Driving platform with embedded linear motor

Abstract

The utility model discloses a driving platform with an embedded linear motor. The driving platform comprises a sliding table; the tops of the left upper X-axis displacement table, the middle upper Y-axis displacement table and the right upper X-axis displacement table are all provided with first sliding pieces rotationally connected with the sliding table, and the first sliding pieces can move in the X-axis direction, the Y-axis direction and the X-axis direction respectively; linear motors are embedded in the left lower Y-axis displacement table, the middle lower X-axis displacement table and the right lower Y-axis displacement table, and second sliding pieces connected with rotors of the linear motors are arranged at the tops of the linear motors. And the movable connecting rods can be movably connected to the bottom of the upper left X-axis displacement table in the Y-axis direction, can be movably connected to the bottom of the upper middle Y-axis displacement table in the X-axis direction, and can be movably connected to the bottom of the upper right X-axis displacement table in the Y-axis direction. According to the driving platform with the embedded linear motor, the linear motor serves as a power source, so that the driving platform is low in production cost, more convenient to assemble, high in control reliability and more concise and light in structure.

Description

Technical Field

[0001] The utility model relates to the technical field of driving platforms, and more specifically, to a driving platform with an embedded linear motor. Background Art

[0002] The driving platform is used to drive the carried load to rotate. At present, most driving platforms use servo motors as power sources. Among them, a servo motor mainly consists of an electromagnet winding or distributed stator winding for generating a magnetic field and a rotating armature or rotor. It can convert a voltage signal into torque and speed, and drive transmission components (such as lead screws, belts, etc.) through the output shaft to drive the controlled object. It can be seen from this that the servo motor has a complex structure and a large weight, which not only makes the assembly of the driving platform more cumbersome and complex, and makes it easy to make mistakes in the assembly of the driving platform so that the load cannot be accurately controlled to rotate in place, but also makes the driving platform have a complex structure, a large weight and a high production cost.

[0003] In summary, how to provide a driving platform with an embedded linear motor, so that it has a low production cost, is more convenient to assemble, has a more reliable control, a more concise and lightweight structure, is an urgent problem to be solved by those skilled in the art at present. Summary of the Utility Model

[0004] In view of this, the purpose of the utility model is to provide a driving platform with an embedded linear motor. The driving platform with an embedded linear motor uses a linear motor as a power source, so that the driving platform has a low production cost, is more convenient to assemble, has a high reliability of control, and a more concise and lightweight structure.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A driving platform with an embedded linear motor, comprising:

[0007] A sliding table;

[0008] A left upper X-axis displacement table, a middle upper Y-axis displacement table, and a right upper X-axis displacement table. The tops of all three are provided with a first sliding member rotatably connected to the sliding table. And the first sliding member of the left upper X-axis displacement table can move along the X-axis direction, the first sliding member of the middle upper Y-axis displacement table can move along the Y-axis direction, and the first sliding member of the right upper X-axis displacement table can move along the X-axis direction;

[0009] The left - lower Y - axis displacement stage, the middle - lower X - axis displacement stage, and the right - lower Y - axis displacement stage all have linear motors embedded inside, and all have second sliding members provided on the top and connected to the movers of the linear motors. The second sliding member of the left - lower Y - axis displacement stage is connected to the bottom of the left - upper X - axis displacement stage and can move along the Y - axis direction. The second sliding member of the middle - lower X - axis displacement stage is connected to the bottom of the middle - upper Y - axis displacement stage and can move along the X - axis direction. The second sliding member of the right - lower Y - axis displacement stage is connected to the right - upper X - axis displacement stage and can move along the Y - axis direction.

[0010] Preferably, the left - upper X - axis displacement stage, the middle - upper Y - axis displacement stage, and the right - upper X - axis displacement stage all include a fixed plate and the first sliding member. A pair of first guide rails are provided on the fixed plate, and the pair of first guide rails are spaced apart to form a sliding channel. The first sliding member includes a first slide plate and a first slider provided thereon, and the first slider can be slidably inserted into the sliding channel.

[0011] Among them, the sliding channels in the left - upper X - axis displacement stage and the right - upper X - axis displacement stage both extend along the X - axis direction, and the sliding channel in the middle - upper Y - axis displacement stage extends along the Y - axis direction.

[0012] Preferably, a rotating shaft is further provided on the first slide plate, and a collar fixedly connected to the slide table is sleeved on the rotating shaft.

[0013] Preferably, the first guide rail is a crossed roller guide rail. The crossed roller guide rail includes two guide rails and cylindrical rollers. A V - shaped raceway is formed between the two guide rails, and a plurality of cylindrical rollers are cross - arranged in the V - shaped raceway and are in rolling contact with the first slide plate.

