Four-degree-of-freedom motion platform

Abstract

The utility model discloses a four-degree-of-freedom motion platform, and relates to the technical field of iron and steel smelting. The four-degree-of-freedom motion platform comprises a base, a first motion mechanism, a second motion mechanism and a third motion mechanism. The first movement mechanism is mounted on the base and comprises a first movement table and a first driving part, and the first driving part is used for driving the first movement table to move relative to the base in the first direction in the horizontal direction; the second movement mechanism is mounted on the first movement table and comprises a second movement table and a second driving part, and the second driving part is used for driving the second movement table to move relative to the first movement table in the second direction in the horizontal direction; the third movement mechanism is installed on the second movement table and comprises a third movement table and a third driving part, the third driving part is used for driving the third movement table to move in the vertical direction relative to the second movement table, and the oil injection gun is installed on the third movement table and can rotate in the vertical direction relative to the third movement table; wherein the first direction is perpendicular to the second direction.

Description

Technical Field

[0001] The present application relates to the technical field of steel smelting, and in particular to a four-degree-of-freedom motion platform. Background Art

[0002] Metallurgical trolleys generally refer to the main equipment used for pre-processing steel raw materials in the metallurgical industry, such as sintering machines or ring coolers. Such equipment runs on a linear roller or a large-diameter ring roller, and has the characteristics of heavy load, high temperature and long operation cycle. Due to the poor working conditions of the metallurgical trolley, the wear of the roller bearings of the metallurgical trolley will be accelerated, which may cause equipment operation obstruction and even affect safe production in severe cases.

[0003] In the solution provided by the prior art, a mechanical arm can be used to add lubricating grease to the roller bearing of the metallurgical trolley. However, the structure of the mechanical arm is complex, the cost is high, and there is also a problem of low positioning stability during repeated oiling. Utility Model Content

[0004] In view of this, an embodiment of the present application provides a four-degree-of-freedom motion platform.

[0005] The embodiment of the present application provides a four-degree-of-freedom motion platform, which includes a base, a first motion mechanism, a second motion mechanism, and a third motion mechanism. The first motion mechanism is installed on the base, including a first motion platform and a first driving member, and the first driving member is used to drive the first motion platform to move in a first direction in the horizontal direction relative to the base; the second motion mechanism is installed on the first motion platform, including a second motion platform and a second driving member, and the second driving member is used to drive the second motion platform to move in a second direction in the horizontal direction relative to the first motion platform; the third motion mechanism is installed on the second motion platform, including a third motion platform and a third driving member, and the third driving member is used to drive the third motion platform to move in a vertical direction relative to the second motion platform, and the third motion platform is used to install a grease gun, and the grease gun can rotate around the vertical direction relative to the third motion platform; wherein the first direction and the second direction are perpendicular to each other.

[0006] In a possible implementation of the present application, the base is provided with a first rack extending along a first direction, the first driving member is fixedly connected to the first moving platform, the output end of the first driving member is provided with a first gear, and the first gear is meshedly connected to the first rack.

[0007] In a possible implementation of the present application, a receiving portion opening upward in a vertical direction is provided on the upper portion of the base, the first moving platform is arranged above the opening of the receiving portion, and the first driving member is fixedly connected to the lower surface of the first moving platform and is located in the receiving portion.

[0008] In a possible implementation of the present application, a first blocking component is arranged between the first moving platform and the base, and the first blocking component is used to limit the movement of the first moving platform along the first direction; a second blocking component is arranged between the second moving platform and the first moving platform, and the second blocking component is used to limit the movement of the second moving platform along the second direction.

[0009] In a possible implementation of the present application, the first moving platform is provided with a second rack extending along the second direction, the second driving member is fixedly connected to the second moving platform, the output end of the second driving member is provided with a second gear, and the second gear is meshedly connected to the second rack.

[0010] In a possible implementation of the present application, the third moving platform includes a table top, a support base and a connecting assembly, the table top is installed above the support base through the connecting assembly, and the support base is fixedly connected to the upper surface of the second moving platform; the third driving member is fixedly connected to the upper surface of the second moving platform and is transmission-connected to the connecting assembly, and the third driving member drives the connecting assembly to move, so as to drive the table top to move in a vertical direction.

[0011] In a possible implementation of the present application, the connecting assembly includes a first connecting plate, a second connecting plate and a transmission screw; the transmission screw is installed on the support seat and can rotate relative to the support seat; the middle position of the first connecting plate and the middle position of the second connecting plate are hinged together, the first end of the first connecting plate is hinged with a driving block, the driving block is threadedly connected to the transmission screw, and the second end of the first connecting plate is hinged to the table; the first end of the second connecting plate is hinged to the support seat, and the second end of the second connecting plate is slidably connected to the table; the output shaft of the third driving member and the transmission screw are connected together by a coupling, and the third driving member is used to drive the first end of the first connecting plate and the first end of the second connecting plate to move closer to or away from each other to drive the table to move in a vertical direction.

[0012] In a possible implementation of the present application, the second driving member and the third driving member are both arranged on the upper surface of the second moving platform, and the projections of the second driving member and the third driving member along the second direction at least partially overlap.

