Alignment device

Abstract

The utility model relates to the field of industrial production instruments, and discloses an alignment device which comprises a translation module, a first driving mechanism, a second driving mechanism, a first positioning module, a second positioning module, a second positioning module, a first positioning module and a second positioning module, and the translation module comprises a first base, a first movable plate, a second movable plate and a second driving mechanism, the first driving mechanism is used for driving the first movable plate to move in a first direction relative to the first base, and the second driving mechanism is used for driving the second movable plate to move in a second direction relative to the first movable plate; the rotating module comprises a second base connected to the second movable plate, a rotating platform movably connected with the second base and a third driving mechanism used for driving the rotating platform to rotate relative to the second base, and the rotating platform forms a workpiece calibration position used for placing a target workpiece; according to the alignment device, the speed and the flexibility of the alignment and machining process of the target workpiece are improved, the structural compactness of the alignment device can be effectively improved, and the occupied size and the redundant degree of related instruments are reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial production equipment, and in particular to a positioning device. Background Art

[0002] In modern industrial production, in some processing processes of target workpieces, it is necessary to place the target workpiece on an alignment device and use the alignment device to move, align and calibrate the target workpiece, so as to perform fine processing on the target workpiece.

[0003] With the continuous upgrading of equipment in various industries, the moving speed and precision requirements of the alignment platform in the industry are getting higher and higher, and some processing processes also have high calibration requirements for the movement direction and rotation angle of the target workpiece. However, it is difficult for existing alignment equipment to simultaneously perform the operations of moving and rotating the target workpiece, resulting in a low degree of coordination of the alignment equipment, thereby reducing the speed and flexibility of processing the target workpiece. Summary of the invention

[0004] An embodiment of the present application provides a positioning device, which is intended to simultaneously perform two-dimensional translation alignment and angular rotation alignment on a target workpiece, thereby improving the speed and flexibility of aligning the target workpiece and even the processing flow of the target workpiece, and effectively improving the structural compactness of the positioning device and reducing the volume occupied by related equipment and the degree of redundancy.

[0005] In a first aspect, an embodiment of the present application provides an alignment device, comprising:

[0006] A translation module, comprising a first base for providing support, a first movable plate movably connected to the first base, a second movable plate movably connected to the first movable plate, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first movable plate to move in a first direction relative to the first base, and the second driving mechanism is used to drive the second movable plate to move in a second direction different from the first direction relative to the first movable plate;

[0007] The rotating module includes a second base connected to the second movable plate, a rotating platform movably connected to the second base, and a third driving mechanism for driving the rotating platform to rotate relative to the second base, and the rotating platform forms a workpiece calibration position for placing a target workpiece.

[0008] In some embodiments, the first driving mechanism includes a first magnet assembly and a first coil assembly disposed opposite to the first magnet assembly, wherein the first magnet assembly is connected to one of the first base and the first movable plate, and the first magnet assembly is connected to the other;

[0009] The first coil assembly is configured to generate a first coil magnetic field under the condition of inputting a driving current, so that the first magnet assembly and the first coil assembly move relative to each other under the action of the first coil magnetic field and the first magnet magnetic field generated by the first magnet assembly, thereby driving the first movable plate to move in a first direction relative to the first base.

[0010] In some embodiments, a first receiving groove is formed on one side of the first base close to the first movable plate, and the first magnet assembly is at least partially received in the first receiving groove and connected and fixed to the first movable plate;

[0011] A second receiving groove is formed on one side of the first movable plate close to the first base, and the first coil assembly is at least partially received in the second receiving groove and is fixedly engaged with the first movable plate and is opposite to the first magnet assembly;

[0012] At least one of the first base and the first movable plate is protruded toward the other to form a first protrusion, so that a first air gap is formed between the first magnet component and the first coil component.

[0013] In some embodiments, the first base forms a first guide rail extending along a first direction on a side close to the first movable plate, and the first movable plate forms a first sliding block adapted to the first guide rail in a direction close to the first base.

[0014] In some embodiments, the first base forms a first limiting portion on a side close to the first movable plate, and the first movable plate forms a second limiting portion adapted to the first limiting portion in a direction close to the first base to limit the amplitude of relative displacement between the first base and the first movable plate in the first direction.

[0015] In some embodiments, the first coil assembly includes at least two first coils arranged along a first direction, the first magnet assembly includes at least one group of first magnet groups arranged along the first direction, and each first magnet group includes two first magnet units arranged along the first direction and with different polarities.

[0016] In some embodiments, the second driving mechanism includes a second magnet assembly and a second coil assembly disposed opposite to the second magnet assembly, wherein the second magnet assembly is connected to one of the first movable plate and the second movable plate, and the second magnet assembly is connected to the other;

[0017] The second coil assembly is configured to generate a second coil magnetic field under the condition of inputting a driving current, so that the second magnet assembly and the second coil assembly move relative to each other under the action of the second coil magnetic field and the second magnet magnetic field generated by the second magnet assembly, thereby driving the second movable plate to move in a second direction relative to the first movable plate.

