A multi-axis motion platform

Abstract

This invention provides a multi-axis motion platform, comprising a first platform, a second platform, and a third platform stacked sequentially along the vertical direction; the first platform provides at least horizontal and / or vertical motion; the second platform provides horizontal rotational motion; a support frame is mounted on the third platform, and the third platform drives the support frame to rotate and swing vertically; a locking structure is mounted on the third platform for locking the support frame after it has rotated into position; it can provide multi-dimensional motion, provide sufficient locking force after positioning, and provide a more stable locking effect; and it can distribute the load on the motor, preventing motor damage and extending its service life.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motion platform, more particularly, to a multi-axis motion platform. BACKGROUND

[0002] In the existing mechanical manufacturing technology practice, XY linear motion platform is widely used, and many manufacturing enterprises need XY linear motion platform to realize various dispensing, welding, assembling and other manufacturing processes, which is also suitable for the operation of machining equipment and various cutting equipment, has important application function, and is a universal work platform.

[0003] However, in some non-standard mechanical design process, especially for part of the machining equipment with multi-angle adjustment and rotation requirement, an additional rotating structure needs to be added, and at present, the hollow rotating platform is mainly used as the main executive component, which can be used alone as a module and is convenient to disassemble and assemble. However, there are other problems: the hollow rotating platform can only rotate in one dimension direction, and for the adjustment of other angles, another rotating structure in another direction needs to be added, which is not convenient for overall structure layout. Moreover, the locking strength of the rotating structure completely depends on the self-locking force of the motor, which is not good, and the load is concentrated on the motor, which is easy to cause damage to the motor. Especially for part of the superimposed rotating structure, there is a lack of interrelated locking components, and the damage probability is higher, which needs to be improved. SUMMARY

[0004] In order to overcome the defects of the prior art, the technical problem to be solved by the present application is to provide a multi-axis motion platform which can provide multi-dimensional motion, provide sufficient locking force after positioning, provide more stable locking effect, and disperse the load stress of the motor to prevent damage to the motor and prolong the service life.

[0005] To achieve this purpose, the following technical solutions are adopted in the present application:

[0006] The present application provides a multi-axis motion platform, which comprises a first platform, a second platform and a third platform which are sequentially stacked in a vertical direction; the first platform provides at least horizontal motion and / or vertical motion; the second platform provides horizontal rotation motion; the third platform is provided with a support frame, and the third platform drives the support frame to rotate and swing in the vertical direction; the third platform is provided with a locking structure for locking the support frame after rotation.

[0007] In the preferred technical scheme of the present application, the second platform is a hollow rotating platform; the third platform comprises a bottom-opened shell, and the bottom of the shell is installed on the rotating component of the second platform through bolts; the locking structure is arranged in the interior of the shell and the second platform, and synchronously limits the rotation action of the second platform and the third platform.

[0008] In a preferred embodiment of the present invention, the locking structure includes a first locking mechanism and a second locking mechanism; the first locking mechanism and the second locking mechanism are adjusted to move synchronously, and respectively limit the rotational movements of the second platform and the third platform.

[0009] In a preferred embodiment of the present invention, a toothed ring is fixedly provided on the inner ring wall of the second platform; the first locking mechanism includes a support shaft, an electric push rod, and a first universal sleeve; the support shaft includes a first rod, a second rod, and a third rod connected sequentially from bottom to top, the diameter of the second rod is larger than the diameter of the first rod, and a step is formed at the connection; the first rod is mounted on the inner wall of the housing through a linear bearing, and a first push frame is installed at the piston rod end of the electric push rod, the first push frame is provided with a first guide hole, the diameter of the first guide hole is adapted to the diameter of the first rod, and the first rod movably passes through it. At the junction of the first pusher and the linear bearing; the top surface of the first pusher abuts against the bottom surface of the second rod; an electric push rod is used to drive the support shaft to move upward; a third gear is fixedly provided at the bottom end of the first rod, and the third gear meshes with the gear ring for transmission; the third rod has a prism structure, and the first universal sleeve is located above the support shaft and is fixedly installed on the bracket inside the housing; the upward-pushing third rod engages with the first universal sleeve, locking the support shaft, preventing the housing from rotating along the gear ring via the third gear, thereby locking the housing and limiting the rotation of the second platform.