[0013] In a possible implementation of the present application, a first limiting assembly is arranged between the base and the first moving platform; the first limiting assembly includes a first limiting guide rail and a first limiting wheel, and the first limiting guide rail extends along the first direction; the number of the first limiting guide rails is two, and the two first limiting guide rails are arranged on the base in an interval arrangement along the second direction, and the first limiting wheel is arranged on the first moving platform; the number of the first limiting wheels is multiple, and the radial outer edges of some of the first limiting wheels are clamped to one of the first limiting guide rails, and the radial outer edges of other parts of the first limiting wheels are clamped to another first limiting guide rail.

[0014] In a possible implementation of the present application, a second limiting assembly is arranged between the first moving platform and the second moving platform; the second limiting assembly includes a second limiting guide rail and a second limiting wheel, and the second limiting guide rail extends along the second direction; the number of the second limiting guide rails is two, and the two second limiting guide rails are arranged on the base at intervals along the first direction, and the second limiting wheel is arranged on the second moving platform; the number of the second limiting wheels is multiple, and the radial outer edges of some of the second limiting wheels are clamped to one of the second limiting guide rails, and the radial outer edges of other parts of the second limiting wheels are clamped to another second limiting guide rail.

[0015] Through the above arrangement, in the four-degree-of-freedom motion platform provided in the embodiment of the present application, the movement of the first motion platform relative to the base along the first direction, the movement of the second motion platform relative to the first motion platform along the second direction, the movement of the third motion platform relative to the second motion platform along the vertical direction, and the rotation of the grease gun relative to the third motion platform around the vertical direction can realize the movement of the grease gun in the four degrees of freedom directions (first direction, second direction, third direction and rotation around the vertical direction). In this way, when the roller bearing of the metallurgical trolley is filled with lubricating grease using the grease gun, the grease gun can track the grease injection hole of the roller bearing and move synchronously for a period of time, thereby completing the filling of the grease of the roller bearing. Through the above arrangement, compared with the related art of filling the roller bearing of the metallurgical trolley with lubricating grease using a robot or a mechanical arm, the four-degree-of-freedom motion platform provided in the embodiment of the present application has the advantages of simple structure, good rigidity, high positioning stability and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0018] Figure 1 A schematic diagram of the overall structure of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the overall structure of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0020] Figure 3 A schematic structural diagram of a base of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the arrangement of a first motion mechanism of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the arrangement of a first motion mechanism of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the arrangement of a second motion mechanism and a third motion mechanism of a four-degree-of-freedom motion platform provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of the arrangement of a second motion mechanism and a third motion mechanism of a four-degree-of-freedom motion platform provided in an embodiment of the present application.

[0025] Reference numerals:

[0026] 1. Base; 11. First rack; 12. Accommodating portion; 2. First motion mechanism; 21. First motion platform; 211. Second rack; 22. First driving member; 3. Second motion mechanism; 31. Second motion platform; 32. Second driving member; 321. Second gear; 4. Third motion mechanism; 41. Third motion platform; 411. Table; 412. Support seat; 413. Connecting assembly; 4131. First connecting plate; 4132. Second connecting plate; 4133. Transmission screw; 4134. Driving block; 4135. Coupling; 42. Third driving member; 5. First blocking assembly; 51. Protruding block; 6. First limiting assembly; 61. First limiting guide rail; 62. First limiting wheel; 7. Second limiting assembly; 71. Second limiting guide rail; 72. Second limiting wheel; 01. Grease gun. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the application embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of this application; it is obvious that the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0028] The metallurgical trolley runs along a straight roller or a large diameter circular roller, and because the metallurgical trolley has the characteristics of a long operating cycle, during the operation of the metallurgical trolley, it is necessary to add lubricating grease to the roller bearings of the metallurgical trolley. Manual filling can be used to add lubricating grease to the roller bearings of the metallurgical trolley, but this filling method is difficult and has a greater risk because slag may fall from the top of the metallurgical trolley. At the same time, the manual filling method is affected by subjective factors, and it is difficult to control the amount of lubricating grease added, which may cause waste of lubricating grease or poor lubrication of the roller bearings.

[0029] In addition, there is also a method of using a robot or a mechanical arm to add grease to the roller bearing of the metallurgical trolley. Due to the complex structure and high cost of the robot or the mechanical arm, the cost of this method of adding grease is also high.

[0030] In view of this, the embodiment of the present application provides a four-degree-of-freedom motion platform, which can be used to install a grease gun for filling lubricating grease into the roller bearings of the metallurgical trolley. Figure 1 The four-degree-of-freedom motion platform includes a base 1, a first motion mechanism 2, a second motion mechanism 3 and a third motion mechanism 4. The first motion mechanism 2 is installed on the base 1, including a first motion platform 21 and a first driving member 22, and the first driving member 22 is used to drive the first motion platform 21 to move in a first direction in the horizontal direction relative to the base 1. The second motion mechanism 3 is installed on the first motion platform 21, including a second motion platform 31 and a second driving member 32, and the second driving member 32 is used to drive the second motion platform 31 to move in a second direction in the horizontal direction relative to the first motion platform 21. The third motion mechanism 4 is installed on the second motion platform 31, including a third motion platform 41 and a third driving member 42, and the third driving member 42 is used to drive the third motion platform 41 to move in a vertical direction relative to the second motion platform 31. The grease gun 01 is installed on the third motion platform 41, and can rotate around the vertical direction relative to the third motion platform 41. Among them, the first direction and the second direction are perpendicular to each other.