[0018] In some embodiments, the second coil assembly includes at least two second coils arranged along the second direction, the second magnet assembly includes at least one second magnet group arranged along the second direction, and each second magnet group includes two magnet units arranged along the second direction and with different polarities.

[0019] In some embodiments, a side of the second base close to the rotating platform forms a rotating center portion, and the third driving mechanism includes:

[0020] A third coil assembly connected to the second base and disposed on the peripheral side of the rotating center portion;

[0021] A third magnet assembly is connected to a side of the rotating platform close to the second base and opposite to the third coil assembly, and the third magnet assembly is sleeved on the rotating center;

[0022] Among them, the third coil assembly is configured to generate a third coil magnetic field under the condition of input driving current, so that the third magnet assembly and the third coil assembly can move relative to each other around the rotation center under the action of the third coil magnetic field and the third magnet magnetic field generated by the third magnet assembly, thereby driving the rotating platform to move around the rotation center.

[0023] In some embodiments, a rotation accommodating groove is formed on one side of the second base close to the rotating platform around the circumference of the rotating center portion;

[0024] The third coil assembly includes a coil housing and a plurality of third coils, wherein the coil housing is accommodated in the rotation accommodating groove and forms a fixed fit with the rotation platform, and the coil housing forms a coil isolation cavity, and the plurality of third coils are accommodated in the coil isolation cavity and are arranged in a ring around the rotation center;

[0025] The third magnet assembly includes a plurality of third magnet units which are connected to one side of the rotating platform close to the second base and are arranged in a ring shape around the rotating platform.

[0026] In summary, the embodiment of the present application provides a positioning device, including: a translation module, including a first base for providing support, a first movable plate movably connected to the first base, a second movable plate movably connected to the first movable plate, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first movable plate to move in a first direction relative to the first base, and the second driving mechanism is used to drive the second movable plate to move in a second direction different from the first direction relative to the first movable plate; a rotation module, including a second base connected to the second movable plate, a rotating platform movably connected to the second base, and a third driving mechanism for driving the rotating platform to rotate relative to the second base, and the rotating platform forms a workpiece calibration position for placing a target workpiece. The positioning device provided in the embodiment of the present application improves the speed and flexibility of positioning the target workpiece and even the processing process of the target workpiece, and can effectively improve the compactness of the structure of the positioning device and reduce the volume occupied by related equipment and the degree of redundancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A module structure diagram of an implementation of an alignment device provided in an embodiment of the present application;

[0029] Figure 2 A schematic structural diagram of an implementation of an alignment device provided in an embodiment of the present application;

[0030] Figure 3 An exploded view of the structure of an implementation method of an alignment device provided in an embodiment of the present application;

[0031] Figure 4 An exploded view of the structure of the first base, the first movable plate and the first driving mechanism in the alignment device provided in one embodiment of the present application;

[0032] Figure 5 An exploded view of the structure of the first movable plate, the second movable plate and the second driving mechanism in the alignment device provided in one embodiment of the present application;

[0033] Figure 6 An exploded view of the structure of a rotating module in an alignment device provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of the arrangement of the third coil assembly of the rotating module in the alignment device provided in one embodiment of the present application;

[0035] Reference numerals:

[0036] 1. Alignment device; 10. Translation module; 11. First base; 111. First receiving groove; 112. First protrusion; 113. First air gap; 114. First guide rail; 115. First limiting portion; 12. First movable plate; 121. Second receiving groove; 122. First slider; 123. Second limiting portion; 124. Third receiving groove; 125. First power line; 126. Second power line; 127. Second air gap; 13. Second movable plate; 131. Fourth receiving groove; 14. First driving mechanism; 15. First magnet assembly; 151. First magnet group; 152. First magnet unit; 16. First coil assembly; 161. First coil; 17. Second driving mechanism; 18. Second magnet assembly; 181. Second magnet group; 182. Second magnet unit; 19. Second coil assembly; 191. Second coil; 20. Rotating module; 21. Second base; 211. Rotating center; 212. Rotating receiving groove; 22. Rotating platform; 23. Third driving mechanism; 24. Third magnet assembly; 241. Third magnet unit; 25. Third coil assembly; 251. Third coil; 252. Coil housing; 26. Workpiece calibration position: D1, first direction; D2, second direction. DETAILED DESCRIPTION

[0037] The technical solutions of the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. It is obvious that the described embodiments are some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of this application. The flowcharts shown in the accompanying drawings are only examples, and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0038] See also Figures 1 to 3 , Figure 1 This is a module structure diagram of an implementation of an alignment device 1 provided in an embodiment of the present application, Figure 2 This is a structural schematic diagram of an implementation manner of an alignment device 1 provided in an embodiment of the present application, Figure 3 This is a structural explosion diagram of an implementation manner of the alignment device 1 provided in one embodiment of the present application.

