is shown.

[0040] Fig.12 yes Figure 1 An exploded schematic diagram of an exemplary vehicle is shown. DETAILED DESCRIPTION

[0041] The following description is used to disclose the present application so that those skilled in the art can implement the present application. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present application defined in the following description can be applied to other embodiments, variations, improvements, equivalent solutions, and other technical solutions that do not deviate from the spirit and scope of the present application.

[0042] Those skilled in the art should understand that, in the disclosure of the present application, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present application.

[0043] In the present application, the term "one" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. Unless it is clearly indicated in the disclosure of the present application that the number of the element is only one, the term "one" cannot be understood as unique or single, and the term "one" cannot be understood as a limitation on the quantity.

[0044] In the description of this application, it should be understood that "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, "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 an indirect connection through a medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0046] Illustrative Implementation

[0047] The present application does not limit the arrangement of the carrier. It can be arranged horizontally (i.e., the surface on which the carrier is placed is a horizontal surface), vertically (i.e., the surface on which the carrier is placed is a vertical surface), or inclined (i.e., the surface on which the carrier is placed is an inclined surface). Moreover, the aforementioned horizontal plane, vertical plane or inclined plane does not mean a restriction on the characteristics of the surface itself, but only limits the extension trend of the overall surface. That is, the aforementioned horizontal plane, vertical plane or inclined plane is not limited to a plane, as long as the arranged surface is horizontal, vertical or inclined as a whole, local undulations are allowed.

[0048] Figure 1 1 shows a three-dimensional structural diagram of a carrier in some embodiments of the present application. In this exemplary embodiment, the carrier is arranged horizontally. For the convenience of describing the carrier, as shown in FIG. Figure 1As shown, the length direction of the carrier is defined as the front-to-back direction, the width direction of the carrier is defined as the left-to-right direction, and the thickness direction of the carrier is defined as the up-down direction. In some other embodiments, the carrier is arranged in other ways, and the orientation of the carrier needs to be adaptively adjusted. For example, if the carrier is arranged vertically, the length direction of the carrier is defined as the up-down direction, the width direction of the carrier is defined as the left-to-right direction, and the thickness direction of the carrier is defined as the front-to-back direction.

[0049] In some embodiments, the carrier includes a carrier 1, a bracket 2 and a connecting component 4. The present application does not limit the shape of the carrier 1 and the bracket 2, which can be relatively regular blocks or plates, or irregular shapes. In this embodiment, the carrier 1 and the bracket 2 are both in the shape of a plate. The carrier 1 is stacked on top of the bracket 2, and the carrier 1 is constrained on the bracket 2 by the connecting component 4. In this embodiment, the upper surface size of the carrier 1 is 60*60mm, and the upper surface of the carrier 1 is used as the surface to be placed for the workpiece, so that the carrier in this embodiment is suitable for positioning small workpieces. It is understandable that the size of the carrier 1 can be adaptively increased or reduced according to the size of the workpiece, so that the carrier can also be suitable for workpieces of different sizes. In addition, it is worth noting that there is no restriction on the specific loading method of the workpiece. The workpiece can be directly mounted on the carrier 1, or it can be indirectly mounted on the carrier 1 through other structures such as fixed parts or movable parts.

[0050] Figure 3 yes Figure 1 The three-dimensional structure of the exemplary carrier shown is removed. Fig.12 yes Figure 1 An exploded schematic diagram of an exemplary vehicle is shown.

[0051] In some embodiments, the connecting assembly 4 includes a first rotating shaft 41 and a second rotating shaft 42 which are perpendicular to each other. Figure 1 In the direction shown, the first rotating shaft 41 is arranged in the left-right direction, and the second rotating shaft 42 is arranged in the up-down direction. One end of the first rotating shaft 41 is connected to the middle of the second rotating shaft 42, so that the connecting assembly 4 is T-shaped. The first rotating shaft 41 is constrained together with the bracket 2, and the second rotating shaft 42 is constrained together with the carrier 1, so that the carrier 1 can rotate around the first rotating shaft 41 and the second rotating shaft 42 respectively, so that the position of the workpiece loaded on the carrier 1 can be adjusted by adjusting the position of the carrier 1. Among them, the central axis of the first rotating shaft 41 is the first rotating axis O1 of the carrier 1, and the central axis of the second rotating shaft 42 is the second rotating axis O2 of the carrier 1. In some other embodiments, one end of the first rotating shaft 41 is connected to one end of the second rotating shaft 42, so that the connecting assembly is L-shaped.