[0031] First, it should be noted that in the embodiment of the present application, the first direction can be any direction in the horizontal direction, the second direction is a direction in the horizontal direction perpendicular to the first direction, and the third direction is a vertical direction. Specifically, the first direction, the second direction and the third direction are perpendicular to each other.

[0032] On this basis, in order to facilitate the use of the four-degree-of-freedom motion platform provided in the embodiment of the present application to add lubricating grease to the roller bearings of the metallurgical trolley, one of the first direction or the second direction can be set to the radial direction of the annular roller of the metallurgical trolley or the extension direction of the linear roller.

[0033] On this basis, in the embodiment of the present application, the specific structural form of the base 1 is not limited. The base 1 is used to provide a mounting base for the first motion mechanism 2, the second motion mechanism 3 or the third motion mechanism 4. There are a variety of structural forms that can achieve the above functions. For example, the base 1 can be set as a box structure or a frame structure. For details, refer to Figures 1 to 3 , a rectangular frame-like base 1 can be formed by assembling square steel.

[0034] Furthermore, in the embodiment of the present application, the structural form of the first motion platform 21, the second motion platform 31 or the third motion platform 41 is not limited. For example, the first motion platform 21 can be set as a box structure, a frame structure or a plate structure. Figure 1 The first moving platform 21, the second moving platform 31 or the third moving platform 41 may also be configured as a plate-like structure.

[0035] It should be noted that in the embodiment of the present application, the types of the first driving member 22, the second driving member 32 and the third driving member 42 are not limited. The first driving member 22, the second driving member 32 and the third driving member 42 can respectively drive the first moving platform 21, the second moving platform 31 and the third moving platform 41 to move under the action of the power source. The above-mentioned power source can be electricity, compressed air or hydraulic oil, etc., and the corresponding first driving member 22, the second driving member 32 and the third driving member 42 can be an electric motor, a cylinder or a hydraulic cylinder, etc.

[0036] Furthermore, the first driving member 22 can be arranged between the base 1 and the first moving platform 21, and the transmission mode between the base 1 and the first moving platform 21 can be adaptively set according to the type of the first driving member 22, so that the first driving member 22 can drive the first moving platform 21 to move along the first direction relative to the base 1.

[0037] Exemplarily, when the first driving member 22 is set as a motor, the first moving platform 21 can be driven to move in the first direction relative to the base 1 by means of gear rack transmission or screw transmission. When the first driving member 22 is set as a cylinder or a hydraulic cylinder, the output shaft of the cylinder or the hydraulic cylinder can be used to directly drive the cylinder. Specifically, the housing of the cylinder or the hydraulic cylinder can be fixedly connected to the base 1, the output shaft of the cylinder or the hydraulic cylinder can be set in the first direction, and the output shaft of the cylinder or the hydraulic cylinder can be fixedly connected to the first moving platform 21. In this way, the cylinder or the hydraulic cylinder can be used to drive the first moving platform 21 to move in the first direction relative to the base 1.

[0038] The second driving member 32 or the third driving member 42 may be configured with reference to the above description about the first driving member 22 .

[0039] On this basis, by installing the grease gun 01 on the third moving platform 41 and by adapting the settings, the grease gun 01 can rotate in the vertical direction relative to the third moving platform 41. It should be noted that the rotation of the grease gun 01 in the vertical direction relative to the third moving platform 41 is also equivalent to the rotation of the grease gun 01 in the horizontal direction.

[0040] Exemplarily, the grease gun 01 may be installed by means of a rotating shaft or a hinged ball on the third moving platform 41 , so that the grease gun 01 can be rotated in the vertical direction relative to the third moving platform 41 .

[0041] In this way, through the movement of the first moving platform 21 relative to the base 1 along the first direction, the movement of the second moving platform 31 relative to the first moving platform 21 along the second direction, the movement of the third moving platform 41 relative to the second moving platform 31 along the vertical direction, and the rotation of the grease gun 01 relative to the third moving platform 41 around the vertical direction, the movement of the grease gun 01 in four degrees of freedom directions (first direction, second direction, third direction and rotation around the vertical direction) can be achieved. In this way, when the roller bearing of the metallurgical trolley is filled with lubricating grease using the grease gun 01, the grease gun 01 can track the grease injection hole of the roller bearing and move synchronously for a period of time, thereby completing the filling of the grease of the roller bearing. Through the above-mentioned settings, compared with the use of robots or mechanical arms in the related art to fill the roller bearing of the metallurgical trolley with lubricating grease, the four-degree-of-freedom motion platform provided in the embodiment of the present application has the advantages of simple structure, good rigidity, high positioning stability and low cost.

