Displacement assembly and gantry carrying mechanism

Abstract

The utility model provides a displacement assembly and a gantry carrying mechanism, and relates to the technical field of automatic control. The displacement assembly can comprise a fixed plate, a first movable plate, a linear driving mechanism, a second movable plate and a rotation driving mechanism. The linear driving mechanism is arranged on the fixed plate and drives the first movable plate to do linear motion relative to the fixed plate in the preset direction. And the second movable plate is rotatably connected with the first movable plate. The rotation driving mechanism is connected with the second movable plate so as to drive the second movable plate to rotate relative to the first movable plate. The linear driving mechanism and the rotary driving mechanism respectively and independently drive the first movable plate and the second movable plate to move, so that the structure is stable, the movement is stable, and the debugging is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control, in particular to a displacement component and a gantry transport mechanism. Background Art

[0002] The gantry handling mechanism has position deviation in the process of handling the target object, so the position of the target object needs to be adjusted through the displacement component. In the existing gantry equipment, the positioning component uses a UVW platform. Due to the inverted hanging, the UVW platform needs to be recalibrated after running for a period of time, causing the equipment to be unstable and the use process cannot be stable and continuous. In addition, the accuracy of the entire equipment is unstable, causing instability in subsequent production. Utility Model Content

[0003] One object of the first aspect of the utility model is to provide a displacement assembly to solve the problem of low stability of the mechanism in the prior art.

[0004] An object of the second aspect of the present utility model is to provide a gantry transport mechanism comprising the above-mentioned displacement assembly.

[0005] In particular, the utility model provides a displacement assembly, comprising:

[0006] Fixed plate;

[0007] The first movable plate;

[0008] A linear drive mechanism, disposed on the fixed plate, and driving the first movable plate to perform linear motion along a preset direction relative to the fixed plate;

[0009] A second movable plate rotatably connected to the first movable plate; and

[0010] At least one rotation drive mechanism, each of which is disposed between the first movable plate and the second movable plate to drive the second movable plate to rotate relative to the first movable plate; wherein the rotation drive mechanism comprises an arc motor or a torque motor.

[0011] Optionally, each of the arc-shaped motors comprises:

[0012] An arc coil connected to the first movable plate;

[0013] an arc-shaped magnetic track connected to the second movable plate, the arc-shaped magnetic track cooperates with the arc-shaped coil so that the arc-shaped coil moves along the arc-shaped magnetic track when energized, thereby causing the second movable plate to rotate relative to the first movable plate; or

[0014] Each of the arc-shaped motors comprises:

[0015] an arc coil connected to the second movable plate;

[0016] The arc-shaped magnetic track is connected to the first movable plate. The arc-shaped magnetic track cooperates with the arc-shaped coil so that the arc-shaped coil moves along the arc-shaped magnetic track when energized, thereby causing the second movable plate to rotate relative to the first movable plate.

[0017] Optionally, the arc coil is provided with a first groove on a side facing the arc magnetic track, and the arc magnetic track is provided with a protrusion on a side facing the arc coil, and the protrusion extends into the first groove to move along the first groove.

[0018] Optionally, a sensor and an induction sheet are arranged between the arc-shaped coil and the arc-shaped magnetic track;

[0019] Or a sensor and a sensing sheet are arranged between the first movable plate and the second movable plate; wherein the cooperation between the sensor and the sensing sheet limits the angle at which the second movable plate is driven to rotate by the rotation drive mechanism.

[0020] Optionally, a limiting column is provided at the second movable plate, and the limiting column is provided on a side of the second movable plate to limit an extreme angle of rotation of the second movable plate relative to the first movable plate.

[0021] Optionally, the linear drive mechanism is located between the fixed plate and the first movable plate or on a side of the first movable plate.

[0022] Optionally, the displacement assembly further includes a rotating bearing, an outer ring of the rotating bearing is fixedly connected to the second movable plate, and an inner ring of the rotating bearing is fixedly connected to the first movable plate, so that the second movable plate is rotatably connected to the first movable plate via the rotating bearing.

[0023] Optionally, the rotation drive mechanism further includes:

[0024] A connecting plate, one side of which is connected to the first movable plate, and the other side of which is connected to the torque motor. The torque motor is connected to the second movable plate, and the second movable plate is driven by the torque motor to rotate relative to the first movable plate.