[0039] like Figures 1 to 3As shown, an embodiment of the present application provides a positioning device 1, including: a translation module 10 and a rotation module 20 connected to the translation module 10, and the rotation module 20 is provided with a workpiece calibration position for placing a target workpiece. The specific structure of each part of the positioning device 1 is described below.

[0040] Specifically, the translation module 10 includes a first base 11 for providing support, a first movable plate 12 movably connected to the first base 11, a second movable plate 13 movably connected to the first movable plate 12, a first driving mechanism 14 and a second driving mechanism 17, wherein the first base 11 can be used to be connected and fixed with an external device to provide installation support for the alignment device 1 as a whole, the first driving mechanism 14 is used to drive the first movable plate 12 to move in a first direction D1 relative to the first base 11, the second driving mechanism 17 is used to drive the second movable plate 13 to move in a second direction D2 different from the first direction D1 relative to the first movable plate 12, and the rotating module 20 is connected to the second movable plate 13 of the translation module 10.

[0041] The first driving mechanism 14 and the second driving mechanism 17 are driven independently of each other. When the first driving mechanism 14 drives the first movable plate 12 to move in the first direction D1 relative to the first base 11, the second movable plate 13 movably connected to the first movable plate 12 and the rotating module 20 connected to the second movable plate 13 both move in the first direction D1 relative to the first base 11, so as to perform translation alignment of the target workpiece placed at the workpiece calibration position in the first direction D1. When the second driving mechanism 17 drives the second movable plate 13 to move in the second direction D2 relative to the first movable plate 12, the rotating module 20 connected to the second movable plate 13 also moves in the second direction D2 relative to the first movable plate 12, so as to perform translation alignment of the target workpiece placed at the workpiece calibration position in the second direction D2.

[0042] It should be understood that the first direction D1 and the second direction D2 are two different directions at an angle. Figures 2 to 3 In the alignment device 1 shown, the first direction D1 and the second direction D2 are perpendicular to each other, so the first driving mechanism 14 and the second driving mechanism 17 can independently drive the target workpiece to move in two directions perpendicular to each other, thereby realizing alignment translation with high degree of freedom on a two-dimensional plane.

[0043] Specifically, the rotating module 20 includes a second base 21 connected to the second movable plate 13, a rotating platform 22 movably connected to the second base 21, and a third driving mechanism 23 for driving the rotating platform 22 to rotate relative to the second base 21, and the rotating platform 22 forms a workpiece calibration position for placing a target workpiece.

[0044] The first drive mechanism 14, the second drive mechanism 17 and the third drive mechanism 23 are driven independently of each other. When the third drive mechanism 23 drives the rotating platform 22 to rotate the first angle relative to the second base 21, the target workpiece placed at the workpiece calibration position will also rotate the first angle relative to the second base 21. Similarly, when the first drive mechanism 14 drives the first movable plate 12 to move the first distance in the first direction D1 relative to the first base 11, the target workpiece will also move the first distance relative to the first base 11; when the second drive mechanism 17 drives the second movable plate 13 to move the second distance in the second direction D2 relative to the first movable plate 12, the target workpiece will also move the second distance relative to the first base 11.

[0045] Therefore, through the independent driving of the first drive mechanism 14, the second drive mechanism 17 and the third drive mechanism 23, the alignment device 1 can quickly and flexibly perform translational alignment operations and / or rotational alignment operations on the target workpiece in two planes in different directions at an angle, so that the position of the target workpiece is aligned with an external working machine or the angle of the target workpiece meets the requirements.

[0046] Therefore, the alignment device 1 provided in the embodiment of the present application improves the speed and flexibility of aligning the target workpiece, and uses a single alignment device 1 to realize translational alignment and rotational alignment operations on the target workpiece, and can effectively improve the structural compactness of the alignment device 1 and reduce the volume occupied by related equipment and the degree of redundancy.

[0047] Moreover, in some processing processes for the target workpiece, it is necessary to first complete the translation and rotation alignment of the target workpiece, and then use an external working tool to perform processing operations on the aligned target workpiece. Therefore, the alignment device 1 also improves the speed and flexibility of the processing process for the target workpiece.

[0048] See also Figure 4 , Figure 4 It is a structural exploded diagram of the first base 11, the first movable plate 12 and the first driving mechanism 14 in the alignment device 1 provided in one embodiment of the present application.

[0049] like Figure 4 As shown, in some embodiments, the first driving mechanism 14 includes a first magnet assembly 15 and a first coil 161 assembly 16 disposed opposite to the first magnet assembly 15, wherein the first magnet assembly 15 is connected to one of the first base 11 and the first movable plate 12, and the first magnet assembly 15 is connected to the other;

[0050] The first coil 161 component 16 is configured to generate a first coil 161 magnetic field under the condition of input driving current, so that the first magnet component 15 and the first coil 161 component 16 move relative to each other under the action of the first coil 161 magnetic field and the first magnet magnetic field generated by the first magnet component 15, thereby driving the first movable plate 12 to move along the first direction D1 relative to the first base 11.

[0051] It should be understood that the first direction D1 is a bidirectional direction, and the first movable plate 12 can be moved relative to the first base 11 to either end in the first direction D1 .