[0010] In a preferred embodiment of the present invention, a first rotating shaft and a second rotating shaft are respectively installed at the bottom of the two opposite side walls of the support frame; a first through hole is provided at the top of the two opposite side walls of the housing, and a first bearing seat is installed at the first through hole; the first rotating shaft and the second rotating shaft are respectively rotatably installed at the first bearing seat and the second bearing seat, so that the support frame is rotatably installed at the top of the housing; a first motor is fixedly installed on the bracket, a first gear is fixedly installed on the output shaft of the first motor, and a second gear is fixedly installed on the first rotating shaft; the second gear meshes with the first gear for transmission, and the first motor is used to drive the support frame to rotate and swing; a second locking mechanism moves synchronously with the first locking mechanism to lock the first rotating shaft, thereby locking the entire support frame.

[0011] In a preferred embodiment of the present invention, a locking block is fixedly provided at the end of the first rotating shaft, the locking block having a prismatic structure; the second locking mechanism includes a second pusher, a spring, and a second universal sleeve; two guide rods are fixedly provided on the side of the second pusher near the first rotating shaft, and a second guide hole is provided on the bracket corresponding to the guide rod, the guide rod movably passing through the second guide hole, and the end is limited by a retaining spring; the spring is sleeved on the guide rod, providing the second pusher with a thrust in the direction of the second rotating shaft; the second universal sleeve is fixedly installed on the second pusher, and its position corresponds to the locking block; when the second pusher is only subjected to the elastic force of the spring, the second universal sleeve disengages from the locking block, and the first rotating shaft is in a rotating state; when the electric push rod is activated, the upward-pushing support shaft provides the second pusher with a thrust that compresses the spring, causing the second universal sleeve to be sleeved on the locking block, locking the first rotating shaft, thereby locking the support frame.

[0012] In a preferred embodiment of the present invention, the second pusher includes a push plate, and two guide rods are respectively disposed at both ends of the side wall of the push plate near the first rotating shaft; a push block is fixedly disposed in the middle of the other side wall of the push plate, the side of the push block away from the push plate is a sloping structure, and the lower end of the sloping block is biased towards the push plate; the middle of the push block is provided with a notch larger than the maximum diameter of the third rod; the top end of the second rod is narrowed and has a frustum-shaped structure, and the formed conical surface is in contact with the sloping surface of the push block, and the upward-pushing second rod provides a lateral thrust to the second pusher.

[0013] In a preferred embodiment of the present invention, the top surface of the bracket is provided with a first latch corresponding to the third rod, and the side wall of the bracket is provided with a second latch corresponding to the latch block. Both the first latch and the second latch are prismatic hole structures. The outer walls of the first universal sleeve and the second universal sleeve are both prismatic structures. The first universal sleeve is fitted into the first latch, and the top of the first universal sleeve is fixed to the bracket by bolts. The second universal sleeve is fitted through the second latch and slides along the second latch.

[0014] The beneficial effects of this invention are as follows:

[0015] The present invention provides a multi-axis motion platform, comprising a first platform, a second platform, and a third platform stacked sequentially in a vertical direction; the first platform provides at least horizontal and / or vertical motion; the second platform provides horizontal rotational motion; a support frame is mounted on the third platform, and the third platform drives the support frame to rotate and swing in the vertical direction; the platforms can be combined and cooperate to perform motion in multiple directions to meet different processing requirements.

[0016] The third platform is equipped with a locking structure to lock the support frame after it has been rotated into position. This provides locking force in addition to the motor's self-locking mechanism, resulting in a more stable locking effect, reducing the load on the motor, preventing motor damage, and extending its service life. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a multi-axis motion platform provided in a specific embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the three-dimensional unfolded structure of a multi-axis motion platform provided in a specific embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the internal structure of the third platform provided in a specific embodiment of the present invention;

[0020] Figure 4 This is a cross-sectional view of the third platform provided in a specific embodiment of the present invention;

[0021] Figure 5 This is a three-dimensional structural schematic diagram of the first locking mechanism provided in a specific embodiment of the present invention;

[0022] Figure 6 This is a three-dimensional structural schematic diagram of the first rotating shaft provided in a specific embodiment of the present invention;

[0023] Figure 7 This is a three-dimensional structural schematic diagram of the second locking mechanism provided in a specific embodiment of the present invention;

[0024] Figure 8 This is a three-dimensional structural diagram of the second pusher provided in a specific embodiment of the present invention, from a first perspective.