[0052] Since the first rotating shaft 41 and the second rotating shaft 42 are connected together, the relative position relationship of the first rotating axis O1 and the second rotating axis O2 in space is intersecting, which can reduce the assembly gap between the bracket 2 and the first rotating shaft 41, or reduce the assembly gap between the carrier 1 and the second rotating shaft 42, so that the carrier 1 is not easy to shake relative to the bracket 2, which can reduce the noise or wear caused by shaking, and more importantly, the carrier 1 is not easy to cause the workpiece to be displaced, which can improve the positioning accuracy of the carrier for the workpiece.

[0053] The first rotating shaft 41 and the bracket 2, and the second rotating shaft 42 and the carrier 1 in the present application can be assembled together by means of an axis and an axis hole. However, in order to make the carrier 1 rotate around the second rotating shaft 42 at a larger angle and to reduce the volume of the carrier, in some embodiments, the second rotating shaft 42 and the carrier 1 are assembled by means of an axis and an axis hole, and the first rotating shaft 41 and the bracket 2 are assembled by means of an axis and a groove.

[0054] Specifically, the carrier 1 is provided with an axial hole 12 that penetrates through the thickness of its wall, and the second rotating shaft 42 is passed through the axial hole 12, so that the carrier 1 and the second rotating shaft 42 can be constrained more firmly, making it difficult for the carrier 1 to separate from the second rotating shaft 42, and allowing the carrier 1 to rotate around the second rotating shaft 42 at a larger angle.

[0055] Specifically, the first rotating shaft 41 is parallel to the bracket 2, which means that the extending direction of the first rotating shaft 41 is parallel to the surface of the bracket 2 on which the first rotating shaft 41 is assembled, that is, the extending direction of the first rotating shaft 41 is parallel to the upper surface of the bracket 2 ( Figure 3 The upper surface of the bracket 2 is provided with a mounting groove 24, and a part of the first rotating shaft 41 is accommodated inside the mounting groove 24. The assembly method of the first rotating shaft 41 and the bracket 2 allows the carrier 1 and the bracket 2 to be stacked in the thickness direction, rather than arranging the carrier 1 and the bracket 2 vertically, which can reduce the volume of the carrier. Furthermore, the first rotating shaft 41 is semi-cylindrical, and the cylindrical surface of the first rotating shaft 41 is in contact with the mounting groove 24. Since the first rotating shaft 41 reduces half of the cylinder in the thickness direction, the carrier can be thinner in the thickness direction, so that the volume of the carrier can be further reduced.

[0056] Figure 2 yes Figure 1 A rear view of an exemplary vehicle is shown.

[0057] In some embodiments, the carrier further comprises a base 3, the bracket 2 is constrained to the base 3 in a manner that it can rotate around a third rotation axis O3, and the third rotation axis O3 is along Figure 1The front and rear directions shown are extended, and the third rotation axis O3 is orthogonal to the central axis of the first rotation axis 41 and the central axis of the second rotation axis 42, so that the workpiece loaded on the carrier 1 has three degrees of rotation freedom, so that the position of the workpiece can be adjusted in three directions. Among them, the first rotation axis O1 (that is, the central axis of the first rotation axis 41) is also called the U axis, the second rotation axis O2 (that is, the central axis of the second rotation axis 42) is also called the W axis, and the third rotation axis O3 is also called the V axis. The base 3 is also in a plate shape and is stacked below the bracket 2. The specific stacking order of the carrier 1, the bracket 2 and the base 3 in the thickness direction can make the second rotation axis 42 deflect synchronously with the carrier 1 around the first rotation axis O1 and the third rotation axis O3 under the premise of following the specific rotation order of first around the first rotation axis O1, the third rotation axis O3 and then around the second rotation axis O2, so as to avoid the carrier 1 being deflected again in the plane defined by the first rotation axis O1 and the third rotation axis O3 and changing the previously adjusted angle. Among them, in the aforementioned specific rotation sequence, the order of rotation around the first rotation axis O1 and the third rotation axis O3 is not limited. It can rotate around the first rotation axis O1 first and then around the third rotation axis O3, or it can rotate around the third rotation axis O3 first and then around the first rotation axis O1.