[0025] Optionally, at least one slider is provided at the first movable plate, a slide groove is provided at each slider, at least one slide rail is provided at the fixed plate, and each slide groove cooperates with one of the slide rails, so that the first movable plate moves along the direction of the slide rail under the drive of the linear drive mechanism.

[0026] Optionally, the linear drive mechanism comprises:

[0027] First motor;

[0028] a first lead screw, one end of which is connected to the first motor so as to rotate under the drive of the first motor; and

[0029] A first nut, which is sleeved on the first lead screw, so that when the first lead screw rotates, the first nut is driven to perform linear motion along the axis of the first lead screw; and

[0030] The first nut mounting seat is connected to the first nut and the first movable plate, so that when the first nut moves linearly, the first movable plate is driven to move linearly through the first nut mounting seat.

[0031] Optionally, the linear drive mechanism further includes:

[0032] A first motor mounting seat, which is fixed to the fixing plate and connected to the first motor, and a second groove is provided at the first motor mounting seat;

[0033] a first coupling, which is located at the second groove, and has one end connected to the output end of the first motor and the other end connected to the first lead screw, so as to transmit the power output by the first motor to the first lead screw;

[0034] a first lead screw fixing seat, fixedly connected to the first motor mounting seat and connected to one end of the first lead screw via a first bearing; and

[0035] A first bearing mounting seat is fixed on the fixing plate and connected to the other end of the first lead screw via a second bearing.

[0036] In particular, the utility model also provides a gantry transport mechanism, comprising the displacement assembly described above.

[0037] In this solution, a linear drive mechanism is used to drive the first movable plate to perform linear motion relative to the fixed plate along a preset direction, and a rotary drive mechanism is used to drive the second movable plate to rotate relative to the first movable plate, so that the displacement component of this solution can adjust the displacement of the object connected to the second movable plate in the preset direction and the angle relative to the fixed plate. Since the linear drive mechanism and the rotary drive mechanism of this solution drive the first movable plate and the second movable plate to move separately, the structure is stable, the movement is smooth, and the debugging is convenient. The arc motor or torque motor of this solution can directly drive the second movable plate to rotate relative to the first movable plate separately, and the structure is simple, and the driving process is simple and smooth. The rotary drive mechanism of this solution may include an arc coil and an arc magnetic track, and the second movable plate can be rotated relative to the first movable plate through the cooperation of the arc coil and the arc magnetic track, while meeting the driving requirements, the driving accuracy and stability are improved.

[0038] In this solution, the sensor and the induction sheet are mainly used to prevent the second movable plate from rotating too much by cooperating with each other when the rotation drive mechanism drives the second movable plate to rotate.

[0039] In this solution, a limiting column is arranged at the first movable plate, and specifically, the limiting column includes two, which are arranged on both sides of the second movable plate. The limiting column can further limit the rotation angle between the first movable plate and the second movable plate, and further prevent the first movable plate and the second movable plate from rotating too much when the sensor and the induction sheet fail.

[0040] In this solution, by arranging sliding grooves and sliding rails at the fixed plate and the first movable plate, the first movable plate moves along the sliding rails under the drive of the linear drive mechanism, thereby improving the stability of the movement.

[0041] Based on the detailed description of the specific embodiments of the present invention in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other purposes, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0043] Figure 1 It is a schematic structural diagram of a displacement assembly according to a specific embodiment of the utility model at one angle;

[0044] Figure 2 is a schematic structural diagram of a displacement assembly according to a specific embodiment of the utility model from another angle;

[0045] Figure 3 It is a partial schematic structural diagram of a displacement assembly according to a specific embodiment of the utility model;

[0046] Figure 4 is a schematic structural diagram of a displacement assembly according to another specific embodiment of the utility model;

[0047] Figure 5 is a partial schematic structural diagram of a displacement assembly according to another specific embodiment of the utility model;

[0048] Figure 6 is a partial schematic structural diagram of a displacement assembly according to another specific embodiment of the utility model;

[0049] Figure 7It is a schematic structural diagram of a linear drive mechanism according to another specific embodiment of the utility model.