[0025] Figure 9 This is a three-dimensional structural diagram of the second pusher provided in a specific embodiment of the present invention, from a second perspective.

[0026] Figure 10 This is a schematic diagram of the internal three-dimensional structure of the casing provided in a specific embodiment of the present invention.

[0027] In the picture:

[0028] 100, First platform; 200, Second platform; 210, Gear ring; 300, Third platform; 310, Housing; 320, Bracket; 321, First bayonet; 322, Second bayonet; 330, First motor; 340, First gear;

[0029] 400, Support frame; 410, First rotating shaft; 420, Second rotating shaft; 430, Second gear; 440, Locking block;

[0030] 500. Locking structure; 510. First locking mechanism; 511. Support shaft; 5111. First rod; 5112. Second rod; 5113. Third rod;

[0031] 512. Electric push rod; 513. First universal sleeve; 514. First push frame; 515. Third gear;

[0032] 520. Second locking mechanism; 521. Second push frame; 522. Spring; 523. Second universal sleeve; 524. Guide rod; 525. Push plate; 526. Push block; 527. Notch. Detailed Implementation

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 4 As shown, a multi-axis motion platform is disclosed in a specific embodiment of the present invention, including a first platform 100, a second platform 200, and a third platform 300 stacked sequentially in the vertical direction; the first platform provides at least horizontal and / or vertical motion; the second platform provides horizontal rotational motion; a support frame 400 is mounted on the third platform 300, and the third platform drives the support frame to rotate and swing in the vertical direction; a locking structure 500 is mounted on the third platform 300 for locking the support frame 400 after it has rotated to the correct position.

[0035] The aforementioned multi-axis motion platform, when combined and coordinated, can perform movements in multiple directions to meet different processing needs and expand its application range. Among them, the third platform is equipped with a locking structure to lock the support frame after it has been rotated into position. This provides locking force in addition to the motor's self-locking, resulting in a more stable locking effect, reducing the load on the motor, preventing motor damage, and extending its service life.

[0036] It should be noted that the second platform is mounted on the uppermost moving part of the first platform, the third platform is mounted on the rotating part of the second platform, and the support frame is mounted on the rotating part of the third platform. The coordinated movement of multiple platforms drives the support frame to move in multiple dimensions. The first platform includes, but is not limited to, a single-axis horizontal / vertical moving platform, a dual-axis horizontal / horizontal-vertical moving platform, or a three-axis moving platform, providing the required lateral and / or vertical movement. The above-mentioned types of moving platforms are quite common and will not be described in detail.

[0037] Furthermore, the second platform 200 is a hollow rotating platform; the third platform 300 includes a housing 310 with an open bottom, the bottom of which is bolted to the rotating component of the second platform 200; the locking structure 500 is located inside the housing and the second platform, simultaneously limiting the rotational movements of the second platform 200 and the third platform 300, realizing the linkage and locking cooperation between the two rotating structures, on the one hand strengthening the overall locking force and providing more stable support; on the other hand, it can further distribute the motor load and transfer the force to other structural components to prevent motor damage; it should be noted that the hollow rotating platform is also a common motion platform, and its specific structure will not be described in detail.

[0038] Furthermore, the locking structure 500 includes a first locking mechanism 510 and a second locking mechanism 520; the first locking mechanism and the second locking mechanism are adjusted to move synchronously, and respectively limit the rotational movements of the second platform 200 and the third platform 300; the two mechanisms are locked separately, but have a linkage action between them, which can be driven by the same power component, reducing the use of electrical components, and can also achieve synchronous locking action of the two. By utilizing the limiting cooperation of the two locking mechanisms themselves, the transmission and distribution of force are further strengthened, and the load is better reduced.