[0058] It is understandable that in some other embodiments, the carrier can also be provided with a workpiece position adjustment function in other directions as required. For example, the carrier is provided with a translation drive mechanism between the base 3 and the bracket 2, so that the bracket 2 can only translate relative to the base 3. For another example, the carrier also includes a translation drive mechanism or can be used in combination with an external translation mechanism, so that the carrier has the function of rotating and translating the workpiece. The direction of translation is not limited, and exemplary directions include along the length direction, the width direction or the thickness direction.

[0059] In the present application, the bracket 2 and the base 3 may be assembled by the matching method of the shaft and the shaft hole (similar to the assembly method of the second rotating shaft 42 and the carrier 1), or, the matching method of the shaft and the groove (similar to the assembly method of the first rotating shaft 41 and the bracket 2), but in order to make the volume of the carrier smaller, and more importantly, in order to make the bracket 2 smoother when deflected relative to the base 3, and the base 3 better supports the bracket 2, in some embodiments, the bracket 2 and the base 3 are constrained by the slide rail assembly 6. The extension direction of the slide rail assembly 6 is adapted to the third rotation axis O3, which means that the curved surface defined by the extension track of the slide rail assembly 6 is a part of a cylindrical surface, and the central axis of the aforementioned cylindrical surface is the third rotation axis O3.

[0060] Fig. 9 It is a three-dimensional structural diagram of the slide rail assembly in the reset state in some embodiments of the present application. Fig.10yes Fig. 9 The illustrated three-dimensional structural diagram of the exemplary slide rail assembly in a relatively rotated state. Fig.11 yes Fig.10 An exploded schematic diagram of an exemplary slide rail assembly is shown.

[0061] In some embodiments, the slide rail assembly 6 includes a first arc track 61 connected to the bracket 2, a second arc track 62 connected to the base 3, and a rolling body 63 constrained between the first arc track 61 and the second arc track 62. The friction between the first arc track 61 and the rolling body 63, and the friction between the second arc track 62 and the rolling body 63 are rolling friction, so that the relative sliding between the first arc track 61 and the second arc track 62 is smoother. The first arc track 61 has a first surface 611, and the first surface 611 is provided with a first receiving groove 612; the second arc track 62 has a second surface 612 opposite to the first surface 611, and the second surface 612 is provided with a second receiving groove 622. An arc plate 64 is sandwiched between the first surface 611 and the second surface 612, and the arc plate 64 has a plurality of openings 641 along its extension direction, and each opening 641 is installed with a rolling body 63. In some embodiments, each rolling body 63 is a cylindrical roller, and the cylindrical surface of each rolling body 63 is in contact with the inner wall of the first receiving groove 612 and the second receiving groove 622, respectively, so that the supporting performance of the rolling body 63 is better, thereby increasing the load of the bracket 2 and the carrier 1. In some other embodiments, the rolling body 63 can be a ball.

[0062] In the present application, the relative position of the two parts that move relative to each other can be locked by a large friction force, such as reducing the gap between the end faces of the first rotating shaft 41 and the corresponding inner walls of the mounting groove 24, reducing the gap between the circumferential surface of the second rotating shaft 42 and the inner wall of the shaft hole 12, and reducing the gap between the cylindrical surface of the rolling body 63 and the inner walls of the first accommodating groove 612 and the second accommodating groove 622, thereby increasing the friction force between the two parts that move relative to each other, so that the movable part can move relative to the fixed part only when it is subjected to a large thrust. However, in order to make the movable parts move more smoothly and to prevent the positions of the movable parts from changing easily after they stop moving, thereby improving the positioning accuracy of the workpiece, in some embodiments, a first adjustment component and a second adjustment component are provided between the carrier 1 and the bracket 2, and the first adjustment component is used to locate the distance between the carrier 1 and the bracket 2 in the extension direction of the axial hole 12, thereby adjusting the position of the carrier 1 in the circumferential direction of the first rotation axis O1; the second adjustment component is used to adjust the position of the carrier 1 in the circumferential direction of the second rotation axis O2; a third adjustment component is provided between the bracket 2 and the base 3, and the third adjustment component is used to adjust the position of the bracket 2 in the circumferential direction of the third rotation axis O3, thereby being able to adjust the position of the carrier 1 and the workpiece loaded on the carrier 1 in three dimensions.