[0050] Description of reference numerals:

[0051] Displacement assembly-100; fixing plate-110; slide rail-111;

[0052] First movable plate-120; slider-121; slide groove-1211;

[0053] Linear drive mechanism-130; first motor-131, first lead screw-132; first nut-133; first nut mounting seat-134; first motor mounting seat-135; second groove-1351; first coupling-136; first lead screw fixing seat-137; first bearing-1371; first bearing mounting seat-138; second bearing-1381;

[0054] The second movable plate-140; the limiting column-141; the rotating bearing-142;

[0055] Rotation drive mechanism-150; arc coil-151; arc magnetic track-152; first groove-153; protrusion-154; sensor-155; induction sheet-156; third groove-1551; arc motor-157; torque motor-158; connecting plate-159. DETAILED DESCRIPTION

[0056] In the description of this embodiment, it should be understood that the terms "length", "width", "height", "up", "down", "left", "right", "vertical", "horizontal", "bottom", "inside" and "outside" etc. indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0057] As a specific embodiment of the present invention, Figure 1-Figure 5As shown, this embodiment provides a displacement assembly 100, which may include a fixed plate 110, a first movable plate 120, a linear drive mechanism 130, a second movable plate 140 and at least one rotation drive mechanism 150. The linear drive mechanism 130 is disposed at the fixed plate 110, and drives the first movable plate 120 to perform linear motion along a preset direction relative to the fixed plate 110 through the linear drive mechanism 130. The second movable plate 140 is rotatably connected to the first movable plate 120. Each rotation drive mechanism 150 is disposed between the first movable plate 120 and the second movable plate 140 to drive the second movable plate 140 to rotate relative to the first movable plate 120; the rotation drive mechanism 150 may include an arc motor 157 or a torque motor (158).

[0058] Specifically, in this embodiment, the linear drive mechanism 130 drives the first movable plate 120 to perform linear motion relative to the fixed plate 110 along a preset direction, and the rotation drive mechanism 150 drives the second movable plate 140 to rotate relative to the first movable plate 120, so that the displacement assembly 100 of this embodiment can adjust the displacement of the object connected to the second movable plate 140 in the preset direction and the angle relative to the fixed plate 110. Since the linear drive mechanism 130 and the rotation drive mechanism 150 of this embodiment both drive the first movable plate 120 and the second movable plate 140 to move separately, the structure is stable, the movement is smooth, and the debugging is convenient.

[0059] As a specific embodiment of the present invention, the arc motor 157 or the torque motor 158 of this embodiment can independently and directly drive the second movable plate 140 to rotate relative to the first movable plate 120, with a simple structure and a simple and stable driving process.

[0060] As a specific embodiment of the utility model, the rotation drive mechanism 150 of this embodiment may include a plurality of arc motors 157, and each arc motor 157 may include an arc coil 151 and an arc magnetic track 152. In one embodiment, the arc coil 151 is connected to the first movable plate 120. The arc magnetic track 152 is connected to the second movable plate 140, and the arc magnetic track 152 cooperates with the arc coil 151 so that the arc coil 151 moves along the arc magnetic track 152 when powered on, thereby causing the second movable plate 140 to rotate relative to the first movable plate 120.

[0061] As another specific embodiment, the arc coil 151 is connected to the second movable plate 140. The arc magnetic track 152 is connected to the first movable plate 120. The arc magnetic track 152 cooperates with the arc coil 151 so that the arc coil 151 moves along the arc magnetic track 152 when powered, thereby causing the second movable plate 140 to rotate relative to the first movable plate 120.

[0062] Specifically, in this embodiment, the positions of the arc coil 151 and the arc magnetic track 152 can be designed according to actual needs.

[0063] In this embodiment, the arc coil 151 and the arc magnetic track 152 cooperate with each other. When the arc coil 151 is energized, the arc coil 151 generates a magnetic field, and the arc magnetic track 152 is acted upon by the force in the magnetic field and moves relative to the arc coil 151, thereby driving the first movable plate 120 connected thereto to rotate relative to the second movable plate 140, or driving the second movable plate 140 to rotate relative to the first movable plate 120.

[0064] As a specific embodiment of the utility model, the arc coil 151 of this embodiment is provided with a first groove 153 on the side facing the arc magnetic track 152, and the arc magnetic track 152 is provided with a protrusion 154 on the side facing the arc coil 151. The protrusion 154 is clamped in the first groove 153 to move along the first groove 153.