[0014] Preferably, the left - lower Y - axis displacement stage and the right - lower Y - axis displacement stage both include a Y - axis fixed block and a first - type second sliding member. The first - type second sliding member includes a second slide plate and a second slider provided thereon.

[0015] The mover and the stator of the linear motor are respectively arranged on two opposite walls of the second slide plate facing the Y - axis fixed block, and a second guide rail extending along the Y - axis direction is provided on the Y - axis fixed block, and the second guide rail is slidably connected to the second slider.

[0016] Preferably, the second slide plate is in an inverted L shape. A groove is provided on one side of the Y-axis fixing block facing the second slide plate. The stator is placed in the groove and is in clearance fit with the rotor placed on the side section of the Y-axis fixing block. The top section of the second slide plate and the top end face of the Y-axis fixing block are respectively provided with a second slider and a second guide rail that are slidably connected. The bottom of the side section of the second slide plate and the bottom of the side end face of the Y-axis fixing block are respectively provided with a second slider and a second guide rail that are slidably connected.

[0017] Preferably, first absolute grating encoders and first absolute grating scales that are used in cooperation are respectively provided on two opposite walls of the second slide plate and the Y-axis fixing block.

[0018] Preferably, the middle and lower X-axis displacement stage includes an X-axis fixing table and a second type of second sliding member. The second type of second sliding member includes a third slide plate and third sliders symmetrically arranged on both sides of its end face. Two third guide rails that are respectively slidably connected to the two third sliders in a one-to-one correspondence are respectively provided on both sides of the end face of the X-axis fixing table, and the third guide rails extend along the X-axis direction. The mover and stator of the linear motor are respectively arranged on two opposite end faces of the third slide plate and the X-axis fixing table.

[0019] Preferably, second absolute grating encoders and second absolute grating scales that are used in cooperation are respectively provided on the side walls of the third slide plate and the X-axis fixing table on the same side.

[0020] Preferably, the lower left Y-axis displacement stage, the middle and lower X-axis displacement stage, and the lower right Y-axis displacement stage are integrally arranged on a base opposite to the slide table.

[0021] When the driving platform with an embedded linear motor provided by the utility model is in use, the load is placed on the sliding table. If the sliding table needs to rotate counterclockwise around the rotation axis between it and the first sliding member of the upper left X-axis position table, the linear motors of the middle lower X-axis displacement table and the lower right Y-axis displacement table are started, so that the second sliding member of the middle lower X-axis displacement table drives the middle upper Y-axis displacement table to move in the reverse direction of the X-axis. At this time, the first sliding members of the upper left X-axis displacement table and the upper right X-axis displacement table both move in the reverse direction of the X-axis, and the second sliding member of the lower right Y-axis displacement table drives the upper right X-axis displacement table to move in the positive direction of the Y-axis. At this time, the first sliding member of the middle upper Y-axis displacement table moves in the positive direction of the Y-axis, so as to realize the counterclockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the upper left X-axis position table. Similarly, on the contrary, the clockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the upper left X-axis position table is realized; if the sliding table needs to rotate counterclockwise around the rotation axis between it and the first sliding member of the middle upper Y-axis displacement table, the linear motors of the lower left Y-axis displacement table and the lower right Y-axis displacement table are started, so that the second sliding member of the lower left Y-axis displacement table drives the upper left X-axis displacement table to move in the reverse direction of the Y-axis, and the second sliding member of the lower right Y-axis displacement table drives the upper right X-axis displacement table to move in the positive direction of the Y-axis, so as to realize the counterclockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the middle upper Y-axis displacement table. Similarly, on the contrary, the clockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the middle upper Y-axis displacement table is realized; if the sliding table needs to rotate counterclockwise around the rotation axis between it and the first sliding member of the upper right X-axis displacement table, the linear motors of the lower left Y-axis displacement table and the middle lower X-axis displacement table are started, so that the second sliding member of the lower left Y-axis displacement table drives the upper left X-axis displacement table to move in the positive direction of the Y-axis. At this time, the first sliding member of the middle upper Y-axis displacement table moves in the positive direction of the Y-axis, and the second sliding member of the middle lower X-axis displacement table drives the middle upper Y-axis displacement table to move in the positive direction of the X-axis. At this time, the first sliding members of the upper left X-axis displacement table and the upper right X-axis displacement table both move in the positive direction of the X-axis, so as to realize the counterclockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the upper right X-axis displacement table. Similarly, on the contrary, the clockwise rotation of the sliding table around the rotation axis between it and the first sliding member of the upper right X-axis displacement table is realized.