[0063] Figure 4 yes Figure 1 The three-dimensional structure diagram of the exemplary carrier after being rotated around the first rotation axis and the second rotation axis is shown. Figure 5 yes Figure 4 A right side view of an exemplary carrier is shown. Figure 6 yes Figure 4 A front view of an exemplary vehicle is shown. Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0064] In some embodiments, a first protrusion 11 is provided on one side of the carrier 1, and a second protrusion 23 opposite to the first protrusion 11 is provided on one side of the bracket 2. Figure 1 In the direction shown, the first protrusion 11 and the second protrusion 23 are both located at the front side of the carrier. The first adjustment component is a first telescopic rod 71 parallel to the second rotation axis 42. The first telescopic rod 71 includes a fixed part and a movable part. The fixed part of the first telescopic rod 71 is arranged on the first protrusion 11, and the movable part of the first telescopic rod 71 includes a rotating part located at the upper part and a moving part 711 located at the lower part. A rotation-translation conversion structure is provided between the rotating part and the moving part 711 of the first telescopic rod 71, and the rotation-translation conversion structure can convert the rotation of the rotating part of the first telescopic rod 71 into the movement of the moving part 711 of the first telescopic rod 71. The movable part 711 of the first telescopic rod 71 is in conflict with the second protrusion 23, so that the movable part 711 of the first telescopic rod 71 can be extended and retracted relative to the fixed part by rotating the rotating part of the first telescopic rod 71. Under the reaction of the movable part 711, the fixed part of the first telescopic rod 71 drives the first protrusion 11 to approach or move away from the second protrusion 23, thereby causing the carrier 1 to rotate around the first rotation axis O1, so as to realize the position adjustment function of the carrier 1 in the circumferential direction of the first rotation axis O1.

[0065] In some embodiments, the second protrusion 23 includes a platform portion 231 and a vertical portion 232 extending downward from the middle of the bottom surface of the platform portion 231. The surface 231 (i.e., Figure 1A protrusion 2312 is provided on the top surface of the middle platform portion 2311, and the protrusion 2312 conflicts with the moving portion 711 of the first telescopic rod 71. In addition, the surface of the protrusion 2312 has undulations on the trajectory of the first telescopic rod 71 rotating around the second rotation axis O2 with the carrier 1. The reason for setting the aforementioned protrusion 2312 is that: under the premise of rotating around the first rotation axis O1 first and then around the second rotation axis O2, when the first telescopic rod 71 rotates with the carrier 1 around the second rotation axis 42, the height position of the lower end of the moving part 711 of the first telescopic rod 71 will drop, and the undulation of the surface of the protrusion 2312 is adapted to the lower end trajectory of the moving part 711 of the first telescopic rod 71, so that the protrusion 2312 can compensate for the height position change of the lower end of the moving part 711 of the first telescopic rod 71, and can prevent the lower end of the moving part 711 of the first telescopic rod 71 from being away from the second convex part 23 under the supporting action of the platform part 231 without the protrusion 2312, thereby preventing the position of the carrier 1 in the circumferential direction of the first rotation axis O1 from being deviated again and changing the previously adjusted angle, so that the positioning accuracy of the carrier to the workpiece is higher. Further, the protrusion 2312 has a spherical surface, so that the processing and forming of the protrusion 2312 can be simplified.

[0066] by Figure 7 Taking the structure shown in as an example, the position compensation function of the protrusion 2312 is explained in detail. When the carrier is in the reset state, the lower end of the moving part 711 of the first telescopic rod 71 conflicts with the spherical vertex of the protrusion 2312 (such as Figure 7 When the carrier 1 rotates around the first rotation axis O1, the moving portion 711 of the first telescopic rod 71 is extended relative to the fixed portion by rotating the rotating portion of the first telescopic rod 71. Under the reaction of the moving portion 711, the fixed portion of the first telescopic rod 71 drives the first protrusion 11 away from the second protrusion 23. Figure 5 Alternatively, the rotating part of the first telescopic rod 71 is rotated to retract the movable part 711 of the first telescopic rod 71 relative to the fixed part. The fixed part of the first telescopic rod 71 drives the first protrusion 11 to approach the second protrusion 23 under the reaction of the movable part 711 (this state of the carrier 1 is not shown in the figure). When the carrier 1 is rotated around the second rotation axis O2, the height position of the lower end of the movable part 711 of the first telescopic rod 71 will drop and deviate from the spherical vertex of the protrusion 2312. The surface of the protrusion 2312 adaptively drops and still conflicts with the lower end of the movable part 711 of the first telescopic rod 71 (as shown in the figure). Figure 7 The C state shown in FIG. 1 is thus prevented from rotating around the first rotation axis O1 while the carrier 1 rotates around the second rotation axis O2 , thereby changing the previously adjusted position of the carrier 1 in the circumferential direction of the first rotation axis O1 .