[0065] Specifically, the protrusion 154 and the first groove 153 of this embodiment cooperate with each other, and a plurality of coils arranged side by side are arranged on the side wall of the first groove 153. The protrusion 154 directly extends into the first groove 153, and the protrusion 154 is pushed to move under the action of the coil magnetic field, thereby pushing the arc magnetic track 152 and the movable plate connected thereto (the first movable plate 120 or the second movable plate 140) to move.

[0066] Specifically, the arc-shaped coil 151 and the arc-shaped magnetic track 152 are arranged side by side in a horizontal plane, and the protrusion 154 and the first groove 153 extend toward the horizontal plane.

[0067] Of course, as other embodiments, the arc coil 151 and the arc magnetic track 152 may also be arranged in other ways, and the protrusion 154 and the first groove 153 may extend in a horizontal plane, in a vertical plane, or in an oblique direction.

[0068] As a specific embodiment of the present invention, the center of the circle where each arc coil 151 is located, the center of the circle where the arc magnetic track 152 is located, and the center of the rotation axis of the second movable plate 140 are coincident.

[0069] As a specific embodiment of the utility model, a sensor 155 and an induction sheet 156 are arranged between the arc coil 151 and the arc magnetic track 152 of this embodiment. In this embodiment, the sensor 155 is arranged on the arc coil 151, and the induction sheet 156 is arranged on the arc magnetic track 152. Alternatively, the sensor 155 is arranged on the arc magnetic track 152, and the induction sheet 156 is arranged on the arc coil 151.

[0070] As another embodiment, the sensor 155 and the induction sheet 156 are arranged between the first movable plate 120 and the second movable plate 140 of this embodiment. Specifically, the sensor 155 is arranged at the first movable plate 120, and the induction sheet 156 is arranged at the second movable plate 140. Alternatively, the sensor 155 is arranged at the second movable plate 140, and the induction sheet 156 is arranged at the second movable plate 140.

[0071] In this embodiment, the sensor 155 and the induction sheet 156 are mainly used to prevent the second movable plate 140 from rotating too much by cooperating with each other when the rotation drive mechanism 150 drives the second movable plate 140 to rotate.

[0072] Specifically, the induction sheet 156 has a probe, and the sensor 155 has two third grooves 1551. When the arc coil 151 is energized, the arc coil 151 and the arc magnetic track 152 rotate relatively, and the first movable plate 120 and the second movable plate 140 also rotate relatively, and the probe can move between the two third grooves 1551. When the arc coil 151 is energized so that the probe moves to one of the third grooves 1551, the power is cut off, and the rotation drive mechanism 150 stops driving the arc magnetic track 152, thereby stopping the relative rotation between the first movable plate 120 and the second movable plate 140 to avoid excessive rotation angle.

[0073] As a specific embodiment of the present invention, a limiting column 141 is provided at the second movable plate 140 of this embodiment. The limiting column 141 is provided on the side of the second movable plate 140 to limit the maximum angle of rotation of the second movable plate 140 relative to the first movable plate 120 .

[0074] Specifically, in this embodiment, a limiting column 141 is provided at the first movable plate 120, and specifically, the limiting column 141 includes two, which are respectively provided at two sides of the second movable plate 140. The limiting column 141 can further limit the rotation angle between the first movable plate 120 and the second movable plate 140, and further prevent the first movable plate 120 and the second movable plate 140 from rotating too much when the sensor 155 and the induction sheet 156 fail.

[0075] As a specific embodiment of the present invention, the linear drive mechanism 130 of this embodiment is disposed between the fixed plate 110 and the first movable plate 120 (eg, Figure 1-Figure 3 ) or disposed on the side of the first movable plate 120 (as shown Figure 4-Figure 5 shown).

[0076] Specifically, in this embodiment, the linear drive mechanism 130 is disposed between the fixed plate 110 and the first movable plate 120, so that the linear drive mechanism 130 can better drive the first movable plate 120. The linear drive mechanism 130 is disposed on the side of the first movable plate 120, so that the dimensions of the fixed plate 110 and the first movable plate 120 in the thickness direction can be reduced as much as possible, thereby reducing the occupied area of ​​the mechanism.

[0077] As a specific embodiment of the utility model, the displacement assembly 100 of this embodiment can also include a rotating bearing 142, the outer ring of the rotating bearing 142 is fixedly connected to the second movable plate 140, and the inner ring of the rotating bearing 142 is fixedly connected to the first movable plate 120, so that the second movable plate 140 and the first movable plate 120 are rotatably connected through the rotating bearing 142.

