A steel sheet type flexible connection gantry motion platform

Abstract

This invention discloses a steel-plate type flexible connection gantry motion platform, relating to the field of precision mechanical structures. The motion platform includes a first Y-axis gantry, a second Y-axis gantry, an X-axis crossbeam, a floating end connection assembly, and a fixed end connection assembly. The first and second Y-axis gantry are respectively fixedly mounted on two parallel supports. The floating end connection assembly is slidably connected to the first Y-axis gantry, and the fixed end connection assembly is slidably connected to the second Y-axis gantry. One end of the X-axis crossbeam is connected to the floating end connection assembly via a floating end connection point, and the other end of the X-axis crossbeam is connected to the fixed end connection assembly via a fixed end connection point. This invention, employing the above-described steel-plate type flexible connection gantry motion platform, solves the problems of thermal stress accumulation, rigidity in error transmission, and insufficient dynamic performance of traditional gantry frames by combining an axially flexible telescopic crossbeam with a multi-directional compliant connection structure.

Description

Technical Field

[0001] This invention relates to the field of precision mechanical structures, and in particular to a steel sheet type flexible connection gantry motion platform. Background Technology

[0002] In high-precision manufacturing fields (such as semiconductor packaging, OLED panel inspection, and power battery welding), the gantry crane, as a core motion mechanism, directly determines equipment performance through its thermal stability, motion accuracy, and dynamic rigidity. Traditional gantry cranes often employ rigid welding or bolted structures, with a rigid connection between the crossbeams and columns. This design exhibits the following significant drawbacks under temperature variations or high-speed motion conditions:

[0003] 1. Thermal stress accumulation: When the crossbeam elongates due to the difference in thermal expansion coefficients of metal materials, it generates internal stress under the constraint of the column. Over time, this causes guide rail deformation and bearing wear, thus shortening the service life.

[0004] 2. Rigidity of error transmission: Minor misalignments in machining and assembly (such as column parallelism > 0.01 mm / m) will be amplified into millimeter-level offsets at the end through rigid connections, requiring frequent machine stops for calibration;

[0005] 3. Dynamic performance bottleneck: Traditional slide rail compensation mechanisms rely on contact sliding, which generates recoil and vibration during high-frequency motion, making it difficult to meet the accuracy requirements of high-acceleration motion above 20Hz (ISO 230-4 standard).

[0006] In recent years, Remote Compliance Center (RCC) technology has demonstrated its advantages in robot end effectors. It uses a "comfort center" design to give the joint controllable flexibility in a specific direction while maintaining high rigidity in other directions. However, this technology has not yet been deeply integrated with gantry structures, particularly in addressing thermo-mechanical-electrical multi-physics coupling errors, frictionless compensation, and multi-axis collaborative control, where technological gaps remain.

[0007] Therefore, an innovative design is urgently needed to organically combine the axially flexible telescopic beam with the multi-directional compliant connection structure, so as to achieve thermal expansion self-compensation and external force interference isolation while ensuring the radial rigidity and dynamic response speed of the gantry, thereby breaking through the performance bottleneck of precision manufacturing equipment. Summary of the Invention

[0008] The purpose of this invention is to provide a steel plate flexible connection gantry motion platform, which solves the problems of thermal stress accumulation, rigidity of error transmission, and insufficient dynamic performance of traditional gantry frames by combining an axial flexible telescopic beam with a multi-directional compliant connection structure.

[0009] To achieve the above objectives, the present invention provides a steel plate type flexible connection gantry motion platform, including a first Y-axis gantry, a second Y-axis gantry, an X-axis crossbeam, a floating end connection assembly, and a fixed end connection assembly. The first Y-axis gantry and the second Y-axis gantry are respectively fixedly mounted on two parallel legs. The floating end connection assembly is slidably connected to the first Y-axis gantry, and the fixed end connection assembly is slidably connected to the second Y-axis gantry. One end of the X-axis crossbeam is connected to the floating end connection assembly through a crossbeam floating end connection, and the other end of the X-axis crossbeam is connected to the fixed end connection assembly through a crossbeam fixed end connection.

[0010] Preferably, the floating end connecting assembly includes two floating end sliders, two floating end steel plates, a first crossbeam connecting plate, and a linear motor mover. Both floating end sliders are slidably connected to the linear guide rails on the support legs. The first crossbeam connecting plate is connected to the sliding guide rails on the first Y-axis gantry through the linear motor mover. The two floating end sliders are respectively fixedly connected to both ends of the first crossbeam connecting plate through the two floating end steel plates.