[0052] Specifically, under the condition that the external driving current is input into the first coil 161 component 16, the first coil 161 component 16 and the first magnet component 15 interact with each other. If the first coil 161 component 16 is fixed, the first magnet component 15 is forced to move along the first direction D1 in the first coil 161 magnetic field generated by the first coil 161 component 16, wherein the force direction of the first magnet component 15 is related to the current direction of the driving current, and the force magnitude of the first magnet component 15 is related to the current magnitude of the driving current; if the first magnet component 15 is fixed, the first coil 161 component 16 is forced to move along the first direction D1 in the first magnetic field generated by the first magnet component 15, wherein the force direction of the first magnet component 15 is related to the current direction of the driving current, and the force magnitude of the first magnet component 15 is related to the current magnitude of the driving current.

[0053] It should be noted that the first coil 161 component 16 and the first magnet component 15 are respectively disposed on the first base 11 and the first movable plate 12 .

[0054] As Figure 4 Taking the exploded view of the structure shown as an example, the first magnet assembly 15 is connected and fixed to the side of the first base 11 close to the first movable plate 12, and the first coil 161 assembly 16 is connected and fixed to the side of the first movable plate 12 close to the first base 11. Based on the connection and fixation of the first base 11 with an external device, under the condition that an external driving current is input into the first coil 161 assembly 16, the first coil 161 assembly 16 is forced to move along the first direction D1 in the first magnetic field generated by the first magnet assembly 15, and drives the first movable plate 12 connected to the first coil 161 assembly 16 and movably connected to the first base 11 to move along the first direction D1.

[0055] In some embodiments, the translation module 10 further includes a first power line 125 plugged into the first movable plate 12 and electrically connected to the first coil 161 assembly 16 , and the first coil 161 assembly 16 is configured to receive a driving current through the first power line 125 .

[0056] It should be understood that the first coil 161 component 16 can also be connected and fixed to a side of the first base 11 close to the first movable plate 12, and the first magnet component 15 can be connected and fixed to a side of the first movable plate 12 close to the first base 11, so that the first magnet component 15 is forced to move along the first direction D1 in the first coil 161 magnetic field generated by the first coil 161 component 16.

[0057] In some embodiments, a first receiving groove 111 is formed on one side of the first base 11 close to the first movable plate 12, and the first magnet assembly 15 is at least partially received in the first receiving groove 111 and connected and fixed to the first movable plate 12;

[0058] A second receiving groove 121 is formed on one side of the first movable plate 12 close to the first base 11. The first coil 161 assembly 16 is at least partially received in the second receiving groove 121 and is fixedly engaged with the first movable plate 12 and is opposite to the first magnet assembly 15.

[0059] At least one of the first base 11 and the first movable plate 12 is protruded toward the other to form a first protrusion 112 , so that a first air gap 113 is formed between the first magnet assembly 15 and the first coil 161 assembly 16 .

[0060] Specifically, the first magnet assembly 15 is at least partially embedded in the first receiving groove 111, so that the first magnet assembly 15 and the first base 11 are firmly connected, and the volume of the first magnet assembly 15 protruding relative to the first base 11 on the side corresponding to the first receiving groove 111 is reduced, thereby reducing the distance between the first movable plate 12 and the first base 11 in their relative directions, making the structure of the translation module 10 and even the alignment device 1 compact, and reducing the overall occupied volume of the alignment device 1. Preferably, the first magnet assembly 15 is completely accommodated in the first receiving groove 111.

[0061] Specifically, the first coil 161 component 16 is at least partially embedded in the second receiving groove 121, so that the first coil 161 component 16 and the first movable plate 12 are firmly connected, and the volume of the first coil 161 component 16 protruding relative to the first movable plate 12 on the side corresponding to the second receiving groove 121 is reduced, thereby reducing the distance between the first movable plate 12 and the first base 11 in their relative directions, making the structure of the translation module 10 and even the alignment device 1 compact, and reducing the overall occupied volume of the alignment device 1. Preferably, the first coil 161 component 16 is completely accommodated in the second receiving groove 121.

[0062] It should also be noted that at least one first protrusion 112 is provided. Based on the thickness of the first protrusion 112 itself, a first air gap 113 is formed between the first magnet assembly 15 and the first coil 161 assembly 16, which effectively avoids direct friction between the first magnet assembly 15 and the first coil 161 assembly 16 during relative movement, reduces heat generation and noise, and can dissipate the heat generated by the first magnet assembly 15 and the first coil 161 assembly 16 during operation through the first air gap 113, avoiding overheating of the first magnet assembly 15 and the first coil 161 assembly 16.

[0063] As Figure 4 Taking the structural explosion diagram shown as an example, the first base 11 is protruded toward the direction of the first movable plate 12 to form two first protrusions 112, wherein the two first protrusions 112 are located on opposite sides of the first base 11 in the first direction D1, and the thickness of each first protrusion 112 is greater than the sum of the height of the first magnet assembly 15 protruding relative to the first base 11 on the side corresponding to the first accommodating groove 111 and the height of the first coil 161 assembly 16 protruding relative to the first movable plate 12 on the side corresponding to the second accommodating groove 121, so as to ensure that a first air gap 113 is left between the first magnet assembly 15 and the first coil 161 assembly 16.