[0078] Specifically, the second movable plate 140 of this embodiment is directly arranged below the first movable plate 120, and the rotating bearing 142 is directly arranged in the through hole, and the gap between them is small, leaving only a certain gap for relative sliding, thereby reducing the size of the displacement component 100 in the direction parallel to the rotating axis.

[0079] As a specific embodiment of the present invention, Figure 6 As shown, the rotation drive mechanism 150 of this embodiment may also include a connecting plate 159, one side of the connecting plate 159 is connected to the first movable plate 120, and the other side is connected to the torque motor 158. The torque motor 158 is connected to the second movable plate 140, and the second movable plate 140 is driven to rotate relative to the first movable plate 120 by the torque motor 158.

[0080] Specifically, ribs are further provided on the connecting plate 159 of this embodiment to increase the strength of the connecting plate 159 .

[0081] The output end of the torque motor 158 of this embodiment is connected to the second movable plate 140 , and the output end and the second movable plate 140 rotate simultaneously relative to the same rotation axis.

[0082] As a specific embodiment of the present invention, Figure 3 , Figure 5 and Figure 6 As shown, in this embodiment, at least one slider 121 is provided at the first movable plate 120, a slide groove 1211 is provided at each slider 121, at least one slide rail 111 is provided at the fixed plate, and each slide groove 1211 cooperates with one of the slide rails 111, so that the first movable plate 120 moves along the direction of the slide rail 111 under the drive of the linear drive mechanism 130.

[0083] Specifically, as another embodiment, the positions of the slide rail 111 and the slider 121 can also be interchanged. In this embodiment, by setting the slide groove 1211 and the slide rail 111 at the fixed plate 110 and the first movable plate 120, the first movable plate 120 moves along the slide rail 111 under the drive of the linear drive mechanism 130, thereby improving the stability of the movement.

[0084] Specifically, the number of the slide groove 1211 and the slide rail 111 of this embodiment is the same, and both are multiple. Preferably, the number of the slide groove 1211 and the slide rail 111 of this embodiment is two. The two slide rails 111 are arranged in parallel, and the two slide rails 111 are spaced a certain distance apart, so as to ensure the stability between the first movable plate 120 and the fixed plate 110. If the linear drive mechanism 130 is arranged between the fixed plate 110 and the first movable plate 120, the linear drive mechanism 130 can be located between the two slide rails 111. If the linear drive mechanism 130 is arranged on the side of the fixed plate 110 and the first movable plate 120, it is arranged on the side of one of the slide rails 111. Of course, preferably, when the linear drive mechanism 130 is arranged on the side of the first movable plate 120, the number of the linear drive mechanism 130 can be two, and each linear drive mechanism 130 is arranged on the side of one of the slide rails 111, so as to further increase the stability of the movement of the first movable plate 120.

[0085] As a specific embodiment of the present invention, Figure 7 As shown, the linear drive mechanism 130 of this embodiment may include a first motor 131, a first lead screw 132, a first nut 133 and a first nut mounting seat 134. Among them, one end of the first lead screw 132 is connected to the first motor 131 to rotate under the drive of the first motor 131. The first nut 133 is sleeved on the first lead screw 132, so that when the first lead screw 132 rotates, the first nut 133 is driven to perform linear motion along the axis of the first lead screw 132. The first nut mounting seat 134 is connected to the first nut 133 and the first movable plate 120, so that when the first nut 133 performs linear motion, the first movable plate 120 is driven to perform linear motion through the first nut mounting seat 134.

[0086] In this embodiment, the first motor 131 drives the first lead screw 132 to rotate, and the first lead screw 132 and the first nut 133 cooperate with each other to make the first nut 133 do linear motion, thereby driving the first movable plate 120 to do linear motion. By converting the rotational motion of the first motor 131 into the linear motion of the first nut 133, the control accuracy can be improved and the stability of the system can be improved. Specifically, in this embodiment, the first nut mounting seat 134 drives the first movable plate 120 to do linear motion relative to the fixed plate 110. Specifically, the first nut mounting seat 134 is interconnected with the first nut 133, and the first nut mounting seat 134 is also interconnected with the first movable plate 120, so that when the first nut 133 moves, the first nut mounting seat 134 moves, thereby driving the first movable plate 120 to move.

