Two-dimensional motion platform

Abstract

This application provides a two-dimensional motion platform, including a driver, an X-axis motion component, and a Y-axis motion component. The X-axis motion component includes a first lead screw assembly, a second lead screw assembly, and a first slide. The first and second lead screw assemblies are electrically connected to the driver. The driver controls the first and second lead screw assemblies to drive the first slide to move linearly along the X-axis. The driver can also control the first and second lead screw assemblies to rotate in opposite directions to eliminate backlash between the first and second lead screw assemblies and the first slide. The Y-axis motion component is rotatably connected to the first slide and is electrically connected to the driver. When the first slide moves linearly along the X-axis, it drives the Y-axis motion component to move linearly along the X-axis. This application solves the problem of complex structure in existing lead screw-based X-Y two-dimensional motion platforms that can eliminate backlash between the lead screw and the lead screw nut.

Description

Technical Field

[0001] This application relates to the technical field of precision motion machinery, and in particular to a two-dimensional motion platform. Background Technology

[0002] XY two-dimensional motion platforms are commonly used in industrial automation equipment, military equipment, robots, and medical devices. Typically, lead screw-type XY two-dimensional motion platforms use X-axis motors and Y-axis motors to drive the X-axis and Y-axis lead screws respectively to achieve XY two-dimensional motion and control. The accuracy of lead screw-type XY two-dimensional motion platforms often depends on the accuracy of the lead screw, for example, on the backlash between the lead screw and the lead screw nut. Therefore, backlash is a bottleneck affecting the accuracy and motion control performance of lead screw-type XY two-dimensional motion platforms.

[0003] To reduce backlash between the lead screw and its nut, methods such as ball replacement, lead offset, or double-nut washer are commonly used. However, these backlash elimination methods are overly complex. Furthermore, traditional lead screw-based XY 2D motion platforms require one or two auxiliary support rods on one or both sides of the lead screw in each dimension, further complicating the structure. Therefore, existing lead screw-based XY 2D motion platforms that can eliminate backlash between the lead screw and nut suffer from structural complexity. Summary of the Invention

[0004] The purpose of this application is to provide a two-dimensional motion platform to solve the problem of complex structure in existing lead screw-type XY two-dimensional motion platforms that can eliminate backlash between the lead screw and the lead screw nut.

[0005] This application provides a two-dimensional motion platform, including a driver, an X-axis motion component, and a Y-axis motion component. The X-axis motion component includes a first lead screw assembly, a second lead screw assembly, and a first slide. The first lead screw assembly and the driver are electrically connected, and the second lead screw assembly is also electrically connected to the driver. The second lead screw assembly is parallel to the first lead screw assembly. The first slide is connected to the first and second lead screw assemblies in a helical pair configuration. The driver controls the first and second lead screw assemblies to drive the first slide to move linearly along the X-axis. During the start-up or zero-speed crossing process of the first and second lead screw assemblies, the driver first controls the first and second lead screw assemblies to rotate in opposite directions to eliminate backlash between the first and second lead screw assemblies and the first slide. The Y-axis motion component is rotatably connected to the first slide and is electrically connected to the driver. When the first slide moves linearly along the X-axis, it drives the Y-axis motion component to move linearly along the X-axis.

[0006] Optionally, the first lead screw assembly includes a first motor and a first lead screw, the first motor and the driver are electrically connected, the first lead screw and the first motor are connected, and the first slide and the first lead screw are connected in the form of a screw pair.

[0007] Optionally, the X-axis motion component further includes a fifth motor, a first driving gear, a first driven gear, a sixth motor, a second driving gear, and a second driven gear. The fifth motor is electrically connected to the driver. The first driving gear is connected to the fifth motor. The first driven gear meshes with the first driving gear and is connected to the first lead screw. The sixth motor is electrically connected to the driver. The second driving gear is connected to the sixth motor. The second driven gear meshes with the second driving gear and is connected to the first lead screw. During the start-up or zero-speed crossing of the first lead screw, the driver first controls the first driving gear and the second driving gear to rotate in opposite directions to eliminate the gap between the first driving gear and the first driven gear, and also to eliminate the gap between the second driving gear and the second driven gear.

[0008] Optionally, the second lead screw assembly includes a second motor and a second lead screw, the second motor and the driver are electrically connected, the second lead screw and the second motor are connected, and the first slide and the second lead screw are connected in the form of a screw pair.

[0009] Optionally, the first slide includes a first nut seat and a second nut seat, the first nut seat and the first lead screw are connected in the form of a screw pair, the second nut seat and the second lead screw are connected in the form of a screw pair, and the first nut seat and the second nut seat are detachably connected.

[0010] Optionally, the Y-axis moving component includes a third lead screw assembly, a fourth lead screw assembly, and a second slide. The third lead screw assembly is electrically connected to the driver, and the fourth lead screw assembly is also electrically connected to the driver. The third lead screw assembly is parallel to the fourth lead screw assembly. The second slide is connected to the third and fourth lead screw assemblies in a helical pair configuration. The first slide is rotatably connected to the third and fourth lead screw assemblies. The driver controls the third and fourth lead screw assemblies to drive the second slide to move linearly along the Y-axis. During the start-up or zero-speed crossing process of the third and fourth lead screw assemblies, the driver first controls the third and fourth lead screw assemblies to rotate in opposite directions to eliminate backlash between the third and fourth lead screw assemblies and the second slide.