[0067] In some embodiments, the bracket 2 is parallel to the direction of the first rotation axis 41 (ie Figure 1 The first mounting seat 21 and the second mounting seat 22 are spaced apart in the left and right directions (shown in the figure), and the first protrusion 11 is located between the first mounting seat 21 and the second mounting seat 22. The second adjustment assembly includes a second telescopic rod 721 parallel to the first rotating shaft 41 and a first locking screw 722. The second telescopic rod 721 includes a fixed part and a movable part. The fixed part of the second telescopic rod 721 is arranged on the first mounting seat 21, and the movable part of the second telescopic rod 721 includes a rotating part away from the first protrusion 11 in a direction parallel to the first rotating shaft 41 and a moving part 7211 close to the first protrusion 11. Figure 1 In the direction shown, the rotating part of the second telescopic rod 721 is located on the left, and the moving part 7211 of the second telescopic rod 721 is located on the right. A rotation-translation conversion structure is provided between the rotating part and the moving part 7211 of the second telescopic rod 721, and the rotation-translation conversion structure can convert the rotation of the rotating part of the second telescopic rod 721 into the movement of the moving part 7211. The moving part 7211 of the second telescopic rod 721 abuts against the left side surface of the first protrusion 11. The second mounting seat 22 is provided with a screw hole, and the first locking screw 722 is inserted into the screw hole of the second mounting seat 22, and the first locking screw 722 is abutted against the right side surface of the first protrusion 11, so that a first space for clamping the first protrusion 11 is formed between the first locking screw 722 and the moving part 7211 of the second telescopic rod 721, so that the moving part 7211 of the second telescopic rod 721 and the first locking screw 722 can be moved in a direction parallel to the first rotating shaft 41 by rotating the rotating part of the second telescopic rod 721 and the first locking screw 722, thereby changing the position of the first space, and finally adjusting the position of the carrier 1 in the circumferential direction of the second rotating axis O2.

[0068] In some embodiments, the base 3 is parallel to the direction of the first rotation axis 41 (ie Figure 1 The third mounting seat 31 and the fourth mounting seat 32 are spaced apart (in the left and right directions shown in the figure), the third mounting seat 31 is located on the right side, the fourth mounting seat 32 is located on the left side, and the second protrusion 23 is located between the third mounting seat 31 and the fourth mounting seat 32. The third adjustment assembly includes a third telescopic rod 731 and a second locking screw 732 parallel to the first rotating shaft 41. The third telescopic rod 731 includes a fixed part and a movable part. The fixed part of the third telescopic rod 731 is arranged on the third mounting seat 31, and the movable part of the third telescopic rod 731 includes a rotating part away from the second protrusion 23 in a direction parallel to the first rotating shaft 41 and a moving part 7311 close to the second protrusion 23. Figure 1In the direction shown, the rotating part of the third telescopic rod 731 is located on the right side, and the moving part 7311 of the third telescopic rod 731 is located on the left side. A rotation-translation conversion structure is provided between the rotating part and the moving part 7311 of the third telescopic rod 731, and the rotation-translation conversion structure can convert the rotation of the rotating part into the movement of the moving part 7311. The moving part 7311 of the third telescopic rod 731 conflicts with the right side surface of the vertical portion 232. The fourth mounting seat 32 is provided with a screw hole, and the second locking screw 732 is inserted into the screw hole of the fourth mounting seat 32, and the second locking screw 732 is in conflict with the left side surface of the vertical portion 232, so that a second space for clamping the second protrusion 23 is formed between the second locking screw 732 and the movable part 7311 of the third telescopic rod 731, so that the movable part 7311 of the third telescopic rod 731 and the second locking screw 732 can be moved in a direction parallel to the first rotating shaft 41 by rotating the rotating part of the third telescopic rod 731, thereby changing the position of the second space, and finally adjusting the circumferential position of the carrier 1 on the third rotating axis O3.