[0087] As a specific embodiment of the utility model, the linear drive mechanism 130 of this embodiment may also include a first motor mounting seat 135, a first coupling 136, a first screw fixing seat 137 and a first bearing mounting seat 138. The first motor mounting seat 135 is fixed on the fixed plate 110 and connected to the first motor 131. A second groove 1351 is provided at the first motor mounting seat 135. The first coupling 136 is located at the second groove 1351, and one end is connected to the output end of the first motor 131, and the other end is connected to the first screw 132, so as to transmit the power output by the first motor 131 to the first screw 132. The first screw fixing seat 137 is fixedly connected to the first motor mounting seat 135, and is connected to one end of the first screw 132 through the first bearing 1371. The first bearing mounting seat 138 is fixed on the fixed plate 110, and is connected to the other end of the first screw 132 through the second bearing 1381.

[0088] The first motor mounting seat 135, the first screw fixing seat 137 and the first bearing mounting seat 138 of this embodiment mainly play the role of fixing the corresponding devices, for example, the first motor mounting seat 135 is used to fix the first motor 131, the first screw fixing seat 137 is used to install and fix the first screw 132, and the first bearing mounting seat 138 is used to install the first bearing 1371 and fix the end of the first screw 132. The stability of the mechanism can be improved by these mounting seats or fixing seats. The first coupling 136 of this embodiment is connected to the output end of the first motor 131 and outputs it to the first screw 132.

[0089] As another specific embodiment of the utility model, the linear drive mechanism 130 in this embodiment may include a first linear motor. The first linear motor directly drives the first movable plate 120 to perform linear motion in a preset direction relative to the fixed plate 110, thereby simplifying the structure. Compared with the above-mentioned embodiment in which the linear motion power is transmitted through the structure of the first lead screw 132 and the first nut 133, the cost of the first linear motor is higher.

[0090] Specifically, the structure and operation principle of the displacement assembly 100 of this embodiment are as follows:

[0091] In this embodiment, a linear drive mechanism 130 is set at the bottom or side of the fixed plate 110. The first motor 131 and the first screw 132 of the linear drive mechanism 130 are fixed on the fixed plate 110 through the first motor mounting seat 135 and the first screw mounting seat, and the first screw 132 drives the first nut 133 and the first nut mounting seat 134 to move linearly. The first nut mounting seat 134 is connected to the first movable plate 120, thereby driving the first movable plate 120 to move linearly.

[0092] When the rotation driving mechanism 150 is an arc motor 157, the rotation driving mechanism 150 is disposed between the first movable plate 120 and the second movable plate 140, and the first movable plate 120 and the second movable plate 140 are rotationally connected via the rotation bearing 142. After the arc coil 151 in the rotation driving mechanism 150 is energized, the arc magnetic track 152 rotates relative to the arc coil, thereby driving the second movable plate 140 to rotate relative to the first movable plate 120 around the axis of the rotation bearing 142.

[0093] When the rotation driving mechanism 150 is a torque motor 158 , the torque motor 158 is connected to the first movable plate 120 , and the output end of the torque motor 158 is connected to the second movable plate 140 . The torque motor 158 directly drives the second movable plate 140 to rotate, thereby causing the second movable plate 140 to rotate relative to the first movable plate 120 .

[0094] Since the rotation drive mechanism 150 is disposed on the first movable plate 120, when the linear drive mechanism 130 drives the first movable plate 120 to perform linear motion relative to the fixed plate 110, the rotation drive mechanism 150 also follows the first movable plate 120 to perform linear motion relative to the fixed plate 110. Correspondingly, the second movable plate 140 also follows the first movable plate 120 to perform linear motion relative to the fixed plate 110. When the rotation drive mechanism 150 drives the second movable plate 140 to rotate relative to the first movable plate 120, at this time, there is no relative rotation between the first movable plate 120 and the fixed plate 110, so the second movable plate 140 will also rotate relative to the fixed plate 110 accordingly.

[0095] As a specific embodiment of the present utility model, this embodiment further provides a gantry transport mechanism, which may include the displacement assembly 100 described above.

[0096] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived from the contents disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all such other variations or modifications.