[0011] Preferably, the fixed end connecting assembly includes two fixed end sliders, a second crossbeam connecting plate, a slider connecting plate, and two fixed end steel plates. Both fixed end sliders are slidably connected to the linear guide rail. The second crossbeam connecting plate is connected to the sliding guide rail on the second Y-axis gantry through the linear motor actuator. The two fixed end sliders are fixedly connected through the slider connecting plate. The two fixed end sliders are respectively fixedly connected to both ends of the second crossbeam connecting plate through the two fixed end steel plates.

[0012] Preferably, both the floating end steel sheet and the fixed end steel sheet are made of 65Mn spring steel.

[0013] Preferably, the thickness of the floating end steel sheet is 0.5mm-1mm, the width of the floating end steel sheet is ≥60mm, and the connection height of the floating end steel sheet is 20mm-30mm.

[0014] Preferably, the thickness of the fixed end steel sheet is 0.5mm-1mm, the width of the fixed end steel sheet is ≥60mm, and the connection height of the fixed end steel sheet is 20mm-30mm.

[0015] Preferably, the thickness of the floating end steel plate and the fixed end steel plate allows the X-axis beam to undergo elastic deformation in its length direction, and the width of the floating end steel plate and the fixed end steel plate inhibits the X-axis beam from deforming in its vertical and width directions.

[0016] Preferably, the linear guide rail is laterally fixed on the side of the support leg, and a worktable and a counterweight are slidably connected on both sides of the X-axis beam, with the worktable and the counterweight moving in opposite directions on the X-axis beam.

[0017] The beneficial effects of this invention are:

[0018] (1) Thermal expansion self-compensation and stress relief: Through the combined design of floating end connection component and fixed end connection component, the X-axis beam can freely expand and contract along its length direction through the elastic deformation of the steel sheet when it is heated, so as to completely release thermal stress and reduce the frequency of downtime maintenance caused by thermal stress.

[0019] (2) High-precision error isolation and enhanced stability: The symmetrically arranged steel sheets in the floating end connection assembly and the fixed end connection assembly achieve axial flexibility and high rigidity in other directions through specific dimensions;

[0020] (3) Through the synergistic effect of the reverse motion design of the worktable and the counterweight and the flexible connection of the steel plates, the dual technical effects of dynamic cancellation of inertial force and flexible release of structural stress are achieved. When the worktable moves at high speed along the X-axis beam and generates inertial force, the counterweight moves in the opposite direction and generates an equal reverse inertial force. Based on the principle of conservation of momentum, the two are vectorly canceled, reducing system vibration. At the same time, the torque generated by the reverse motion of the counterweight on the X-axis beam is dispersed and absorbed by the elastic deformation of the steel plates, which improves the long-term accuracy and stability of the gantry structure. The reverse motion design and the flexible anti-torsion structure complement each other. The former reduces the impact of inertial force from the force source end, and the latter suppresses stress concentration from the transmission path, so that the gantry system can still maintain a stable operating state with low vibration and low deformation under high-speed motion conditions, breaking through the technical bottleneck of "difficulty in balancing inertial force cancellation and structural stress control" in traditional counterweight design.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of a steel sheet flexible connection gantry motion platform according to the present invention;

[0023] Figure 2 This is a structural diagram of the floating end connection component;

[0024] Figure 3 This is a structural schematic diagram of the fixed-end connection assembly;

[0025] Figure 4 This is a schematic diagram of the X-axis beam.

[0026] Figure 5 This is a schematic diagram of the floating end steel sheet in the floating end connection assembly undergoing elastic deformation under stress.

[0027] The components include: 1. Support legs; 2. First Y-axis gantry; 3. Floating end connecting assembly; 301. Floating end steel plate; 302. First crossbeam connecting plate; 303. Floating end slider; 4. X-axis crossbeam; 5. Fixed end connecting assembly; 501. Slider connecting plate; 502. Fixed end slider; 503. Fixed end steel plate; 504. Second crossbeam connecting plate; 6. Sliding guide rail; 7. Second Y-axis gantry; 8. Linear guide rail; 9. Linear motor mover; 10. Counterweight; 11. Worktable. Detailed Implementation

[0028] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0029] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Example