[0011] Optionally, the third lead screw assembly includes a third motor and a third lead screw, the third motor and the driver are electrically connected, the third lead screw and the third motor are connected, and the second slide and the third lead screw are connected in the form of a screw pair.

[0012] Optionally, the Y-axis moving component further includes a seventh motor, a third driving gear, a third driven gear, an eighth motor, a fourth driving gear, and a fourth driven gear. The seventh motor is electrically connected to the driver. The third driving gear is connected to the seventh motor. The third driven gear meshes with the third driving gear, and the third driven gear is connected to the third lead screw. The eighth motor is electrically connected to the driver. The fourth driving gear is connected to the eighth motor. The fourth driven gear meshes with the fourth driving gear, and the fourth driven gear is connected to the third lead screw. During the start-up or zero-speed crossing of the third lead screw, the driver first controls the third driving gear and the fourth driving gear to rotate in opposite directions to eliminate the gap between the third driving gear and the third driven gear, and also eliminates the gap between the fourth driving gear and the fourth driven gear.

[0013] Optionally, the fourth lead screw assembly includes a fourth motor and a fourth lead screw, the fourth motor and the driver are electrically connected, the fourth lead screw and the fourth motor are connected, and the second slide and the fourth lead screw are connected in the form of a screw pair.

[0014] Optionally, the second slide includes a third nut seat and a fourth nut seat, the third nut seat and the third lead screw are connected in the form of a screw pair, the fourth nut seat and the fourth lead screw are connected in the form of a screw pair, and the third nut seat and the fourth nut seat are detachably connected.

[0015] The beneficial effects of this application are as follows: by setting up a driver, an X-axis moving component, and a Y-axis moving component. The X-axis moving component includes a first lead screw assembly, a second lead screw assembly, and a first slide. The first lead screw assembly and the driver are electrically connected, and the second lead screw assembly is also electrically connected to the driver. The second lead screw assembly is parallel to the first lead screw assembly. The first slide is connected to the first and second lead screw assemblies in a helical pair configuration. The driver controls the first and second lead screw assemblies to drive the first slide to move linearly along the X-axis. During the start-up or zero-speed crossing process of the first and second lead screw assemblies, the driver first controls the first and second lead screw assemblies to rotate in opposite directions to eliminate backlash between the first and second lead screw assemblies and the first slide. The Y-axis moving component is rotatably connected to the first slide and is electrically connected to the driver. When the first slide moves linearly along the X-axis, it drives the Y-axis moving component to move linearly along the X-axis.

[0016] Since the first lead screw assembly and the second lead screw assembly synchronously drive the same first slide, the backlash between the first lead screw assembly and the first slide can be eliminated, as can the backlash between the second lead screw assembly and the first slide. At the same time, there is no need to set up auxiliary support slide rods, which makes the two-dimensional motion platform structure that can eliminate the backlash between the first lead screw assembly and the second lead screw assembly and the first slide simpler.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, the following describes the application in detail with reference to the preferred embodiments and accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a top view schematic diagram of a two-dimensional motion platform in one embodiment of this application;

[0019] Figure 2 This is a top view of an X-axis moving component in one embodiment of this application;

[0020] Figure 3 This is a top view schematic diagram of a driver, a first nut seat, a first lead screw, a fifth motor, a first driving gear, a first driven gear, a sixth motor, a second driving gear, and a second driven gear in one embodiment of this application;

[0021] Figure 4 This is an equivalent schematic diagram of the backlash elimination process between the first lead screw and the second lead screw and the first slide table in one embodiment of this application;

[0022] Figure 5 This is a top view schematic diagram of the Y-axis moving component in one embodiment of this application;

[0023] Figure 6 In one embodiment of this application, the components are: a driver, a third nut seat, a third lead screw, a seventh motor, a third driving gear, a third driven gear, an eighth motor, a fourth driving gear, and a fourth driven gear.

[0024] In the attached figures, the following labels are used:

[0025] 10 drives

[0026] 11 X-axis moving parts

[0027] 110 First lead screw assembly

[0028] 1100 First Electric Machine

[0029] 1101 First Lead Screw

[0030] 111 Second lead screw assembly

[0031] 1110 Second Motor

[0032] 1111 Second lead screw

[0033] 112 First Slide

[0034] 1120 First Nut Seat

[0035] 1121 Second Nut Seat

[0036] 113 Fifth Motor

[0037] 114 First driving gear

[0038] 115 First driven gear

[0039] 116 Sixth Motor

[0040] 117 Second driving gear

[0041] 118 Second driven gear

[0042] 12 Y-axis moving parts

[0043] 120 Third Lead Screw Assembly

[0044] 1200 Third Motor

[0045] 1201 Third Lead Screw

[0046] 121 Fourth lead screw assembly

[0047] 1210 Fourth Motor

[0048] 1211 Fourth Lead Screw

[0049] 122 Second slide

[0050] 1220 Third Nut Seat

[0051] 1221 Fourth Nut Seat

[0052] 123 Seventh Motor

[0053] 124 Third driving gear

[0054] 125 Third driven gear

[0055] 126 Eighth Motor

[0056] 127 Fourth driving gear

[0057] 128 Fourth driven gear

[0058] 13 First Support

[0059] 14 Second Support

[0060] S1-S6 Methods for eliminating backlash between the first lead screw, the second lead screw, and the first slide table S1-S6 Detailed Implementation