Claims

1. A displacement component, characterized in that: include: Fixed plate; The first movable plate; A linear drive mechanism, disposed on the fixed plate, and driving the first movable plate to perform linear motion along a preset direction relative to the fixed plate; a second movable plate, rotatably connected to the first movable plate; and At least one rotation drive mechanism, each of which is disposed between the first movable plate and the second movable plate to drive the second movable plate to rotate relative to the first movable plate; wherein the rotation drive mechanism comprises an arc motor or a torque motor.

2. The displacement assembly according to claim 1, characterized in that: Each of the arc-shaped motors comprises: An arc coil connected to the first movable plate; an arc-shaped magnetic track connected to the second movable plate, the arc-shaped magnetic track cooperates with the arc-shaped coil so that the arc-shaped coil moves along the arc-shaped magnetic track when energized, thereby causing the second movable plate to rotate relative to the first movable plate; or Each of the arc-shaped motors comprises: an arc coil connected to the second movable plate; The arc-shaped magnetic track is connected to the first movable plate. The arc-shaped magnetic track cooperates with the arc-shaped coil so that the arc-shaped coil moves along the arc-shaped magnetic track when energized, thereby causing the second movable plate to rotate relative to the first movable plate.

3. The displacement assembly according to claim 2, characterized in that: The arc coil is provided with a first groove on a side facing the arc magnetic track, and the arc magnetic track is provided with a protrusion on a side facing the arc coil, and the protrusion extends into the first groove to move along the first groove.

4. The displacement assembly according to claim 3, characterized in that: A sensor and an induction sheet are arranged between the arc-shaped coil and the arc-shaped magnetic track; Or a sensor and a sensing sheet are arranged between the first movable plate and the second movable plate; wherein the cooperation between the sensor and the sensing sheet limits the angle at which the second movable plate is driven to rotate by the rotation drive mechanism.

5. The displacement assembly according to claim 2, characterized in that: The second movable plate is provided with a limiting column, and the limiting column is provided on the side of the second movable plate to limit the maximum angle of rotation of the second movable plate relative to the first movable plate.

6. The displacement assembly according to claim 1, characterized in that: The linear drive mechanism is located between the fixed plate and the first movable plate or on a side of the first movable plate.

7. The displacement assembly according to claim 1, characterized in that: The displacement assembly further includes a rotating bearing, an outer ring of which is fixedly connected to the second movable plate, and an inner ring of which is fixedly connected to the first movable plate, so that the second movable plate is rotatably connected to the first movable plate through the rotating bearing.

8. The displacement assembly according to claim 1, characterized in that: The rotation drive mechanism also includes: A connecting plate, one side of which is connected to the first movable plate, and the other side of which is connected to the torque motor. The torque motor is connected to the second movable plate, and the second movable plate is driven by the torque motor to rotate relative to the first movable plate.

9. The displacement assembly according to any one of claims 1 to 8, characterized in that: At least one slider is arranged at the first movable plate, a slide groove is arranged at each slider, at least one slide rail is arranged at the fixed plate, and each slide groove cooperates with one of the slide rails, so that the first movable plate moves along the direction of the slide rail under the drive of the linear drive mechanism.

10. The displacement assembly according to any one of claims 1 to 8, characterized in that: The linear drive mechanism comprises: First motor; a first lead screw, one end of which is connected to the first motor so as to rotate under the drive of the first motor; and A first nut, which is sleeved on the first lead screw, so that when the first lead screw rotates, the first nut is driven to perform linear motion along the axis of the first lead screw; and A first nut mounting seat is connected to the first nut and the first movable plate, so that when the first nut moves linearly, the first movable plate is driven to move linearly through the first nut mounting seat; A first motor mounting seat, which is fixed to the fixing plate and connected to the first motor, and a second groove is provided at the first motor mounting seat; a first coupling, which is located at the second groove, and has one end connected to the output end of the first motor and the other end connected to the first lead screw, so as to transmit the power output by the first motor to the first lead screw; a first lead screw fixing seat, fixedly connected to the first motor mounting seat and connected to one end of the first lead screw via a first bearing; and A first bearing mounting seat is fixed on the fixing plate and connected to the other end of the first lead screw via a second bearing.

11. A gantry transport mechanism, characterized in that: The invention comprises the displacement assembly according to any one of claims 1 to 10.

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