[0032] like Figure 1-5 As shown, a steel plate type flexible connection gantry motion platform includes a first Y-axis gantry 2, a second Y-axis gantry 7, an X-axis crossbeam 4, a floating end connection assembly 3, and a fixed end connection assembly 5. The first Y-axis gantry 2 and the second Y-axis gantry 7 are respectively fixedly mounted on two parallel support legs 1. The floating end connection assembly 3 is slidably connected to the first Y-axis gantry 2, and the fixed end connection assembly 5 is slidably connected to the second Y-axis gantry 7. One end of the X-axis crossbeam 4 is connected to the floating end connection assembly 3 through the crossbeam floating end connection, and the other end of the X-axis crossbeam 4 is connected to the fixed end connection assembly 5 through the crossbeam fixed end connection.

[0033] The floating end connecting assembly 3 includes two floating end sliders 303, two floating end steel plates 301, a first crossbeam connecting plate 302, and a linear motor mover 9. The two floating end sliders 303 are slidably connected to the linear guide rails 8 on the support legs 1. The first crossbeam connecting plate 302 is connected to the sliding guide rails 6 on the first Y-axis gantry 2 through the linear motor mover 9. The two floating end sliders 303 are respectively fixedly connected to the two ends of the first crossbeam connecting plate 302 through the two floating end steel plates 301. The upper end of the X-axis crossbeam 4 is fixedly connected to the first crossbeam connecting plate 302.

[0034] The fixed-end connecting assembly 5 includes two fixed-end sliders 502, a second crossbeam connecting plate 504, a slider connecting plate 501, and two fixed-end steel plates 503. Both fixed-end sliders 502 are slidably connected to the linear guide rail 8. The second crossbeam connecting plate 504 is connected to the sliding guide rail 6 on the second Y-axis gantry 7 via the linear motor mover 9. The two fixed-end sliders 502 are fixedly connected via the slider connecting plate 501. The two fixed-end sliders 502 are respectively fixedly connected to both ends of the second crossbeam connecting plate 504 via the two fixed-end steel plates 503. The upper end of the X-axis crossbeam 4 is fixedly connected to the second crossbeam connecting plate 504, and the lower end of the X-axis crossbeam 4 is fixedly connected to the slider connecting plate 501.

[0035] Both the floating end steel plate 301 and the fixed end steel plate 503 are made of 65Mn spring steel. 65Mn has the material advantages of high elastic modulus (E=210GPa) and high yield strength (σy≥750MPa), and its fatigue resistance can be further improved by oil quenching at 850℃ and tempering at 480℃. The thickness of the floating end steel plate 301 is 0.5mm-1mm, the width of the floating end steel plate 301 is ≥60mm, and the connection height of the floating end steel plate 301 is 20mm-30mm. The thickness of the fixed end steel plate 503 is 0.5mm-1mm, the width of the fixed end steel plate 503 is ≥60mm, and the connection height of the fixed end steel plate 503 is 20mm-30mm. The connection height refers to the length between the upper end face of the slider and the lower end face of the crossbeam connecting plate. If the connection height is too long, it will affect the supporting rigidity of the steel plate; if it is too short, it will affect the elastic deformation of the steel plate.

[0036] The thickness of the floating end steel plate 301 and the fixed end steel plate 503 allows the X-axis beam 4 to undergo elastic deformation along its length, while the width of the floating end steel plate 301 and the fixed end steel plate 503 inhibits the X-axis beam 4 from deforming in its vertical and width directions. The linear guide rail 8 is laterally fixed to the side of the support leg 1. A worktable 11 and a counterweight 10 are slidably connected to both sides of the X-axis beam 4, and the worktable 11 and the counterweight 10 move in opposite directions on the X-axis beam 4. When the worktable 11 moves at high speed, its inertial force will impact the gantry structure. The reverse movement of block 10 will generate an inertial force in the opposite direction. This impact is counteracted by the conservation of momentum, reducing system vibration. However, it will also generate a torque on the X-axis beam 4. If the two ends of the X-axis beam 4 are fixedly connected at this time, the connection between the X-axis beam 4 and the Y-axis gantry will bear this torque. Over time, this will cause the overall structure to deform and the accuracy to deteriorate. The steel sheet can absorb the torque through the deformation of the material itself, thereby avoiding stress concentration. In addition, the lateral installation of the linear guide rail 8 increases the force-bearing area, which can withstand a larger force coupling and is not easy to twist and deform.