[0061] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0062] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. To enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0063] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0064] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0065] like Figure 1As shown, this embodiment provides a two-dimensional motion platform, including a driver 10, an X-axis motion component 11, and a Y-axis motion component 12. The X-axis motion component 11 includes a first lead screw assembly 110, a second lead screw assembly 111, and a first slide 112. The first lead screw assembly 110 is electrically connected to the driver 10, and the second lead screw assembly 111 is also electrically connected to the driver 10. The second lead screw assembly 111 is parallel to the first lead screw assembly 110. The first slide 112 is connected to the first lead screw assembly 110 and the second lead screw assembly 111 in a helical pair. The driver 10 controls the first lead screw assembly 110 and the second lead screw assembly 111 to drive the first slide 112 to move linearly along the X-axis. During the start-up or zero-speed crossing process of the first lead screw assembly 110 and the second lead screw assembly 111, the driver 10 first controls the first lead screw assembly 110 and the second lead screw assembly 111 to rotate in opposite directions to eliminate the backlash between the first lead screw assembly 110 and the second lead screw assembly 111 and the first slide 112. The Y-axis motion component 12 and the first slide 112 are rotatably connected. The Y-axis motion component 12 and the driver 10 are electrically connected. When the first slide 112 moves linearly along the X-axis, it drives the Y-axis motion component 12 to move linearly along the X-axis.

[0066] like Figure 1 As shown, by setting an X-axis motion component 11 and a Y-axis motion component 12, and the X-axis motion component 11 includes a first lead screw assembly 110 and a second lead screw assembly 111, the two lead screw assemblies 110 and 111 synchronously drive the same first slide 112, which can eliminate the backlash between the first lead screw assembly 110 and the first slide 112, and also eliminate the backlash between the second lead screw assembly 111 and the first slide 112. At the same time, there is no need to set an auxiliary support slide, making the two-dimensional motion platform structure that can eliminate the backlash between the first lead screw assembly 110 and the second lead screw assembly 111 and the first slide 112 simpler.

[0067] like Figure 1 As shown, the X-axis and Y-axis are the X-axis and Y-axis of the Cartesian coordinate system O-XY, respectively. In this embodiment, two-dimensional motion refers to linear motion along the X-axis and linear motion along the Y-axis. The driver 10 is preferably a servo motor FOC (Field Oriented Control) vector closed-loop controller, employing an industrial-grade high-precision 21-bit magnetic encoder and a precision current sensor, supporting pulse control, serial / RS232 / RS485 / CAN communication control, and hybrid control modes. The driver 10 can also be a stepper motor driver.

[0068] like Figure 1As shown, the X-axis motion component 11 is a component that provides movement in the X-axis direction. Please refer to the following description of the embodiment for the specific configuration of the first lead screw assembly 110. The first lead screw assembly 110 is electrically connected to the driver 10 via wires. Please refer to the following description of the embodiment for the specific configuration of the second lead screw assembly 111. The second lead screw assembly 111 is electrically connected to the driver 10 via wires.

[0069] like Figure 1 As shown, optionally, the central axis of the second lead screw assembly 111 is parallel to the central axis of the first lead screw assembly 110 and parallel to the X-axis. The X-axis is parallel to the horizontal direction. The first slide 112 is cuboid in shape and is made of steel. The upper side of the first slide 112 and the first lead screw assembly 110 are connected by a screw pair. The lower side of the first slide 112 and the second lead screw assembly 111 are connected by a screw pair.

[0070] like Figure 1 As shown, optionally, the Y-axis motion component 12 is a component that provides movement in the Y-axis direction. The Y-axis motion component 12 is rotatably connected to the first slide 112 via a bearing. For example, a deep groove ball bearing is provided on the first slide 112, and the Y-axis motion component 12 passes through and is interference-fitted with the deep groove ball bearing. The Y-axis motion component 12 is electrically connected to the driver 10 via a wire.

[0071] like Figure 2 As shown, optionally, the first lead screw assembly 110 includes a first motor 1100 and a first lead screw 1101. The first motor 1100 is electrically connected to the driver 10, and the first lead screw 1101 is connected to the first motor 1100. The first slide 112 and the first lead screw 1101 are connected in the form of a screw pair. With this configuration, the backlash between the first lead screw 1101 and the first slide 112 can be eliminated by the first motor 1100 itself, without the need for other sensors or backlash elimination parts (such as shims, the same below) to eliminate the backlash, further simplifying the structure of the two-dimensional motion platform.