[0042] On this basis, refer to Figure 1In some embodiments of the present application, the base 1 is provided with a first rack 11 extending along a first direction, the first driving member 22 is fixedly connected to the first moving platform 21, and the output end of the first driving member 22 is provided with a first gear, which is meshed and connected to the first rack 11.

[0043] It should be noted that, in the embodiment of the present application, a rack extending in the first direction can be provided on the base 1 as the first rack 11. In addition, in the embodiment of the present application, the specific length of the first rack 11 is not limited, and can be determined according to the time for the grease gun 01 to add lubricating grease to the roller bearing of the metallurgical trolley. In the case where the lubricating grease adding time is long, the length of the first rack 11 can be set longer; in the case where the lubricating grease adding time is short, the length of the first rack 11 can be set shorter.

[0044] On this basis, an output wheel meshing with the first rack 11 can be set at the output end of the first driving member 22 to serve as the first gear. In this way, when the first driving member 22 drives the first gear to rotate, the meshing transmission between the first gear and the first rack 11 can be used to drive the first moving platform 21 to move in the first direction relative to the base 1.

[0045] For example, refer to Figure 1 and Figure 2 In the embodiment of the present application, the first driving member 22 can be set as a motor, and the axial direction of the motor is set to be perpendicular to the first direction. In addition, the first driving member 22 can be fixedly connected to the first moving platform 21 by a fastener.

[0046] In addition, the first rack 11 and the base 1 can be set as an independent structure, and then the first rack 11 can be installed on the base 1 by fastener connection or welding connection. In addition, the first rack 11 can also be directly processed on the base 1.

[0047] Through the above arrangement, the transmission mode between the first moving platform 21 and the base 1 is set to a gear rack transmission, which can accurately control the relative movement between the first moving platform 21 and the base 1; and can make the relative movement between the first moving platform 21 and the base 1 stable and reliable.

[0048] On this basis, refer to Figure 1 and Figure 3 In some embodiments of the present application, a accommodating portion 12 opening upward in a vertical direction is provided on the upper portion of the base 1, a first moving platform 21 is provided above the opening of the accommodating portion 12, and a first driving member 22 is fixedly connected to the lower surface of the moving platform and is located in the accommodating portion 12.

[0049] Specifically, in the embodiment of the present application, a hollow structure may be processed on the upper surface of the base 1 toward the inside of the base 1 to form the accommodating portion 12 .

[0050] In addition, refer to Figure 1 For assembling the base 1 using a rod-shaped structure such as square steel, only the square steels around the upper part of the base 1 can be installed on the upper part of the base 1, so that an opening is formed between the square steels around the upper part of the base 1, and a receiving portion 12 is formed inside the base 1. In this way, by setting the width of the first moving platform 21 to be larger than the width of the above-mentioned opening, the first moving platform 21 can be set on the above-mentioned opening.

[0051] Further, see Figure 1 By fixedly connecting the first driving member 22 to the lower surface of the first moving platform 21 and adaptively adjusting the position of the first driving member 22 according to the position of the opening of the accommodating portion 12, the first driving member 22 can be installed in the accommodating portion 12 through the above-mentioned opening.

[0052] On this basis, refer to Figure 1 The first rack 11 can be installed by utilizing the structure of the edge of the opening of the accommodating portion 12, and the first rack 11 is located above the first gear.

[0053] Through the above arrangement, the space inside the base 1 can be utilized to form a receiving portion 12 to install the first driving member 22, which can reduce the volume of the four-degree-of-freedom motion platform provided in the embodiment of the present application along the vertical direction, thereby reducing the volume occupied by the four-degree-of-freedom motion platform along the vertical direction, making it easier to arrange.

[0054] In addition, refer to Figure 2 and Figure 5 In some embodiments of the present application, a first blocking assembly 5 is provided between the first moving platform 21 and the base 1, and the first blocking assembly 5 is used to limit the movement of the first moving platform 21 along the first direction. A second blocking assembly is provided between the second moving platform 31 and the first moving platform 21, and the second blocking assembly is used to limit the movement of the second moving platform 31 along the second direction.

[0055] For example, in the embodiment of the present application, a protrusion 51 can be provided on the side of the first moving platform 21 facing the base 1, and a limit stopper can be provided on the base 1 corresponding to the protrusion 51. In this way, during the movement of the first moving platform 21, the protrusion 51 contacts the limit stopper, and the limit stopper blocks the continued movement of the protrusion 51, thereby blocking the continued movement of the first moving platform 21, thereby limiting the movement of the first moving platform 21 along the first direction.

[0056] Specifically, refer to Figure 1In the embodiment of the present application, a receiving portion 12 opening upward in the vertical direction may be provided on the upper part of the base 1, and the first moving platform 21 may be provided above the opening of the receiving portion 12. For this, a protruding block 51 may be provided on the lower surface of the first moving platform 21, and a limit stopper may be formed by using the structure at both ends of the opening along the first direction. In this way, when the first moving platform 21 moves to one end of the opening along the first direction, the protruding block 51 may contact the corresponding limit stopper, thereby preventing the first moving platform 21 from continuing to move.