[0037] Working principle:

[0038] The two floating end sliders 303 are not connected to each other. The X-axis beam 4 is only connected and fixed to the first beam connecting plate 302. Because of the presence of the two floating end steel plates 301, the X-axis beam 4 can undergo slight deformation and float along the length direction of the X-axis beam 4 after being heated and deformed. The floating end steel plates 301 can maintain high rigidity in other directions, thus ensuring the high rigidity of the X-axis beam 4 in other directions. Therefore, it can be ensured that the linear guide rail 8 will not deform and will not affect the accuracy of the overall motion platform due to thermal effects.

[0039] The two fixed-end sliders 502 are fixedly connected by the slider connecting plate 501. The upper end of the X-axis beam 4 is fixedly connected to the second beam connecting plate 504, and the lower end of the X-axis beam 4 is fixedly connected to the slider connecting plate 501. This ensures that the fixed ends of the X-axis beam 4 are rigidly connected in all directions, ensuring the positional accuracy of the fixed-end beam, which can be used as the origin reference.

[0040] The structure of this gantry motion platform is not limited to one end being fixed and the other end being floating; it can also be set to have both ends floating. The structure of the X-axis crossbeam 4 can be X-shaped or other cross-sectional shapes. The material and size of the steel plates can be changed according to different actual working conditions.

[0041] Therefore, the present invention adopts a steel plate type flexible connection gantry motion platform with the above-mentioned structure, which solves the problems of thermal stress accumulation, rigidity of error transmission and insufficient dynamic performance of traditional gantry frames by combining axial flexible telescopic beams with multi-directional compliant connection structures.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A steel-plate type flexible connection gantry motion platform, characterized in that: It includes a first Y-axis gantry, a second Y-axis gantry, an X-axis crossbeam, a floating end connecting assembly, and a fixed end connecting assembly. The first Y-axis gantry and the second Y-axis gantry are respectively fixedly mounted on two parallel legs. Linear guide rails are provided on the opposite sides of the two legs. The floating end connecting assembly is slidably connected to the first Y-axis gantry, and the fixed end connecting assembly is slidably connected to the second Y-axis gantry. One end of the X-axis crossbeam is connected to the floating end connecting assembly through the crossbeam floating end connection, and the other end of the X-axis crossbeam is connected to the fixed end connecting assembly through the crossbeam fixed end connection. The floating end connection assembly includes two floating end sliders, two floating end steel plates, a first crossbeam connecting plate, and a linear motor mover. The two floating end sliders are slidably connected to the linear guide rail on the left side of the support leg. The first crossbeam connecting plate is connected to the sliding guide rail on the first Y-axis gantry through the linear motor mover. The two floating end sliders are respectively fixedly connected to both ends of the first crossbeam connecting plate through the two floating end steel plates. The fixed end connection assembly includes two fixed end sliders, a second crossbeam connecting plate, a slider connecting plate, a linear motor mover, and two fixed end steel plates. Both fixed end sliders are slidably connected to the linear guide rail on the right side support leg. The second crossbeam connecting plate is connected to the sliding guide rail on the second Y-axis gantry through the linear motor mover. The two fixed end sliders are fixedly connected through the slider connecting plate. The two fixed end sliders are respectively fixedly connected to both ends of the second crossbeam connecting plate through the two fixed end steel plates. Both the floating end steel sheet and the fixed end steel sheet are made of 65Mn spring steel. The thickness of the floating end steel sheet is 0.5mm-1mm, the width of the floating end steel sheet is ≥60mm, and the connection height of the floating end steel sheet is 20mm-30mm. The connection height of the floating end steel sheet refers to the distance between the upper end surface of the floating end slider and the lower end surface of the first crossbeam connecting plate. The thickness of the fixed end steel sheet is 0.5mm-1mm, the width of the fixed end steel sheet is ≥60mm, and the connection height of the fixed end steel sheet is 20mm-30mm. The connection height of the fixed end steel sheet refers to the distance between the upper end surface of the fixed end slider and the lower end surface of the second crossbeam connecting plate. A worktable is slidably connected to one side of the X-axis beam, and a counterweight is slidably connected to the other side of the X-axis beam.

2. The steel sheet type flexible connection gantry platform according to claim 1, characterized in that: The linear guide rails of the left and right support legs are both laterally fixed on the sides of the corresponding support legs, and the worktable and the counterweight move in opposite directions on the X-axis beam.

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