[0039] Furthermore, such as Figure 2 As shown, a toothed ring 210 is fixedly provided on the inner ring wall of the second platform 200. This part does not rotate and provides a locking fixing point; as Figure 4 , Figure 5As shown, the first locking mechanism 510 includes a support shaft 511, an electric push rod 512, and a first universal sleeve 513. The support shaft 511 includes a first rod body 5111, a second rod body 5112, and a third rod body 5113 connected sequentially from bottom to top. The diameter of the second rod body 5112 is larger than the diameter of the first rod body 5111, forming a stepped portion at the connection. The first rod body 5111 is mounted on the inner wall of the housing 310 via a linear bearing, and the piston rod end of the electric push rod 512... A first pusher 514 is installed, with a first guide hole whose diameter matches the diameter of the first rod. The first rod movably passes through the first pusher and the linear bearing. The top surface of the first pusher 514 abuts against the bottom surface of the second rod 512. An electric push rod is used to drive the support shaft to move upward. A third gear 515 is fixedly installed at the bottom end of the first rod 5111, and the third gear 515 meshes with the gear ring 210 for transmission. The third rod 5113 has a prism structure. The first universal sleeve 513 is located above the support shaft 511 and is fixedly installed on the bracket 320 inside the housing. The upward-pushing third rod engages with the first universal sleeve, locking the support shaft. The housing cannot rotate along the gear ring via the third gear, thus locking the housing and limiting the rotation of the second platform. In the above structural design, the gear ring is fixed to the inner ring wall of the second platform and is in a fixed position relative to the rotating parts of the second platform. The third platform is installed on the rotating parts of the second platform, which means that the gear ring is also in a fixed position relative to the third platform. When not locked, the support shaft rotates, and the third gear meshes with the gear ring, without affecting the rotation of the third platform. When the electric push rod drives the support shaft upward until the third rod engages with the first universal sleeve, the support shaft cannot rotate, which means that the third gear cannot rotate along the gear ring, and the third platform cannot rotate, achieving the required locking effect.

[0040] Furthermore, such as Figure 2 As shown, a first rotating shaft 410 and a second rotating shaft 420 are respectively installed on the bottom of the two opposite side walls of the support frame 400; a first through hole is provided on the top of the two opposite side walls of the housing, and a first bearing seat is installed at the first through hole. The first rotating shaft and the second rotating shaft are rotatably installed at the first bearing seat and the second bearing seat, respectively, so that the support frame 400 is rotatably installed on the top of the housing 310; Figure 4As shown, a first motor 330 is fixedly mounted on the bracket 320, a first gear 340 is fixedly mounted on the output shaft of the first motor 330, and a second gear 430 is fixedly mounted on the first rotating shaft 410. The second gear 430 meshes with the first gear 340 for transmission. The first motor 330 is used to drive the support frame 400 to rotate and swing. The second locking mechanism 520 moves synchronously with the first locking mechanism 510 and is used to lock the first rotating shaft 410, thereby locking the entire support frame 400. With the above structure, the support frame is driven to rotate and swing by the first motor. The overall structure is simple and also provides installation conditions for the subsequent structure for locking the support frame.

[0041] Furthermore, such as Figure 6 As shown, a locking block 440 is fixedly provided at the end of the first rotating shaft 410. The locking block has a prism-shaped structure; as Figure 4 , Figure 7 As shown, the second locking mechanism 520 includes a second pusher 521, a spring 522, and a second universal sleeve 523. Two guide rods 524 are fixedly provided on the side of the second pusher 521 near the first rotating shaft. A second guide hole is provided on the bracket corresponding to the guide rods. The guide rods movably pass through the second guide holes, and their ends are limited by a snap ring. The spring 522 is sleeved on the guide rods 524, providing a thrust to the second pusher in the direction of the second rotating shaft. The second universal sleeve 523 is fixedly installed on the second pusher 521, and its position corresponds to the locking block 440. When the second pusher is only subjected to the spring force, the second universal sleeve disengages from the locking block, and the first rotating shaft is in a rotating state. When the electric push rod is activated, the upward-pushing support shaft provides the second pusher with a spring-compressing thrust, causing the second universal sleeve to be sleeved on the locking block, locking the first rotating shaft, thereby locking the support frame.