[0064] In some embodiments, the first base 11 forms a first guide rail 114 extending along the first direction D1 on one side close to the first movable plate 12 , and the first movable plate 12 forms a first slider 122 adapted to the first guide rail 114 in a direction close to the first base 11 .

[0065] Specifically, there is at least one first guide rail 114, and corresponding to each first guide rail 114, the first movable plate 12 is also provided with at least one matching slider, and the first guide rail 114 extends along the first direction D1 and is used to guide the movement of the corresponding first slider 122, so as to constrain the direction of relative movement of the first coil 161 component 16 and the first magnet component 15, and the direction of relative movement of the first substrate and the first movable plate 12 to the first direction D1, and avoid the first substrate and the first movable plate 12 from detaching, so that the translation module 10 has a firm structure.

[0066] In some embodiments, the first guide rail 114 is opened on the first protrusion 112 formed on the first base 11. Figure 2-4 In the structure of the first base 11 and the first movable plate 12 shown, the first base 11 is protruded in the direction of the first movable plate 12 to form two first protrusions 112, each of the two first protrusions 112 is provided with a first guide rail 114, that is, there are two first guide rails 114 in total, and first sliders 122 respectively adapted to the two first guide rails 114 are provided on opposite sides of the first movable plate 12.

[0067] In some embodiments, the first base 11 forms a first limiting portion 115 on a side close to the first movable plate 12, and the first movable plate 12 forms a second limiting portion 123 adapted to the first limiting portion 115 in a direction close to the first base 11 to limit the amplitude of the relative displacement between the first base 11 and the first movable plate 12 in the first direction D1.

[0068] For example, in Figure 2-4 In the structure of the first base 11 and the first movable plate 12 shown, the first base 11 is protruded in the direction of the first movable plate 12 to form two first protrusions 112, and each of the two first protrusions 112 is provided with a first guide rail 114 on the inner side and a first limiting portion 115 on the outer side, and the first movable plate 12 forms a second limiting portion 123 in the direction close to the first base 11 and on both sides of the first direction D1.

[0069] Exemplarily, the first limiting portion 115 and the second limiting portion 123 may be a combination of a notch and a slider, so as to limit the slider by the inner wall of the notch, thereby limiting the amplitude of the relative displacement between the first base 11 and the first movable plate 12 in the first direction D1.

[0070] It should be understood that limiting the relative displacement amplitude of the first base 11 and the first movable plate 12 in the first direction D1 can effectively prevent the first base and the first movable plate 12 from being separated during relative movement, thereby making the translation module 10 structure more reliable.

[0071] like Figure 4 As shown, in some embodiments, the first coil 161 assembly 16 includes at least two first coils 161 arranged along the first direction D1, the first magnet assembly 15 includes at least one group of first magnet groups 151 arranged along the first direction D1, and each first magnet group 151 includes two first magnet units 152 arranged along the first direction D1 and with different polarities.

[0072] Exemplarily, the first coil 161 assembly 16 includes three first coils 161 arranged along the first direction D1 and connected to the first movable plate 12, and the winding direction of each first coil 161 is the same. The first magnet assembly 15 includes two groups of first magnet groups 151 arranged along the first direction D1 and connected to the first base 11, and each first magnet group 151 includes two first magnet units 152 arranged along the first direction D1 and having different polarities, that is, one of the first magnet units 152 is an S-pole magnet unit, and the other first magnet unit 152 is an N-pole magnet unit, and in the two groups of first magnet groups 151, the S-pole magnet unit of one group of first magnet groups 151 is opposite to the N-pole magnet unit of the other group of first magnet groups 151.

[0073] The above-mentioned specific example of the first coil 161 component 16 and the first magnet component 15 is only a feasible implementation mode. It should be understood that other settings that enable the first coil 161 component 16 to move relative to the first magnet component 15 under the condition of input driving current should also fall within the scope of protection of this application.

[0074] See also Figure 5 , Figure 5 It is a structural exploded view of the first movable plate 12, the second movable plate 13 and the second driving mechanism 17 in the alignment device 1 provided in one embodiment of the present application.

[0075] In some embodiments, the second driving mechanism 17 includes a second magnet assembly 18 and a second coil assembly 19 disposed opposite to the second magnet assembly 18, wherein the second magnet assembly 18 is connected to one of the first movable plate 12 and the second movable plate 13, and the second magnet assembly 18 is connected to the other;

[0076] The second coil assembly 19 is configured to generate a second coil 191 magnetic field under the condition of inputting a driving current, so that the second magnet assembly 18 and the second coil assembly 19 move relative to each other under the action of the second coil 191 magnetic field and the second magnet magnetic field generated by the second magnet assembly 18, thereby driving the second movable plate 13 to move along the second direction D2 relative to the first movable plate 12.