[0057] On this basis, refer to Figure 1 and Figure 2 In the embodiment of the present application, the first driving member 22 can also be arranged on the lower surface of the first moving platform 21. For this purpose, the number of the protruding blocks 51 can be set to two, and the two protruding blocks 51 can be respectively arranged on both sides of the first driving member 22 along the first direction. In this way, the protruding blocks 51 can also be used to protect the first driving member 22 to prevent the first driving member 22 from colliding with the base 1. It should be noted that the material of the protruding blocks 51 can also be set to a material with a certain deformation ability, so that the contact between the protruding blocks 51 and the limit block can be formed into a soft contact.

[0058] Similarly, in the embodiment of the present application, the first moving platform 21 and the second moving platform 31 can be stacked in the vertical direction, and a protrusion block 51 is set on the lower surface of the second moving platform 31, and a limit block is set on the upper surface of the first moving platform 21 to form a second blocking assembly.

[0059] Through the above arrangement, in the four-degree-of-freedom motion platform provided in the embodiment of the present application, the first blocking component 5 can be used to limit the movement of the first motion platform 21 along the first direction, so that the movement of the first motion platform 21 is safe and reliable, and the first motion platform 21 is prevented from falling off the base 1. Furthermore, the second blocking component can also be used to limit the movement of the second motion platform 31 along the second direction, so that the movement of the second motion platform 31 is safe and reliable, and the second motion platform 31 is prevented from falling off the first motion platform 21.

[0060] In addition, refer to Figure 1 and Figure 4 In some embodiments of the present application, the first moving platform 21 is provided with a second rack 211 extending along the second direction, the second driving member 32 is fixedly connected to the second moving platform 31, and the output end of the second driving member 32 is provided with a second gear 321, and the second gear 321 is meshedly connected to the second rack 211.

[0061] It should be noted that, in the embodiment of the present application, a rack extending along the second direction may be provided on the first moving platform 21 as the second rack 211. In addition, in the embodiment of the present application, the specific length of the second rack 211 is not limited. Figure 1 , the length of the second rack 211 can be set to be the same as the dimension of the first moving platform 21 along the second direction.

[0062] Furthermore, the second driving member 32 can be fixedly connected to the second moving platform 31, and a gear meshing with the second rack 211 is provided at the output end of the second driving member 32 as the second gear 321. In this way, when the second driving member 32 drives the second gear 321 to rotate, the transmission between the second gear 321 and the second rack 211 can be used to drive the second moving platform 31 to move relative to the first moving platform 21 along the second direction.

[0063] Specifically, refer to Figure 1 In the embodiment of the present application, the second moving platform 31 can be set on one side of the second gear 321, and the second driving member 32 can be set as a motor, the axial direction of the output shaft of the motor is set to be perpendicular to the second direction, and the second gear 321 is set on the output shaft of the motor. By setting the height and relative position of the second gear 321 and the second rack 211, the second gear 321 can be meshed with the second rack 211.

[0064] Through the above arrangement, the transmission mode between the second moving platform 31 and the first moving platform 21 is set to a rack and pinion transmission, which can accurately control the relative movement between the second moving platform 31 and the first moving platform 21; and can make the relative movement between the second moving platform 31 and the first moving platform 21 stable and reliable.

[0065] On this basis, refer to Figure 1 and Figure 7 In some embodiments of the present application, the third motion platform 41 includes a platform 411, a support seat 412 and a connecting assembly 413. The platform 411 is installed above the support seat 412 through the connecting assembly 413. The supporting seat 412 is fixedly connected to the upper surface of the second motion platform 31. The third driving member 42 is fixedly connected to the upper surface of the second motion platform 31 and is transmission-connected to the connecting assembly 413. The third driving member 42 drives the connecting assembly 413 to move, so as to drive the platform 411 to move in the vertical direction.

[0066] For example, refer to Figure 1 and Figure 7The support seat 412 can be set as a "J"-shaped support, and the support seat 412 can be fixedly connected to the upper surface of the second motion platform 31 by fasteners. Further, the table 411 can be set above the support seat 412 in the vertical direction, and there is a gap between the support seat 412, and a connecting component 413 is provided between the support seat 412 and the table 411, and the connecting component 413 can connect the support seat 412 and the table 411 together.

[0067] It should be noted that the connecting component 413 plays a connecting and transmission role between the support base 412 and the table plate 411. In the embodiment of the present application, the specific structural form of the connecting component 413 is not limited. For example, the connecting component 413 can be manufactured based on the principles of gear rack transmission, screw transmission or lever transmission.

[0068] Specifically, the third driving member 42 can be set as a motor, and the axial direction of the output shaft of the motor can be set to a vertical direction. In this case, the transmission mode of the connecting component 413 can be set to a gear rack transmission or a screw transmission. In addition, the axial direction of the output shaft of the motor can also be set to a horizontal direction. In this case, the transmission mode of the connecting component 413 can be set to a lever transmission.

[0069] Through the above-mentioned setting, in the four-degree-of-freedom motion platform provided in the embodiment of the present application, the output of the third driving member 42 can be converted by using the connecting component 413, so as to drive the table plate 411 along the vertical direction, thereby expanding the setting method of the third motion platform 41 and improving the adaptability of the third motion platform 41.