[0072] like Figure 2 As shown, the first motor 1100 and the driver 10 are electrically connected via wires. The first motor 1100 is either a stepper motor or a servo motor. The first lead screw 1101 is made of steel. The left end of the first lead screw 1101 is connected to the shaft of the first motor 1100 via a coupling. The right end of the first lead screw 1101 is connected to the first support base 13 via a bearing. The first motor 1100 drives the first lead screw 1101 to rotate, and when the first lead screw 1101 rotates, it drives the first slide table 112 to perform linear motion.

[0073] like Figure 2As shown, the first slide 112 can move horizontally to the left or right in a straight line. The upper side of the first slide 112 and the first lead screw 1101 are connected in a helical pair. Ball bearings fill the space between the first lead screw 1101 and the first slide 112. The backlash between the first lead screw assembly 110 and the first slide 112 is the backlash between the first lead screw 1101 and the first slide 112. The backlash between the first lead screw 1101 and the first slide 112 refers to the axial displacement corresponding to the free rotation of the first lead screw 1101 when its rotation direction is reversed, after the first lead screw 1101 has rotated a certain angle but the first slide 112 has not yet moved.

[0074] like Figure 3 As shown, optionally, the X-axis motion component 11 also includes a fifth motor 113, a first driving gear 114, a first driven gear 115, a sixth motor 116, a second driving gear 117, and a second driven gear 118. The fifth motor 113 is electrically connected to the driver 10. The first driving gear 114 is connected to the fifth motor 113. The first driven gear 115 meshes with the first driving gear 114 and is connected to the first lead screw 1101. The sixth motor 116 is electrically connected to the driver 10. The second driving gear 117 is connected to the sixth motor 116. The second driven gear 118 meshes with the second driving gear 117. The second driven gear 118 is connected to the first lead screw 1101. During the start-up or zero-speed crossing process of the first lead screw 1101, the driver 10 first controls the first driving gear 114 and the second driving gear 117 to rotate in opposite directions to eliminate the gap between the first driving gear 114 and the first driven gear 115, and to eliminate the gap between the second driving gear 117 and the second driven gear 118.

[0075] like Figure 3 As shown, using a single driver 10 to simultaneously drive the first lead screw assembly 110, the second lead screw assembly 111, the fifth motor 113, and the sixth motor 116 further simplifies the structure of the two-dimensional motion platform. Using two motors, the fifth motor 113 and the sixth motor 116, to drive the first lead screw 1101 doubles the driving torque generated by the first lead screw 1101. Simultaneously, the absence of backlash between the driving and driven gears further improves the overall transmission accuracy of the two-dimensional motion platform.

[0076] like Figure 3As shown, the fifth motor 113 is either a stepper motor or a servo motor. The fifth motor 113 is electrically connected to the driver 10 via wires. The first driving gear 114 is made of steel and can be an involute gear. The shaft of the first driving gear 114 is connected to the shaft of the fifth motor 113 via a coupling. The first driven gear 115 is also made of steel and can be an involute gear. The first driven gear 115 is connected to the left end of the first lead screw 1101 via a key connection.

[0077] like Figure 3 As shown, the sixth motor 116 is either a stepper motor or a servo motor. The second driving gear 117 is made of steel and can be an involute gear. The shaft of the second driving gear 117 is connected to the shaft of the sixth motor 116 via a coupling. The second driven gear 118 is also made of steel and can be an involute gear. The second driven gear 118 is connected to the right end of the first lead screw 1101 via a key connection. A first support base 13 can be provided on the left side of the first driven gear 115 and the right side of the second driven gear 118, respectively. The left and right ends of the first lead screw 1101 are connected to a first support base 13 via bearings, respectively.

[0078] like Figure 2 As shown, optionally, the second lead screw assembly 111 includes a second motor 1110 and a second lead screw 1111. The second motor 1110 is electrically connected to the driver 10, and the second lead screw 1111 is connected to the second motor 1110. The first slide 112 and the second lead screw 1111 are connected in the form of a screw pair. With this configuration, the backlash between the second lead screw 1111 and the first slide 112 can be eliminated by the second motor 1110 itself, without the need for other sensors or backlash elimination parts, further simplifying the structure of the two-dimensional motion platform.

[0079] like Figure 2 As shown, the second motor 1110 and the driver 10 are electrically connected via wires. The second motor 1110 is a stepper motor or a servo motor. The windings of the second motor 1110 and the first motor 1100 are connected in series or in parallel. The second lead screw 1111 is made of steel. The left end of the second lead screw 1111 is connected to the shaft of the second motor 1110 via a coupling. The right end of the second lead screw 1111 is connected to the first support seat 13 via a bearing. The second motor 1110 drives the second lead screw 1111 to rotate. Ball bearings fill the space between the second lead screw 1111 and the first slide 112. The lower side of the first slide 112 and the second lead screw 1111 are connected in a helical pair. The central axis of the second lead screw 1111 is parallel to the central axis of the first lead screw 1101.