[0069] The carrier in this embodiment, under the premise of following a specific rotation sequence of first around the first rotation axis O1, then around the third rotation axis O3 and then around the second rotation axis O2, can adjust the position of the workpiece in a certain direction without affecting the angular position in other directions, thereby achieving higher positioning accuracy for the workpiece and meeting the needs of loading small, high-precision workpieces such as components, semi-finished products or finished products involved in lenses and camera modules.

[0070] In some embodiments, the first telescopic rod 71, the second telescopic rod 721 and the third telescopic rod 731 are all micrometers with scales, and the scales can be used to read the telescopic amount of the corresponding moving part, and then to measure the deflection angle of the corresponding adjustment operation, so as to control the deflection amplitude of the corresponding adjustment component. Taking the adjustment of the position of the carrier 1 on the circumference of the first rotation axis O1 as an example, the distance between the connection part of the fixed part of the first telescopic rod 71 and the first convex part 11 and the first rotation axis O1 is R, and R is also the radius of rotation of the connection part of the fixed part of the first telescopic rod 71 and the first convex part 11 around the first rotation axis O1. If the telescopic amount of the moving part 711 of the first telescopic rod 71 is L, the deflection angle of the carrier 1 around the first rotation axis O1 is θ=arcsin(L / R). The deflection angle of the carrier 1 around the second rotation axis O2 and the deflection angle of the bracket 2 around the third rotation axis O3 can be calculated by the relationship between the telescopic amount of the corresponding telescopic moving part and the rotation radius. In this embodiment, the first telescopic rod 71, the second telescopic rod 721 and the third telescopic rod 731 are all micrometers of the GMT company with the product model EMHGS-SN-13.

[0071] The first adjustment component, the second adjustment component, and the third adjustment component each have only one set, which can simplify the adjustment operation. More importantly, compared with setting at least two sets, it can reduce the impact of the cumulative processing tolerance, so that the position adjustment of the carrier 1 is not easy to be skewed relative to the target object, that is, tilt. The first adjustment component, the second adjustment component, and the third adjustment component are concentrated on the same side of the carrier, so that when installing the carrier, only one side needs to be considered to reserve operating space, and the operator can also perform adjustment operations on the same side of the carrier, shortening the operator's movement line and making the adjustment operation more convenient.

[0072] In some embodiments, a first elastic member 51 and a second elastic member 52 are provided between the carrier 1 and the bracket 2. The first elastic member 51 makes the first protrusion 11 always have a deflection tendency to approach the second protrusion 23, so that the moving part 711 of the first telescopic rod 71 always keeps in contact with the second protrusion 23. The second elastic member 52 makes the carrier 1 always have a tendency to rotate around the second rotation axis O2 in a first direction, and the first direction is opposite to the force direction applied by the moving part 7211 of the second telescopic rod 721 to the first protrusion 11. Figure 1 Taking the top view of the arranged state of the carrier as an example, the second elastic member 52 makes the carrier 1 always have a tendency to rotate clockwise around the second rotation axis O2, while the moving part 7211 of the second telescopic rod 721 makes the carrier 1 have a tendency to rotate counterclockwise.

[0073] Specifically, the first elastic member 51 is a tension spring arranged in the up-down direction, and the first elastic member 51 can provide a tension force (ie, Figure 1 In addition, in a direction parallel to the third rotation axis O3, the first elastic member 51 is located between the second rotation axis 42 and the first telescopic rod 71. The second elastic member 52 is a tension spring obliquely arranged on the peripheral side of the carrier, and the extension direction of the second elastic member 52 is oblique to the extension direction of the second rotation axis O2, so that the second elastic member 52 can provide a tangential component force and a component force close to the bracket 2 at the corresponding position of the carrier 1 (i.e. Figure 1 The tangential force component makes the carrier 1 rotate in the first direction around the second rotation axis O2, while the force component close to the bracket 2 (i.e. Figure 1 The downward pulling force in the middle) cooperates with the first elastic member 51 to ensure that the first protrusion 11 always has a deflection tendency to approach the second protrusion 23.