[0070] On this basis, refer to Figure 7 In some embodiments of the present application, the connecting assembly 413 includes a first connecting plate 4131, a second connecting plate 4132 and a transmission screw 4133. The transmission screw 4133 is installed on the support seat 412 and can rotate relative to the support seat 412. The middle position of the first connecting plate 4131 and the middle position of the second connecting plate 4132 are hinged together. The first end of the first connecting plate 4131 is hinged with a driving block 4134, and the driving block 4134 is threadedly connected to the transmission screw 4133. The second end of the first connecting plate 4131 is hinged to the table 411. The first end of the second connecting plate 4132 is hinged to the support seat 412, and the second end of the second connecting plate 4132 is slidably connected to the table 411. The output shaft of the third driving member 42 and the transmission screw 4133 are connected together by a coupling 4135. The third driving member 42 is used to drive the first end of the first connecting plate 4131 and the first end of the second connecting plate 4132 to move closer to or away from each other to drive the table 411 to move in the vertical direction.

[0071] For example, refer to Figure 7In some embodiments of the present application, a mounting hole can be set at the middle position of one of the first connecting plate 4131 or the second connecting plate 4132, the other of the first connecting plate 4131 or the second connecting plate 4132 can be passed through the above-mentioned mounting hole, and a hinge axis can be set at the position of the mounting hole to hinge the first connecting plate 4131 and the second connecting plate 4132 together.

[0072] Further, see Figure 7 , can be at the first end of the first connecting plate 4131 ( Figure 7 A driving block 4134 is hingedly connected to the lower end of the first connecting plate 4131, and the driving block 4134 is configured to slide relative to the supporting seat 412. Figure 7 A sliding frame may be fixed on the upper surface of the support seat 412 , and for the convenience of description, the sliding frame may be referred to as a first sliding frame.

[0073] By limiting the driving block 4134 in the first sliding frame, the driving block 4134 can slide relative to the first sliding frame, thereby making the driving block 4134 slide relative to the support seat 412. Figure 7 , the second end ( Figure 7 The upper end of the first connecting plate 4131 is hinged to the table 411.

[0074] On this basis, the first end ( Figure 7 The lower end of the second connecting plate 4132 is hinged to the support seat 412, a sliding block is set at the second end of the second connecting plate 4132, and a sliding frame is set on the table 411 corresponding to the sliding block. For the convenience of description, the sliding frame can be called a second sliding frame.

[0075] By limiting the sliding block in the second sliding frame, the sliding block can slide relative to the second sliding frame, thereby making the sliding block slide relative to the platform 411 .

[0076] On this basis, refer to Figure 7 , the transmission screw 4133 can be inserted into the first sliding frame, and the transmission screw is threadedly engaged with the driving block 4134. In addition, the axial direction of the output shaft of the third driving member 42 can coincide with the axial direction of the transmission screw 4133. Figure 7 The output shaft of the third driving member 42 and the transmission screw 4133 can be connected by a coupling 4135 so that the transmission screw 4133 keeps rotating synchronously with the output shaft of the third driving member 42.

[0077] So, refer to Figure 7In the embodiment of the present application, when the output shaft of the third driving member 42 rotates to drive the first end of the first connecting plate 4131 and the first end of the second connecting plate 4132 to approach each other, due to the limiting effect of the hinge between the first connecting plate 4131 and the second connecting plate 4132, the second end of the first connecting plate 4131 and the second end of the second connecting plate 4132 will also approach each other, thereby driving the table 411 to rise in the vertical direction. On the contrary, when the output shaft of the third driving member 42 rotates to drive the first end of the first connecting plate 4131 and the first end of the second connecting plate 4132 to move away from each other, due to the limiting effect of the hinge between the first connecting plate 4131 and the second connecting plate 4132, the second end of the first connecting plate 4131 and the second end of the second connecting plate 4132 will also move away from each other, thereby driving the table 411 to lower in the vertical direction.

[0078] Through the above-mentioned arrangement, the first connecting plate 4131 and the second connecting plate 4132 can be used to convert the rotation of the output shaft of the third driving member 42 into the raising and lowering of the table 411 in the vertical direction, so that the third driving member 42 can be conveniently arranged in the horizontal direction. For example, the third driving member 42 can be fixedly connected to the upper surface of the second table 411, so as to facilitate the arrangement of the third driving member 42.

[0079] On this basis, refer to Figure 1 and Figure 7 In some embodiments of the present application, the second driving member 32 and the third driving member 42 are both disposed on the upper surface of the second moving platform 31, and the projections of the second driving member 32 and the third driving member 42 along the second direction at least partially overlap.

[0080] Reference Figure 1 In the embodiment of the present application, the output shafts of the second driving member 32 and the third driving member 42 may be arranged in opposite directions. Figure 1 ,by Figure 1 For example, the output shaft of the second driving member 32 can be set to face the right, and the output shaft of the third driving member 42 can be set to face the left. Figure 1 In the embodiment of the present application, the second driving member 32 and the third driving member 42 may be staggered so that the projections of the second driving member 32 and the third driving member 42 along the second direction at least partially overlap.