[0080] like Figure 2As shown, the backlash between the second lead screw assembly 111 and the first slide 112 is the backlash between the second lead screw 1111 and the first slide 112. The backlash between the second lead screw 1111 and the first slide 112 refers to the axial displacement corresponding to the idle rotation of the second lead screw 1111 when its rotation direction is reversed, after the second lead screw 1111 has rotated a certain angle, but the first slide 112 has not yet moved. Zero speed crossing refers to the moment when the speed of the lead screw or motor changes from a positive value to a negative value (or from a negative value to a positive value) during operation, i.e., the instant the speed passes through zero.

[0081] like Figure 4 As shown, the engagement positions of the first lead screw 1101 and the second lead screw 1111 with the first slide 112 can be adjusted to generate an electronic preload. This method essentially adjusts the relative positions of the first motor 1100 and the second motor 1110 to create a small phase difference in their back electromotive force, so that when driven, it can generate an electronic preload. Figure 4 The torque offset and torque balance relationship are shown in (b) of the diagram.

[0082] like Figure 4 As shown, when the first motor 1100 and the second motor 1110 drive the corresponding lead screw with torque T, as... Figure 4 As shown in (b) in the figure, Figure 4 In the middle, △T represents the torque deviation. Figure 4 (c) in the figure represents the state in which there is backlash between each lead screw and the first slide 112 when each lead screw rotates counterclockwise.

[0083] When the driving torque of the first motor 1100 and the second motor 1110 decreases to T=0, the following occurs: Figure 4 In case (d): the torque of the first lead screw 1101 is +△TN·m (Newton-meters), and the torque of the second lead screw 1111 is -△TN·m. At this time, the first lead screw 1101 remains stationary, but the second lead screw 1111 reverses with a torque of -△TN·m to automatically eliminate backlash. During periods of zero rotational speed or torque direction change, the torque offset between the first motor 1100 and the second motor 1110 generates a mutually "tightening" torque, causing each lead screw to engage tightly with the first slide 112, thus suppressing backlash and vibration.

[0084] like Figure 2As shown, optionally, the first slide 112 includes a first nut seat 1120 and a second nut seat 1121. The first nut seat 1120 and the first lead screw 1101 are connected by a screw pair, and the second nut seat 1121 and the second lead screw 1111 are connected by a screw pair. The first nut seat 1120 and the second nut seat 1121 are detachably connected. This configuration allows for easy disassembly and connection of the first nut seat 1120 and the second nut seat 1121 to eliminate backlash between the first slide 112 and the first lead screw 1101 and the second lead screw 1111. The first nut seat 1120 and the second nut seat 1121 are detachably connected by bolts.

[0085] like Figure 2 As shown, the methods for eliminating the backlash between the first lead screw 1101 and the first slide 112, and for eliminating the backlash between the second lead screw 1111 and the first slide 112, include the following steps:

[0086] S1: Loosen the connection between the first nut seat 1120 and the second nut seat 1121; loosening the connection between the first nut seat 1120 and the second nut seat 1121 means keeping the first nut seat 1120 and the second nut seat 1121 connected but allowing relative movement. For example, loosening means loosening the bolt connecting the first nut seat 1120 and the second nut seat 1121 while keeping the nut of the bolt threaded.

[0087] S2: Control the first motor 1100 to drive the first nut seat 1120 to move, and control the second motor 1110 to drive the second nut seat 1121 to move, so that the first nut seat 1120 and the second nut seat 1121 move synchronously; the first motor 1100 drives the first lead screw 1101 to move, and the first lead screw 1101 drives the first nut seat 1120 to move, thereby realizing the first motor 1100 driving the first nut seat 1121 to move. The second motor 1110 drives the second lead screw 1111 to move, and the second lead screw 1111 drives the second nut seat 1121 to move, thereby realizing the second motor 1110 driving the second nut seat 1121 to move.

[0088] S3: Stop driving the first nut seat 1120 and the second nut seat 1121, apply a load to one of the nut seats, and leave the other nut seat unloaded;

[0089] S4: Start the driver 10 to make the first motor 1100 and the second motor 1110 rotate synchronously and in opposite directions, and make the first nut seat 1120 and the second nut seat 1121 move separately and synchronously.

[0090] S5: Stop the drive and lock the connection between the first nut seat 1120 and the second nut seat 1121. Locking the connection between the first nut seat 1120 and the second nut seat 1121 prevents relative movement between them. For example, locking means tightening the bolts connecting the first nut seat 1120 and the second nut seat 1121.

[0091] S6: Apply different loads to one of the nut holders and leave the other nut holder unloaded, then repeat steps S1 to S5.

[0092] like Figure 1 As shown, optionally, the Y-axis moving component 12 includes a third lead screw assembly 120, a fourth lead screw assembly 121, and a second slide 122. The third lead screw assembly 120 is electrically connected to the driver 10, and the fourth lead screw assembly 121 is electrically connected to the driver 10. The third lead screw assembly 120 is parallel to the fourth lead screw assembly 121. The second slide 122 is connected to the third lead screw assembly 120 and the fourth lead screw assembly 121 in the form of a screw pair. The first slide 112 is rotatably connected to the third lead screw assembly 120 and the fourth lead screw assembly 121. The driver 10 is used to control the third lead screw assembly 120 and the fourth lead screw assembly 121 to drive the second slide 122 to move linearly along the Y-axis. During the start-up or zero-speed crossing process of the third lead screw assembly 120 and the fourth lead screw assembly 121, the driver 10 first controls the direction of the third lead screw assembly 120 and the fourth lead screw assembly 121 to be opposite to eliminate the backlash between the third lead screw assembly 120 and the fourth lead screw assembly 121 and the second slide 122.