[0077] It should be understood that the second direction D2 is a bidirectional direction, and the second movable plate 13 can be moved to either end of the second direction D2 relative to the first movable plate 12 .

[0078] Specifically, under the condition that the external driving current is input into the second coil component 19, the second coil component 19 and the second magnet component 18 interact with each other. If the second coil component 19 is fixed, the second magnet component 18 is forced to move along the second direction D2 in the magnetic field of the second coil 191 generated by the second coil component 19, wherein the force direction of the second magnet component 18 is related to the current direction of the driving current, and the force magnitude of the second magnet component 18 is related to the current magnitude of the driving current; if the second magnet component 18 is fixed, the second coil component 19 is forced to move along the second direction D2 in the second magnetic field generated by the second magnet component 18, wherein the force direction of the second magnet component 18 is related to the current direction of the driving current, and the force magnitude of the second magnet component 18 is related to the current magnitude of the driving current.

[0079] It should be noted that the second coil assembly 19 and the second magnet assembly 18 are respectively disposed on the first movable plate 12 and the second movable plate 13 .

[0080] As Figure 5Taking the exploded view of the structure as an example, the second magnet assembly 18 is connected and fixed to the side of the second movable plate 13 close to the first movable plate 12, and the second coil assembly 19 is connected and fixed to the side of the first movable plate 12 close to the second movable plate 13. Under the condition that the external driving current is input into the second coil assembly 19, the second magnet assembly 18 is forced to move along the second direction D2 in the magnetic field of the second coil 191 generated by the second coil assembly 19, and drives the second movable plate 13 connected to the second magnet assembly 18 and movably connected to the first movable plate 12 to move along the second direction D2.

[0081] In some embodiments, the translation module 10 further includes a second power line 126 plugged into the first movable plate 12 and electrically connected to the second coil assembly 19 , and the second coil assembly 19 is configured to receive a driving current through the second power line 126 .

[0082] Preferably, the first power line 125 and the second power line 126 are integrated into the same power line structure, and the first power line 125 and the second power line 126 are respectively used to output different driving currents to the first power line 125 and the second power line 126 to simplify the power line structure plugged into the first movable plate 12.

[0083] It should be understood that the second coil assembly 19 can also be connected and fixed to the side of the second movable plate 13 close to the first movable plate 12, and the second magnet assembly 18 can be connected and fixed to the side of the first movable plate 12 close to the second movable plate 13, so that the second coil assembly 19 is forced to move along the second direction D2 in the first magnetic field generated by the second magnet assembly 18.

[0084] In some embodiments, a third receiving groove 124 is formed on one side of the first movable plate 12 close to the second movable plate 13, and the second coil assembly 19 is at least partially received in the third receiving groove 124 and is fixedly engaged with the first movable plate 12;

[0085] A fourth receiving groove 131 is formed on one side of the second movable plate 13 close to the first movable plate 12 , and the second magnet assembly 18 is at least partially received in the fourth receiving groove 131 and connected and fixed to the second movable plate 13 , and opposite to the second coil assembly 19 ;

[0086] At least one of the first movable plate 12 and the second movable plate 13 is protruded toward the other to form a second protrusion, so that a second air gap 127 is formed between the second magnet assembly 18 and the second coil assembly 19 .

[0087] like Figure 5As shown, in some embodiments, the second coil assembly 19 includes at least two second coils 191 arranged along the second direction D2, the second magnet assembly 18 includes at least one second magnet group 181 arranged along the second direction D2, and each second magnet group 181 includes two magnet units arranged along the second direction D2 and with different polarities.

[0088] Exemplarily, the second coil assembly 19 includes three first coils 161 arranged along the second direction D2 and connected to the first movable plate 12, and the winding direction of each second coil 191 is the same. The second magnet assembly 18 includes two groups of second magnet groups 181 arranged along the second direction D2 and connected to the second movable plate 13, and each second magnet group 181 includes two second magnet units 182 arranged along the second direction D2 and having different polarities, that is, one of the second magnet units 182 is an S-pole magnet unit, and the other first magnet unit 152 is an N-pole magnet unit, and in the two groups of second magnet groups 181, the S-pole magnet unit of one group of second magnet groups 181 is opposite to the N-pole magnet unit of the other group of second magnet groups 181.

[0089] The above-mentioned specific example of the second coil assembly 19 and the second magnet assembly 18 is only a feasible implementation mode. It should be understood that other settings that enable the second coil assembly 19 to move relative to the second magnet assembly 18 under the condition of input driving current should also fall within the scope of protection of this application.

[0090] It should be noted that, similar to the reason for setting the first air gap 113, in order to prevent direct friction between the second coil assembly 19 and the second magnet assembly 18 during relative movement and reduce heat and noise, a second air gap 127 is also required to be set between the second coil assembly 19 and the second magnet assembly 18. The second air gap 127 can also be used to dissipate the heat generated by the second magnet assembly 18 and the second coil assembly 19 during operation to prevent overheating of the second magnet assembly 18 and the second coil assembly 19.