[0081] Through the above arrangement, the space occupied by the second driving member 32 and the third driving member 42 along the first direction can be reduced, so that the integration level of the four-degree-of-freedom motion platform in the embodiment of the present application can be higher.

[0082] In addition, refer to Figure 3 and Figure 4In some embodiments of the present application, a first limiting assembly 6 is provided between the base 1 and the first moving platform 21. The first limiting assembly 6 includes a first limiting guide rail 61 and a first limiting wheel 62. The first limiting guide rail 61 extends along the first direction. There are two first limiting guide rails 61, and the two first limiting guide rails 61 are arranged on the base 1 at intervals along the second direction, and the first limiting wheel 62 is arranged on the first moving platform 21. There are multiple first limiting wheels 62, and the radial outer edges of some first limiting wheels 62 are snapped to one of the first limiting guide rails 61, and the radial outer edges of other first limiting wheels 62 are snapped to another first limiting guide rail 61.

[0083] Reference Figure 3 In the embodiment of the present application, the first limiting guide rail 61 is equivalent to forming a moving track of the first moving platform 21. By fixing the first limiting wheel 62 on the first moving platform 21, the movement of the first moving platform 21 can be limited by the limitation between the first limiting wheel 62 and the first limiting guide rail 61.

[0084] In addition, in the embodiment of the present application, the first limiting wheel 62 can be clamped to the first limiting guide rail 61 along the vertical direction, and the first limiting wheel 62 can also be clamped to the first limiting guide rail 61 along the horizontal direction.

[0085] For example, refer to Figure 3 A V-shaped protrusion facing the horizontal direction can be set on the first limiting guide rail 61, and a V-shaped groove can be set on the radial outer edge of the first limiting wheel 62. By clamping the above-mentioned V-shaped groove and V-shaped protrusion, the limiting between the first limiting wheel 62 and the first limiting guide rail 61 can be achieved.

[0086] On this basis, refer to Figure 3 , the number of the first limiting guide rails 61 can be set to two, and the first limiting guide rails 61 are arranged on the base 1 at intervals along the second direction, and the V-shaped protrusions of the two first limiting guide rails 61 are opposite. Further, the radial direction of the first limiting wheel 62 can be set to be along the horizontal direction, and the multiple first limiting wheels 62 can be divided into two groups, so that one group of limiting wheels is engaged with one of the first limiting guide rails 61, and the other group of limiting wheels is engaged with the other first limiting guide rail 61.

[0087] In this way, through the above arrangement, the first limiting guide rail 61 and the first limiting wheel 62 can be used to limit the first moving platform 21 along the second direction, so that the movement of the first moving platform 21 along the first direction can be more stable and reliable.

[0088] In addition, refer to Figure 4 and Figure 6In some embodiments of the present application, a second limiting assembly 7 is provided between the first moving platform 21 and the second moving platform 31; the second limiting assembly 7 includes a second limiting guide rail 71 and a second limiting wheel 72, and the second limiting guide rail 71 extends along the second direction. There are two second limiting guide rails 71, and the two second limiting guide rails 71 are arranged on the base 1 at intervals along the first direction, and the second limiting wheel 72 is provided on the second moving platform 31. There are multiple second limiting wheels 72, and multiple second limiting wheels 72 are provided between the two second limiting guide rails 71, and the radial outer edges of some second limiting wheels 72 are clamped to one of the second limiting guide rails 71, and the radial outer edges of other second limiting wheels 72 are clamped to the other second limiting guide rail 71.

[0089] It should be noted that, refer to Figure 4 In the embodiment of the present application, the second limiting guide rail 71 is equivalent to forming a moving track of the second moving platform 31. By fixing the second limiting wheel 72 on the second moving platform 31, the movement of the second moving platform 31 can be limited by the limitation between the second limiting wheel 72 and the second limiting guide rail 71.

[0090] In addition, in the embodiment of the present application, the second limiting wheel 72 can be clamped to the second limiting guide rail 71 along the vertical direction, and the second limiting wheel 72 can also be clamped to the second limiting guide rail 71 along the horizontal direction.

[0091] It should be noted that, in the embodiment of the present application, the second position-limiting guide rail 71 and the second position-limiting wheel 72 may be arranged with reference to the arrangement of the first position-limiting guide rail 61 and the first position-limiting wheel 62 .

[0092] Reference Figure 4 In the embodiment of the present application, a V-shaped protrusion facing the horizontal direction can be set on the second limiting guide rail 71, and a V-shaped groove can be set on the radial outer edge of the second limiting wheel 72. By clamping the above-mentioned V-shaped groove and V-shaped protrusion, the limiting between the second limiting wheel 72 and the second limiting guide rail 71 can be achieved.

[0093] On this basis, refer to Figure 4 , the number of the second limiting guide rails 71 can be set to two, and the second limiting guide rails 71 can be arranged on the first moving platform 21 at intervals along the first direction, and the V-shaped convexities of the two second limiting guide rails 71 can be opposite to each other. Further, the radial direction of the second limiting wheel 72 can be set to be along the horizontal direction, and the plurality of second limiting wheels 72 can be divided into two groups, so that the two groups of second limiting wheels 72 are respectively located on both sides of the two second limiting guide rails 71, so that one group of limiting wheels is clamped with one of the second limiting guide rails 71, and the other group of limiting wheels is clamped with the other second limiting guide rail 71.