[0074] The plane arranged along the wall thickness direction of the carrier 1 and passing through the first rotation axis O1 is the first plane, and the plane arranged along the wall thickness direction of the carrier 1 and passing through the third rotation axis O3 is the second plane. The first plane and the second plane together divide the carrier into four areas. Fig.12Taking the direction shown as an example, the four areas are the left front area, the right front area, the left rear area and the right rear area. It is worth noting that there are four first elastic members 51, two of which are arranged between the shaft hole 12 and the first protrusion 11 in a direction parallel to the third rotation axis O3, and the other two are located in the left front area. The first elastic member 51 located in the left front area can make the circumferential force of the carrier 1 uneven. This circumferential force unevenness helps the carrier 1 to break the force balance state when it is thrust, so that the carrier 1 is not prone to jamming when the load is too large, which is convenient for adjusting the position of the workpiece. There are two second elastic members 52, which are respectively located on the left and right sides of the carrier. The two second elastic members 52 are arranged crosswise, so that the carrier 1 can be driven to rotate in the same direction around the second rotation axis O2.

[0075] In some embodiments, a third elastic member 53 is provided between the bracket 2 and the base 3. The third elastic member 53 is a tension spring inclined to the first rotation axis O1, and the third elastic member 53 is connected to the left side of the bracket 2, so that the third elastic member 53 can provide a rightward component force at the corresponding position of the bracket 2 ( Fig.12 direction shown) and the component force close to the base 3 (i.e. Fig.12 The rightward force makes the bracket 2 always have a tendency to move rightward, and the bracket 2 tends to rotate in the second direction around the third rotation axis O3 under the guidance of the slide rail assembly 6, so that Fig.12 In the front view direction shown, the second direction is counterclockwise; the rightward force component is opposite to the force direction of the moving part 7311 of the third telescopic rod 731 on the second protrusion 23. The force component close to the base 3 can firmly connect the bracket 2 to the base 3. In some other embodiments, the third elastic member 53 is connected to the right side of the bracket 2.

[0076] When the load of the carrier 1 can generate a first deflection moment, and the first deflection moment is greater than the moment generated by the first elastic member 51 and is opposite to the moment generated by the first elastic member 51, the first deflection moment can cause the carrier 1 to rotate in the opposite direction to the moment of the first elastic member 51, and the first adjustment component is considered to be failed, and the load of the carrier 1 is the maximum load in the circumferential direction of the first rotation axis O1. Similarly, when the load of the carrier 1 can generate a second deflection moment, and the second deflection moment is greater than the moment generated by the second elastic member 52 and is opposite to the moment generated by the first elastic member 52, the second deflection moment can cause the carrier 1 to rotate in the opposite direction to the moment of the second elastic member 52, and the second adjustment component is considered to be failed, and the load of the carrier 1 is the maximum load in the circumferential direction of the second rotation axis O2. When the load of the carrier 1 can generate a third deflection torque, and the third deflection torque is greater than the torque generated by the third elastic member 53 and is opposite to the torque generated by the third elastic member 53, the third deflection torque can cause the carrier 1 to rotate in the opposite direction to the torque of the third elastic member 53, and the third adjustment component is considered to be invalid. At this time, the load of the carrier 1 is the maximum load in the circumferential direction of the third rotation axis O3. If the carrier is not provided with the first elastic member 51, the second elastic member 52 and the third elastic member 53, the rotating carrier 1 or the bracket 2 only needs to overcome the static friction force. After the carrier is provided with the first elastic member 51, the second elastic member 52 and the third elastic member 53, the rotating carrier 1 or the bracket 2 needs to overcome the torque generated by the first elastic member 51, the second elastic member 52 and the third elastic member 53. Therefore, the provision of the first elastic member 51, the second elastic member 52 and the third elastic member 53 can increase the load range of the carrier, and the load range of the carrier is positively correlated with the elastic force generated by the first elastic member 51, the second elastic member 52 and the third elastic member 53.

[0077] In this embodiment, the maximum load of the carrier in the circumference of the first rotation axis O1, the circumference of the second rotation axis O2, and the circumference of the third rotation axis O3 are 372.15N·mm, 503.46N·mm, and 1327.14N·mm, respectively. The deflection angle of the carrier in the circumference of the first rotation axis O1 and the circumference of the second rotation axis O2 is ±3°, and the deflection angle in the circumference of the third rotation axis O3 is ±7°.