[0042] The second pusher is mounted on the bracket via two guide rods. The second pusher can only move along the direction of the guide rods and cannot rotate. The second universal sleeve is mounted on the second pusher, which means that the second universal sleeve can also only move along the direction of the guide rods and cannot rotate. Therefore, the second universal sleeve is used to lock the locking block at the end of the first rotating shaft, thereby preventing the first rotating shaft from rotating and thus locking the support frame.

[0043] More specifically, when the electric push rod is working, it drives the support shaft to move upward, and during the movement, it moves the second push frame towards the first rotating shaft. When the support shaft rises to the preset height position, the third column is locked at the first universal sleeve, and the second universal sleeve is sleeved on the outside of the locking block, thereby simultaneously locking the rotating parts of the second platform and the third platform, maintaining them in a stable position, preventing them from easily loosening, and effectively dispersing the force to prevent damage caused by excessive concentration of local force.

[0044] It should be noted that the first and second universal sockets are universal wrench structures and can be purchased and used on the market. The specific structure will not be described in detail.

[0045] Furthermore, such as Figure 8 , Figure 9 As shown, the second pusher 521 includes a push plate 525, and two guide rods 524 are respectively disposed at both ends of the side wall of the push plate 525 near the first rotating shaft; a push block 526 is fixedly disposed in the middle of the other side wall of the push plate 525, the side of the push block away from the push plate is a sloping structure, and the lower end of the sloping block is biased towards the push plate; the middle of the push block 526 is provided with a notch 527 larger than the maximum diameter of the third rod 5113; as Figure 5 As shown, the top of the second rod 5112 is narrowed and has a frustum-shaped structure. The conical surface formed is in contact with the inclined surface of the push block. The upward-pushing second rod 5112 provides a lateral thrust to the second push frame 521. By using the inclined sliding connection method, part of the force of the upward movement of the support shaft is converted into a lateral force pushing the second push frame, so as to achieve the desired synchronous movement effect. When the force is released, the support shaft will fall back under its own weight. The second push frame will also move in the direction under the action of the spring, which will also support the falling of the support shaft and quickly reset to the unlocked state to maintain the required rotational swinging action.

[0046] Furthermore, such as Figure 10 As shown, the top surface of the bracket 320 is provided with a first latch 321 corresponding to the third rod, and the side wall of the bracket 320 is provided with a second latch 322 corresponding to the latch block. Both the first and second latches are prismatic hole structures. The outer walls of the first universal sleeve and the second universal sleeve are both prismatic structures. The first universal sleeve 530 is adapted to be latched at the first latch 321, and the top of the first universal sleeve is fixed to the bracket by bolts. The second universal sleeve 523 is adapted to be inserted through the second latch 322 and slides along the second latch. The above structure can further strengthen the connection strength between the first universal sleeve and the bracket, further limit the movement trajectory of the second universal sleeve, and transfer the force of the second universal sleeve to the bracket, further dispersing it and preventing damage to the connection between the second universal sleeve and the second pusher due to concentrated force.