[0094] In this way, through the above arrangement, the second limiting guide rail 71 and the second limiting wheel 72 can be used to limit the second moving platform 31 along the first direction, so that the movement of the second moving platform 31 along the second direction can be more stable and reliable.

[0095] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0096] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0097] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A four-degree-of-freedom motion platform, characterized in that: The four-degree-of-freedom motion platform comprises: Pedestal; A first motion mechanism, mounted on the base, comprises a first motion platform and a first driving member, wherein the first driving member is used to drive the first motion platform to move relative to the base in a first direction within a horizontal direction; A second motion mechanism, mounted on the first motion platform, comprises a second motion platform and a second driving member, wherein the second driving member is used to drive the second motion platform to move relative to the first motion platform along a second direction within the horizontal direction; a third motion mechanism, mounted on the second motion platform, comprising a third motion platform and a third driving member, wherein the third driving member is used to drive the third motion platform to move in a vertical direction relative to the second motion platform, and the third motion platform is used to install a grease gun, and the grease gun can rotate in a vertical direction relative to the third motion platform; Wherein, the first direction and the second direction are perpendicular to each other; The base is provided with a first rack extending along a first direction, the first driving member is fixedly connected to the first moving platform, and the output end of the first driving member is provided with a first gear, and the first gear is meshedly connected to the first rack.

2. The four-degree-of-freedom motion platform according to claim 1, characterized in that: The upper part of the base is provided with a receiving portion which is opened upward in a vertical direction, the first moving platform is arranged above the opening of the receiving portion, and the first driving member is fixedly connected to the lower surface of the first moving platform and is located in the receiving portion.

3. The four-degree-of-freedom motion platform according to claim 1, characterized in that: A first blocking component is disposed between the first moving platform and the base, and the first blocking component is used to limit the movement of the first moving platform along the first direction; A second blocking assembly is disposed between the second moving platform and the first moving platform, and the second blocking assembly is used to limit the movement of the second moving platform along the second direction.

4. The four-degree-of-freedom motion platform according to claim 1, characterized in that: The first moving platform is provided with a second rack extending along the second direction, the second driving member is fixedly connected to the second moving platform, the output end of the second driving member is provided with a second gear, and the second gear is meshedly connected to the second rack.

5. The four-degree-of-freedom motion platform according to claim 4, characterized in that: The third sports platform comprises a platform, a support seat and a connection assembly, wherein the platform is installed above the support seat through the connection assembly, and the support seat is fixedly connected to the upper surface of the second sports platform; The third driving member is fixedly connected to the upper surface of the second moving platform and is transmission-connected to the connecting assembly. The third driving member drives the connecting assembly to move, so as to drive the platform to move in the vertical direction.

6. The four-degree-of-freedom motion platform according to claim 5, characterized in that: The connecting assembly comprises a first connecting plate, a second connecting plate and a transmission screw; The transmission screw is installed on the support seat and can rotate relative to the support seat; the middle position of the first connecting plate and the middle position of the second connecting plate are hinged together, the first end of the first connecting plate is hinged with a driving block, the driving block is threadedly connected to the transmission screw, and the second end of the first connecting plate is hinged to the table plate; the first end of the second connecting plate is hinged to the support seat, and the second end of the second connecting plate is slidably connected to the table plate; The output shaft of the third driving member and the transmission screw are connected together through a coupling, and the third driving member is used to drive the first end of the first connecting plate and the first end of the second connecting plate to move closer to or away from each other to drive the table to move in the vertical direction.

7. The four-degree-of-freedom motion platform according to claim 6, characterized in that: The second driving member and the third driving member are both disposed on the upper surface of the second moving platform, and projections of the second driving member and the third driving member along the second direction at least partially overlap.

8. The four-degree-of-freedom motion platform according to claim 1, characterized in that: A first limiting assembly is provided between the base and the first moving platform; The first limiting assembly includes a first limiting guide rail and a first limiting wheel, and the first limiting guide rail extends along the first direction; The number of the first position-limiting guide rails is two, the two first position-limiting guide rails are arranged on the base in an interval along the second direction, and the first position-limiting wheel is arranged on the first moving platform; There are multiple first limiting wheels, and radial outer edges of some of the first limiting wheels are snapped to one of the first limiting guide rails, while radial outer edges of other parts of the first limiting wheels are snapped to another first limiting guide rail.

9. The four-degree-of-freedom motion platform according to claim 1, characterized in that: A second limiting assembly is provided between the first motion platform and the second motion platform; The second position-limiting assembly comprises a second position-limiting guide rail and a second position-limiting wheel, and the second position-limiting guide rail extends along the second direction; The number of the second position-limiting guide rails is two, the two second position-limiting guide rails are arranged on the base in an interval along the first direction, and the second position-limiting wheel is arranged on the second moving platform; There are multiple second limiting wheels, and radial outer edges of some of the second limiting wheels are snapped to one of the second limiting guide rails, while radial outer edges of other parts of the second limiting wheels are snapped to another second limiting guide rail.

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