[0091] See also Figure 6 and Figure 7 , Figure 6 This is an exploded view of the structure of the rotating module 20 in the alignment device 1 provided in one embodiment of the present application. Figure 7 It is a schematic diagram of the arrangement of the third coil assembly 25 of the rotating module 20 in the alignment device 1 provided in one embodiment of the present application.

[0092] like Figure 6 and Figure 7As shown, in some embodiments, a rotation center portion 211 is formed on one side of the second base 21 close to the rotating platform 22. It should be noted that when the third driving mechanism 23 drives the rotating platform 22 to rotate relative to the second base 21, it specifically drives the rotating platform 22 to rotate around the rotation center portion 211 of the second base 21 by a certain angle.

[0093] More specifically, the third driving mechanism 23 includes:

[0094] The third coil assembly 25 is connected to the second base 21 and is disposed on the peripheral side of the rotation center portion 211;

[0095] The third magnet assembly 24 is connected to a side of the rotating platform 22 close to the second base 21 and opposite to the third coil assembly 25, and the third magnet assembly 24 is sleeved on the rotating center portion 211;

[0096] Among them, the third coil assembly 25 is configured to generate a third coil magnetic field under the condition of input driving current, so that the third magnet assembly 24 and the third coil assembly 25 can move relative to each other around the rotation center 211 under the action of the third coil magnetic field and the third magnet magnetic field generated by the third magnet assembly 24, thereby driving the rotating platform 22 to move around the rotation center 211.

[0097] It should be noted that, under the condition that the external driving current is input into the third coil assembly 25, the third coil assembly 25 and the third magnet assembly 24 interact with each other. The third coil assembly 25 is fixedly connected to the second base 21, and the third magnet assembly 24 is rotated around the rotation center in the third coil magnetic field generated by the third coil assembly 25, thereby driving the rotating platform 22 to rotate a certain angle relative to the second base 21, wherein the force direction of the third magnet assembly 24 is related to the current direction of the driving current, and the force magnitude of the third magnet assembly 24 is related to the current magnitude of the driving current.

[0098] In some embodiments, a rotation accommodating groove 212 is formed on one side of the second base 21 close to the rotation platform 22 around the circumference of the rotation center portion 211;

[0099] The third coil assembly 25 includes a coil housing 252 and a plurality of third coils 251, wherein the coil housing 252 is accommodated in the rotation accommodating groove 212 and forms a fixed fit with the rotating platform 22, and the coil housing 252 forms a coil isolation cavity (inside the coil housing 252, not shown in the figure), and the plurality of third coils 251 are accommodated in the coil isolation cavity and are arranged in a ring around the rotating center portion 211;

[0100] The third magnet assembly 24 includes a plurality of third magnet units 241 connected to a side of the rotating platform 22 close to the second base 21 and arranged in a ring shape around the rotating platform 22 .

[0101] Specifically, the coil housing 252 is used to cover the third coil 251 and protect the third coil 251. It should be understood that the arrangement of the coil housing 252 can avoid direct friction when the third coil 251 and the third magnet assembly 24 move relative to each other, thereby reducing heat and noise.

[0102] It should be noted that the N poles of each third magnet unit 241 in the third magnet assembly 24 are all facing outward or inward, while the S poles are all facing the other side different from the N pole. Exemplarily, the N poles of each third magnet unit 241 in the third magnet assembly 24 are facing the side close to the rotation center 211, and the S poles are facing the side away from the rotation center 211; or, exemplarily, the S poles of each third magnet unit 241 in the third magnet assembly 24 are facing the side close to the rotation center 211, and the N poles are facing the side away from the rotation center 211.

[0103] It should also be noted that a plurality of third coils 251 are arranged in a ring around the rotating center portion 211, and a plurality of third magnet units 241 are arranged in a ring around the rotating platform 22, which can ensure uniform force on the third magnet assembly 24 and even the rotating platform 22, and can accurately and sensitively drive the rotating platform 22 to rotate to the required rotation angle, thereby ensuring the accuracy of the positioning.

[0104] In summary, the embodiment of the present application provides a positioning device 1, including: a translation module 10, including a first base 11 for providing support, a first movable plate 12 movably connected to the first base 11, a second movable plate 13 movably connected to the first movable plate 12, a first driving mechanism 14 and a second driving mechanism 17, wherein the first driving mechanism 14 is used to drive the first movable plate 12 to move in a first direction D1 relative to the first base 11, and the second driving mechanism 17 is used to drive the second movable plate 13 to move in a second direction D2 different from the first direction D1 relative to the first movable plate 12; a rotation module 20, including a second base 21 connected to the second movable plate 13, a rotating platform 22 movably connected to the second base 21, and a third driving mechanism 23 for driving the rotating platform 22 to rotate relative to the second base 21, and the rotating platform 22 forms a workpiece calibration position for placing a target workpiece. The alignment device 1 provided in the embodiment of the present application improves the speed and flexibility of aligning a target workpiece and even performing a processing flow on the target workpiece, and can effectively improve the structural compactness of the alignment device 1 and reduce the volume occupied by related equipment and the redundancy.