[0093] like Figure 1 As shown, the third lead screw assembly 120 and the fourth lead screw assembly 121 synchronously drive the same second slide 122, which can eliminate the backlash between the third lead screw assembly 120 and the second slide 122, as well as the backlash between the fourth lead screw assembly 121 and the second slide 122. At the same time, there is no need to set up auxiliary support slide rods, which further simplifies the two-dimensional motion platform structure that can eliminate the backlash between the third lead screw assembly 120 and the fourth lead screw assembly 121 and the second slide 122.

[0094] like Figure 1 As shown, the specific configuration of the third lead screw assembly 120 will be described later in the embodiment. The third lead screw assembly 120 is electrically connected to the driver 10 via wires. The third lead screw assembly 120 is rotatably connected to the first slide 112 via a plurality of spaced-apart deep groove ball bearings.

[0095] like Figure 1As shown, the specific configuration of the fourth lead screw assembly 121 will be described later in the embodiment. The fourth lead screw assembly 121 is rotatably connected to the first slide 112 via a plurality of spaced-apart deep groove ball bearings. The fourth lead screw assembly 121 is electrically connected to the driver 10 via wires. Each deep groove ball bearing is welded to the top surface of the first slide 112. The central axis of the third lead screw assembly 120 is parallel to the central axis of the fourth lead screw assembly 121 and parallel to the Y-axis.

[0096] like Figure 1 As shown, the second slide 122 is rectangular in shape and made of steel. The left side of the second slide 122 is connected to the third lead screw assembly 120 via a screw joint. The right side of the second slide 122 is connected to the fourth lead screw assembly 121 via a screw joint. The second slide 122 can move vertically upwards or downwards in a straight line. When the second slide 122 reaches its lowest point, it abuts against the upper side of the first slide 112.

[0097] like Figure 5 As shown, optionally, the third lead screw assembly 120 includes a third motor 1200 and a third lead screw 1201. The third motor 1200 is electrically connected to the driver 10, and the third lead screw 1201 is connected to the third motor 1200. The second slide 122 and the third lead screw 1201 are connected in the form of a screw pair. With this configuration, the backlash between the third lead screw 1201 and the second slide 122 can be eliminated by the third motor 1200 itself, without the need for other sensors or backlash elimination components, further simplifying the structure of the two-dimensional motion platform.

[0098] like Figure 5 As shown, the third motor 1200 and the driver 10 are electrically connected via wires. The third motor 1200 is either a stepper motor or a servo motor. The third lead screw 1201 is made of steel. The lower end of the third lead screw 1201 is connected to the shaft of the third motor 1200 via a coupling. The upper end of the third lead screw 1201 is connected via a bearing and a second support 14. The third lead screw 1201 passes through a deep groove ball bearing on the top surface of the first slide 112 and is interference-fitted with the deep groove ball bearing. The third motor 1200 drives the third lead screw 1201 to rotate. Ball bearings fill the space between the third lead screw 1201 and the second slide 122. The left side of the second slide 122 and the third lead screw 1201 are connected in a helical pair configuration.

[0099] like Figure 5As shown, the backlash between the third lead screw assembly 120 and the second slide 122 is the backlash between the third lead screw 1201 and the second slide 122. The backlash between the third lead screw 1201 and the second slide 122 refers to the axial displacement corresponding to the free rotation of the third lead screw 1201 when its rotation direction is reversed, after the third lead screw 1201 has rotated a certain angle but the second slide 122 has not yet moved.

[0100] like Figure 6 As shown, optionally, the Y-axis moving component 12 also includes a seventh motor 123, a third driving gear 124, a third driven gear 125, an eighth motor 126, a fourth driving gear 127, and a fourth driven gear 128. The seventh motor 123 is electrically connected to the driver 10. The third driving gear 124 is connected to the seventh motor 123. The third driven gear 125 meshes with the third driving gear 124, and the third driven gear 125 is connected to the third lead screw 1201. The eighth motor 126 is electrically connected to the driver 10. The fourth driving gear 127 is connected to the eighth motor 126. The fourth driven gear 128 meshes with the fourth driving gear 127. The fourth driven gear 128 is connected to the third lead screw 1201. During the start-up or zero-speed crossing process of the third lead screw 1201, the driver 10 first controls the third driving gear 124 and the fourth driving gear 127 to rotate in opposite directions to eliminate the gap between the third driving gear 124 and the third driven gear 125, and to eliminate the gap between the fourth driving gear 127 and the fourth driven gear 128.