[0047] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. A multi-axis motion platform, characterized in that: comprising a first platform, a second platform and a third platform which are sequentially stacked along a vertical direction; the first platform provides at least horizontal motion and / or vertical motion; the second platform provides horizontal rotation motion; a support frame is installed on the third platform, and the third platform drives the support frame to rotate and swing in the vertical direction; a locking structure is installed on the third platform, and is used for locking the support frame after rotation; the locking structure comprises a first locking mechanism and a second locking mechanism; the first locking mechanism and the second locking mechanism are adjusted to move synchronously, and limit the rotation actions of the second platform and the third platform respectively; an inner ring wall of the second platform is fixedly provided with a gear ring; the first locking mechanism comprises a support shaft, an electric push rod and a first universal sleeve; the support shaft comprises a first rod body, a second rod body and a third rod body which are sequentially connected from bottom to top, the diameter of the second rod body is larger than that of the first rod body, and a stepped portion is formed at the connection position; the first rod body is installed on the inner wall of a shell through a linear bearing, the end of a piston rod of the electric push rod is provided with a first push frame, the first push frame is provided with a first guide hole, the diameter of the first guide hole is matched with the diameter of the first rod body, the first rod body is movably arranged in the first push frame and the linear bearing; the top surface of the first push frame abuts against the bottom surface of the second rod body; the electric push rod is used for driving the support shaft to move upward; the bottom end of the first rod body is fixedly provided with a third gear, and the third gear is in meshing transmission with the gear ring; the third rod body is in a prism structure, the first universal sleeve is located above the support shaft and is fixedly installed on a bracket in the shell; the third rod body is pushed upward and clamped into the first universal sleeve, so as to lock the support shaft, the shell cannot rotate along the gear ring through the third gear, so as to lock the shell, and further limit the rotation action of the second platform; the end of the first rotating shaft is fixedly provided with a clamping block which is in a prism structure; the second locking mechanism comprises a second push frame, a spring and a second universal sleeve; two guide rods are fixedly arranged on the side of the second push frame close to the first rotating shaft, the bracket is provided with a second guide hole corresponding to the guide rods, the guide rods are movably arranged in the second guide hole, and the ends of the guide rods are limited by a clamping spring; the spring is sleeved on the guide rods, and provides a pushing force for the second push frame to the second rotating shaft; the second universal sleeve is fixedly installed on the second push frame and corresponds to the clamping block in position; when the second push frame is only subjected to the elastic force of the spring, the second universal sleeve is separated from the clamping block, and the first rotating shaft is in a rotating state; when the electric push rod is started, the support shaft pushed upward provides a pushing force for the spring to compress, so that the second universal sleeve is sleeved on the clamping block, the first rotating shaft is locked, and the support frame is locked. 2.The multi-axis motion platform according to claim 1, characterized in that: the second platform is a hollow rotating platform; the third platform comprises a shell with an open bottom, and the bottom of the shell is installed on a rotating component of the second platform through bolts; the locking structure is arranged in the interior of the shell and the second platform, and limits the rotation actions of the second platform and the third platform synchronously. 3.The multi-axis motion platform according to claim 1, characterized in that: the support frame is provided with a first rotating shaft and a second rotating shaft which are respectively installed on the bottom of two opposite side walls. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The top of the two opposite side walls of the shell is provided with a first perforation, a first bearing seat is mounted at the first perforation, and the first rotating shaft and the second rotating shaft are respectively rotatably mounted at the first bearing seat and the second bearing seat, so that the support frame is rotatably mounted at the top of the shell; The bracket is fixedly mounted with a first motor, a first gear is fixedly mounted on the output shaft of the first motor, a second gear is fixedly mounted on the first rotating shaft, the second gear is in meshing transmission with the first gear, and the first motor is used to drive the support frame to rotate and swing; The second locking mechanism moves synchronously with the first locking mechanism and is used for locking the first rotating shaft, so as to lock the whole support frame.

4. The multi-axis motion platform according to claim 3, characterized in that: The second pusher includes a push plate, and two guide rods are arranged at the two ends of the side wall of the push plate close to the first rotating shaft; a push block is fixedly arranged at the middle part of the other side wall of the push plate, the side away from the push plate of the push block is in a slope structure, and the lower end of the inclination is deviated to the side of the push plate; the middle part of the push block is provided with a gap larger than the maximum diameter of the third rod body; The top end of the second rod body is narrowed and in a frustum structure, the formed conical surface is in sliding abutment with the slope of the push block, and the second rod body upwardly pushed provides a horizontal pushing force for the second pusher.

5. The multi-axis motion platform according to claim 4, characterized in that: The top surface of the bracket is provided with a first clamping hole corresponding to the third rod body, and the side wall of the bracket is provided with a second clamping hole corresponding to the clamping block, and the first clamping hole and the second clamping hole are both in a prismatic hole structure; the outer wall of the first universal sleeve and the second universal sleeve is in a prismatic structure; The first universal sleeve is adapted to be clamped at the first clamping hole, and the top of the first universal sleeve is fixed on the bracket through bolts; The second universal sleeve is adapted to be clamped at the second clamping hole and slides along the second clamping hole.

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