[0105] The above description is only a specific embodiment 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 various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

[0106] It should be understood that the terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. As used in the specification of this application and the appended claims, the singular forms of "one", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. As used herein, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements that are inherent to such process, method, article, or system.

Claims

1. A positioning device, characterized in that: include: A translation module, comprising a first base for providing support, a first movable plate movably connected to the first base, a second movable plate movably connected to the first movable plate, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first movable plate to move in a first direction relative to the first base, and the second driving mechanism is used to drive the second movable plate to move in a second direction different from the first direction relative to the first movable plate; The rotating module includes a second base connected to the second movable plate, a rotating platform movably connected to the second base, and a third driving mechanism for driving the rotating platform to rotate relative to the second base, and the rotating platform forms a workpiece calibration position for placing a target workpiece.

2. The alignment device according to claim 1, characterized in that: The first driving mechanism includes a first magnet component and a first coil component disposed opposite to the first magnet component, wherein the first magnet component is connected to one of the first base and the first movable plate, and the first magnet component is connected to the other; The first coil assembly is configured to generate a first coil magnetic field under the condition of inputting a driving current, so that the first magnet assembly and the first coil assembly move relative to each other under the action of the first coil magnetic field and the first magnet magnetic field generated by the first magnet assembly, thereby driving the first movable plate to move along the first direction relative to the first base.

3. The alignment device according to claim 2, characterized in that: A first receiving groove is formed on one side of the first base close to the first movable plate, and the first magnet assembly is at least partially received in the first receiving groove and connected and fixed to the first movable plate; A second accommodating groove is formed on one side of the first movable plate close to the first base, and the first coil assembly is at least partially accommodated in the second accommodating groove and is fixedly engaged with the first movable plate and is opposite to the first magnet assembly; Wherein, at least one of the first base and the first movable plate is protruded toward the other to form a first protrusion, so that a first air gap is formed between the first magnet component and the first coil component.

4. The alignment device according to claim 2, characterized in that: The first base forms a first guide rail extending along the first direction on a side close to the first movable plate, and the first movable plate forms a first sliding block adapted to the first guide rail in a direction close to the first base.

5. The alignment device according to claim 4, characterized in that: The first base forms a first limiting portion on one side close to the first movable plate, and the first movable plate forms a second limiting portion matched with the first limiting portion in a direction close to the first base to limit the amplitude of relative displacement between the first base and the first movable plate in the first direction.

6. The alignment device according to claim 2, characterized in that: The first coil assembly includes at least two first coils arranged along the first direction, the first magnet assembly includes at least one first magnet group arranged along the first direction, and each first magnet group includes two first magnet units arranged along the first direction and having different polarities.

7. The alignment device according to claim 1, characterized in that: The second driving mechanism comprises a second magnet assembly and a second coil assembly arranged opposite to the second magnet assembly, wherein the second magnet assembly is connected to one of the first movable plate and the second movable plate, and the second magnet assembly is connected to the other one; The second coil assembly is configured to generate a second coil magnetic field under the condition of inputting a driving current, so that the second magnet assembly and the second coil assembly move relative to each other under the action of the second coil magnetic field and the second magnet magnetic field generated by the second magnet assembly, thereby driving the second movable plate to move along the second direction relative to the first movable plate.

8. The alignment device according to claim 7, characterized in that: The second coil assembly includes at least two second coils arranged along the second direction, the second magnet assembly includes at least one second magnet group arranged along the second direction, and each second magnet group includes two magnet units arranged along the second direction and having different polarities.

9. The alignment device according to any one of claims 1 to 8, characterized in that: A side of the second base close to the rotating platform forms a rotating center portion, and the third driving mechanism includes: A third coil assembly connected to the second base and disposed on the peripheral side of the rotation center; A third magnet assembly is connected to a side of the rotating platform close to the second base and opposite to the third coil assembly, and the third magnet assembly is sleeved on the rotating center; Among them, the third coil assembly is configured to generate a third coil magnetic field under the condition of input driving current, so that the third magnet assembly and the third coil assembly can move relative to each other around the rotation center under the action of the third coil magnetic field and the third magnet magnetic field generated by the third magnet assembly, thereby driving the rotating platform to move around the rotation center.

10. The alignment device according to claim 9, characterized in that: A rotation accommodating groove is formed on one side of the second base close to the rotation platform around the circumference of the rotation center portion; The third coil assembly includes a coil housing and a plurality of third coils, wherein the coil housing is accommodated in the rotation accommodating groove and forms a fixed fit with the rotation platform, and the coil housing forms a coil isolation cavity, and the plurality of third coils are accommodated in the coil isolation cavity and are arranged in a ring around the rotation center; The third magnet assembly includes a plurality of third magnet units connected to a side of the rotating platform close to the second base and arranged in a ring shape around the rotating platform.

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