[0101] like Figure 6 As shown, using a single driver 10 to simultaneously drive the first lead screw assembly 110, the second lead screw assembly 111, the seventh motor 123, and the eighth motor 126 further simplifies the structure of the two-dimensional motion platform. Using two motors, the seventh motor 123 and the eighth motor 126, to drive the third lead screw 1201 doubles the driving torque generated by the third lead screw 1201. Simultaneously, there is no backlash between the driving gears and driven gears, further improving the overall transmission accuracy of the two-dimensional motion platform.

[0102] like Figure 6 As shown, the seventh motor 123 is either a stepper motor or a servo motor. The seventh motor 123 is electrically connected to the driver 10 via wires. The third driving gear 124 is made of steel and can be an involute gear. The shaft of the third driving gear 124 and the shaft of the seventh motor 123 are connected via a coupling. The third driven gear 125 is also made of steel and can be an involute gear. The third driven gear 125 is connected to the top of the third lead screw 1201 via a key connection.

[0103] like Figure 6As shown, the eighth motor 126 is either a stepper motor or a servo motor. The eighth motor 126 is electrically connected to the driver 10 via wires. The fourth driving gear 127 is made of steel and can be an involute gear. The shaft of the fourth driving gear 127 and the shaft of the eighth motor 126 are connected via a coupling. The fourth driven gear 128 is made of steel and can be an involute gear. The fourth driven gear 128 is connected to the bottom end of the third lead screw 1201 via a key connection. A second support base 14 is provided on the upper side of the third driven gear 125 and the lower side of the fourth driven gear 128. The top and bottom ends of the third lead screw 1201 are connected via a bearing and a second support base 14, respectively.

[0104] like Figure 5 As shown, optionally, the fourth lead screw assembly 121 includes a fourth motor 1210 and a fourth lead screw 1211. The fourth motor 1210 is electrically connected to the driver 10, and the fourth lead screw 1211 is connected to the fourth motor 1210. The second slide 122 and the fourth lead screw 1211 are connected in the form of a screw pair. With this configuration, the backlash between the fourth lead screw 1211 and the second slide 122 can be eliminated by the fourth motor 1210 itself, without the need for other sensors or backlash elimination parts, further simplifying the structure of the two-dimensional motion platform.

[0105] like Figure 5 As shown, the fourth motor 1210 and the driver 10 are electrically connected via wires. The fourth motor 1210 is a stepper motor or a servo motor. The windings of the fourth motor 1210 and the third motor 1200 are connected in series or in parallel. The fourth lead screw 1211 is made of steel. The lower end of the fourth lead screw 1211 is connected to the shaft of the fourth motor 1210 via a coupling. The upper end of the fourth lead screw 1211 is connected via a bearing and a second support 14.

[0106] like Figure 5 As shown, the fourth lead screw 1211 passes through a deep groove ball bearing on the top surface of the first slide 112 and is interference-fitted with the deep groove ball bearing. A fourth motor 1210 drives the fourth lead screw 1211 to rotate. Ball bearings fill the space between the fourth lead screw 1211 and the second slide 122. The right side of the second slide 122 and the fourth lead screw 1211 are connected by a helical pair. The central axis of the fourth lead screw 1211 is parallel to the central axis of the third lead screw 1201.

[0107] like Figure 5As shown, the backlash between the fourth lead screw assembly 121 and the second slide 122 is the backlash between the fourth lead screw 1211 and the second slide 122. The backlash between the fourth lead screw 1211 and the second slide 122 refers to the axial displacement corresponding to the free rotation of the fourth lead screw 1211 when its rotation direction is reversed, after the fourth lead screw 1211 has rotated a certain angle, but the second slide 122 has not yet moved.

[0108] like Figure 5 As shown, optionally, the second slide 122 includes a third nut seat 1220 and a fourth nut seat 1221. The third nut seat 1220 and the third lead screw 1201 are connected by a screw pair, and the fourth nut seat 1221 and the fourth lead screw 1211 are connected by a screw pair. The third nut seat 1220 and the fourth nut seat 1221 are detachably connected. This arrangement allows for easy disassembly and connection of the third nut seat 1220 and the fourth nut seat 1221 to eliminate backlash between the second slide 122 and the third lead screw 1201 and the fourth lead screw 1211. The third nut seat 1220 and the fourth nut seat 1221 are detachably connected by bolts.

[0109] like Figure 5 As shown, the methods for eliminating the backlash between the third lead screw 1201 and the second slide 122, and for eliminating the backlash between the fourth lead screw 1211 and the second slide 122, are the same as the methods for eliminating the backlash between the first lead screw 1101 and the first slide 112, and for eliminating the backlash between the second lead screw 1111 and the first slide 112, and will not be described again here.

[0110] like Figure 1 As shown, when the two-dimensional motion platform needs to perform linear motion in the X-axis direction, the first slide 112 drives the Y-axis motion component 12 to perform linear motion along the X-axis direction, thereby allowing the second slide 122 to perform linear motion along the X-axis direction. When the two-dimensional motion platform needs to perform linear motion in the Y-axis direction, the third lead screw assembly 120 and the fourth lead screw assembly 121 drive the second slide 122 to perform linear motion along the Y-axis. The object being driven can be placed on the second slide 122.