[0078] In addition, due to the elastic properties of the first elastic member 51, the second elastic member 52 and the third elastic member 53, the first elastic member 51, the second elastic member 52 and the third elastic member 53 can buffer the impact or vibration, so that when the carrier is subjected to a small impact or collision, the first elastic member 51, the second elastic member 52 and the third elastic member 53 can absorb this part of the impact, so that the carrier 1 is not easily affected by the impact and displaced, so that the workpiece can be positioned more accurately.

[0079] It can be understood that the number and performance parameters of the first elastic member 51, the second elastic member 52 and the third elastic member 53 (such as in some embodiments, these parameters may be the elastic coefficient k) can be adjusted as needed to adjust the load range and buffering and shock absorption performance of the vehicle.

[0080] It should be understood by those skilled in the art that the embodiments of the present application described above and shown in the accompanying drawings are only examples and do not limit the present application. The purpose of the present application has been fully and effectively achieved. The functions and structural principles of the present application have been demonstrated and explained in the embodiments, and the embodiments of the present application may be deformed or modified in any way without departing from the principles.

Claims

1. A carrier, characterized in that: include: Bracket; A carrier for loading the workpiece thereon; The connecting component includes a first rotating shaft and a second rotating shaft connected to one end of the first rotating shaft in a manner perpendicular to the first rotating shaft, and the first rotating shaft is constrained together with the bracket, and the second rotating shaft is constrained together with the carrier, so that the carrier can rotate around the first rotating shaft and the second rotating shaft respectively.

2. The carrier according to claim 1, characterized in that: The first rotating shaft is parallel to the bracket.

3. The carrier according to claim 2, characterized in that: The bracket is provided with a mounting groove, and at least a portion of the first rotating shaft is accommodated in the mounting groove.

4. The carrier according to claim 3, characterized in that: The first rotating shaft is semi-cylindrical, and the cylindrical surface of the first rotating shaft is in contact with the mounting groove.

5. The carrier according to any one of claims 2 to 4, characterized in that: The carrier is provided with an axial hole penetrating through the thickness of the carrier, and the second rotating shaft is passed through the axial hole; The carrier is provided with a first adjustment component offset from the axial hole, and the first adjustment component is used to locate the distance between the carrier and the bracket in the extension direction of the axial hole.

6. The carrier according to claim 5, characterized in that: The first adjustment component is a first telescopic rod basically parallel to the axial hole, and the bracket is provided with a protrusion that contacts the first end of the first telescopic rod, and the surface of the protrusion has undulations on the trajectory of the first adjustment component rotating around the second rotating axis along with the carrier.

7. The carrier according to claim 6, characterized in that: The protrusion has a spherical surface.

8. The carrier according to claim 6, characterized in that: A first elastic member is provided between the carrier and the bracket, and the first elastic member enables the portion of the carrier where the first adjustment component is located to always maintain a deflection tendency close to the bracket.

9. The carrier as claimed in claim 5, characterized in that It also includes a base, and the bracket is constrained to the base in a manner of being rotatable around a third rotation axis, and the third rotation axis is orthogonal to the central axis of the first rotation shaft and the central axis of the second rotation shaft.

10. The carrier according to claim 9, characterized in that: It also includes a slide rail assembly whose extension direction is adapted to the third rotation axis. The slide rail assembly includes a first arc track connected to the bracket, a second arc track connected to the base, and a rolling body constrained between the first arc track and the second arc track.

11. The carrier according to claim 9, characterized in that: A second elastic member and a second adjustment assembly are provided between the carrier and the bracket, the second elastic member enables the carrier to always have a tendency to rotate around the second rotating shaft in a second direction, and the second adjustment assembly is used to locate the position of the carrier in the circumferential direction of the second rotating shaft; And / or, a third elastic member and a third adjustment assembly are provided between the bracket and the base, the third elastic member enables the carrier to always have a tendency to rotate along the third direction around the third rotation axis, and the third adjustment assembly is used to locate the position of the bracket in the circumferential direction of the third rotation axis; Let the plane set along the wall thickness direction of the carrier and passing through the central axis of the first rotating shaft be the first plane, and the plane set along the wall thickness direction of the carrier and passing through the third rotating axis be the second plane. The first plane and the second plane together divide the carrier into four areas, and at least part of the first elastic member is located in one of the areas.

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