[0111] The two-dimensional motion platform provided in the embodiments of this application has been described in detail above. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be construed as a limitation of this application. All equivalent modifications or changes made in accordance with the spirit and technical concept of this application should still be covered by the claims of this application.

Claims

1. A two-dimensional motion platform, characterized in that, include: drive; An X-axis motion component includes a first lead screw assembly, a second lead screw assembly, and a first slide. The first lead screw assembly is electrically connected to the driver, and the second lead screw assembly is also electrically connected to the driver. The second lead screw assembly is parallel to the first lead screw assembly. The first slide is connected to the first and second lead screw assemblies in a helical pair configuration. The driver controls the first and second lead screw assemblies to drive the first slide to move linearly along the X-axis. During the start-up or zero-speed crossing process of the first and second lead screw assemblies, the driver first controls the first and second lead screw assemblies to rotate in opposite directions to eliminate backlash between the first and second lead screw assemblies and the first slide. as well as The Y-axis moving component is rotatably connected to the first slide. The Y-axis moving component is electrically connected to the driver. When the first slide moves linearly along the X-axis, it drives the Y-axis moving component to move linearly along the X-axis.

2. The two-dimensional motion platform according to claim 1, characterized in that, The first lead screw assembly includes a first motor and a first lead screw. The first motor and the driver are electrically connected. The first lead screw and the first motor are connected. The first slide and the first lead screw are connected in the form of a screw pair.

3. The two-dimensional motion platform according to claim 2, characterized in that, The X-axis moving component also includes: The fifth motor is electrically connected to the driver; The first driving gear is connected to the fifth motor; The first driven gear meshes with the first driving gear, and the first driven gear is connected to the first lead screw; The sixth motor is electrically connected to the driver; The second drive gear is connected to the sixth motor; and The second driven gear meshes with the second driving gear. The second driven gear is connected to the first lead screw. During the start-up or zero-speed crossing process of the first lead screw, the driver first controls the first driving gear and the second driving gear to rotate in opposite directions to eliminate the gap between the first driving gear and the first driven gear, and to eliminate the gap between the second driving gear and the second driven gear.

4. The two-dimensional motion platform according to claim 2, characterized in that, The second lead screw assembly includes a second motor and a second lead screw, the second motor and the driver are electrically connected, the second lead screw and the second motor are connected, and the first slide and the second lead screw are connected in the form of a screw pair.

5. The two-dimensional motion platform according to claim 4, characterized in that, The first slide includes a first nut seat and a second nut seat. The first nut seat and the first lead screw are connected in the form of a screw pair, and the second nut seat and the second lead screw are connected in the form of a screw pair. The first nut seat and the second nut seat are detachably connected.

6. The two-dimensional motion platform according to claim 1, characterized in that, The Y-axis moving component includes a third lead screw assembly, a fourth lead screw assembly, and a second slide. The third lead screw assembly is electrically connected to the driver, and the fourth lead screw assembly is also electrically connected to the driver. The third lead screw assembly is parallel to the fourth lead screw assembly. The second slide is connected to the third and fourth lead screw assemblies in a helical pair configuration. The first slide is rotatably connected to the third and fourth lead screw assemblies. The driver controls the third and fourth lead screw assemblies to drive the second slide to move linearly along the Y-axis. During the start-up or zero-speed crossing process of the third and fourth lead screw assemblies, the driver first controls the third and fourth lead screw assemblies to rotate in opposite directions to eliminate backlash between the third and fourth lead screw assemblies and the second slide.

7. The two-dimensional motion platform according to claim 6, characterized in that, The third lead screw assembly includes a third motor and a third lead screw. The third motor and the driver are electrically connected. The third lead screw and the third motor are connected. The second slide and the third lead screw are connected in the form of a screw pair.

8. The two-dimensional motion platform according to claim 7, characterized in that, The Y-axis moving component also includes: The seventh motor is electrically connected to the driver; The third drive gear is connected to the seventh motor; The third driven gear meshes with the third driving gear, and the third driven gear is connected to the third lead screw; The eighth motor is electrically connected to the driver; The fourth drive gear, which is connected to the eighth motor; and The fourth driven gear meshes with the fourth driving gear. The fourth driven gear is connected to the third lead screw. During the start-up or zero-speed crossing process of the third lead screw, the driver first controls the third driving gear and the fourth driving gear to rotate in opposite directions to eliminate the gap between the third driving gear and the third driven gear, and to eliminate the gap between the fourth driving gear and the fourth driven gear.

9. The two-dimensional motion platform according to claim 7, characterized in that, The fourth lead screw assembly includes a fourth motor and a fourth lead screw. The fourth motor and the driver are electrically connected, and the fourth lead screw is connected to the fourth motor. The second slide and the fourth lead screw are connected in the form of a screw pair.

10. The two-dimensional motion platform according to claim 9, characterized in that, The second slide includes a third nut seat and a fourth nut seat. The third nut seat and the third lead screw are connected in the form of a screw pair, and the fourth nut seat and the fourth lead screw are connected in the form of a screw pair. The third nut seat and the fourth nut seat are detachably connected.

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