[0022] In summary, the three lower displacement tables are embedded with linear motors as the power source. On the one hand, it saves the cost of the driving platform, makes the assembly of the driving platform more convenient, and the structure more concise and lightweight. On the other hand, the rotation position of the sliding table can be accurately controlled by controlling the movement of the three upper displacement tables to ensure that the load placed on the sliding table rotates in place, improving the control reliability of the driving platform. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0024] Figure 1 It is the assembly drawing of a driving platform with an embedded linear motor provided by the present invention;

[0025] Figure 2 It is the exploded view of a driving platform with an embedded linear motor provided by the present invention;

[0026] Figure 3 It is the assembly drawing of the upper left X-axis displacement table provided by the present invention;

[0027] Figure 4 It is the exploded view of the upper left X-axis displacement table provided by the present invention;

[0028] Figure 5 It is the assembly drawing of the lower left Y-axis displacement table provided by the present invention;

[0029] Figure 6 It is the exploded view of the lower left Y-axis displacement table provided by the present invention;

[0030] Figure 7 It is the assembly drawing of the middle lower X-axis displacement table provided by the present invention;

[0031] Figure 8 It is the exploded view of the middle lower X-axis displacement table provided by the present invention.

[0032] Reference numerals:

[0033] 1 - Slide table; 2 - Upper left X-axis displacement table; 3 - Middle upper Y-axis displacement table; 4 - Upper right X-axis displacement table; 5 - Lower left Y-axis displacement table; 6 - Middle lower X-axis displacement table; 7 - Lower right Y-axis displacement table; 8 - Stator; 9 - Rotor; 10 - Base;

[0034] 21 - First sliding member; 211 - First sliding plate; 212 - First slider; 213 - Rotating shaft; 214 - Collar; 21UL - Upper left X-axis sliding member; 21UM - Middle upper Y-axis sliding member; 21UR - Upper right X-axis sliding member;

[0035] 22 - Fixed plate; 221 - First guide rail; 222 - Sliding channel;

[0036] 51 - The first type of second sliding member; 511 - Second sliding plate; 512 - Second slider; 513 - First encoder fixing member; 514 - First absolute grating encoder; 51DL - Lower left Y-axis sliding member; 51DR - Lower right Y-axis sliding member;

[0037] 52 - Y-axis fixing block; 521 - Second guide rail; 522 - Groove; 523 - First absolute grating scale; 524 - First limit block;

[0038] 61 - The second type of second sliding member; 611 - Third sliding plate; 612 - Third slider; 613 - Second encoder fixing member; 614 - Second absolute grating encoder; 615 - Rotor power cord fixing member; 61DM - Middle lower X-axis sliding member;

[0039] 62 - X-axis fixing table; 621 - Third guide rail; 622 - Second absolute grating scale; 623 - Second limit block;

[0040] 91 - Rotor power cord. Detailed implementation mode

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] The core of the present invention is to provide a driving platform with an embedded linear motor. The driving platform with an embedded linear motor uses the linear motor as the power source, making the driving platform have low production cost, more convenient assembly, high control reliability, and a more concise and lightweight structure.

[0043] It should be noted that in this embodiment, the orientation or positional relationship indicated by "up", "down", "front", "rear", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0044] Please refer to Figure 1 and Figure 2 , the present application provides a driving platform with an embedded linear motor, including a sliding table 1, an upper left X-axis displacement table 2, a middle upper Y-axis displacement table 3, an upper right X-axis displacement table 4, a lower left Y-axis displacement table 5, a middle lower X-axis displacement table 6, and a lower right Y-axis displacement table 7.

[0045] The upper left X-axis displacement stage 2, the middle upper Y-axis displacement stage 3, and the upper right X-axis displacement stage 4 are all provided with a first sliding member 21 rotatably connected to the sliding stage 1 at their tops. The first sliding member 21 of the upper left X-axis displacement stage 2 can move along the X-axis direction, the first sliding member 21 of the middle upper Y-axis displacement stage 3 can move along the Y-axis direction, and the first sliding member 21 of the upper right X-axis displacement stage 4 can move along the X-axis direction.

[0046] The lower left Y-axis displacement stage 5, the middle lower X-axis displacement stage 6, and the lower right Y-axis displacement stage 7 all have a linear motor embedded inside and a second sliding member connected to the mover 9 of the linear motor at their tops. The second sliding member of the lower left Y-axis displacement stage 5 is connected to the bottom of the upper left X-axis displacement stage 2 and can move along the Y-axis direction. The second sliding member of the middle lower X-axis displacement stage 6 is connected to the bottom of the middle upper Y-axis displacement stage 3 and can move along the X-axis direction. The second sliding member of the lower right Y-axis displacement stage 7 is connected to the upper right X-axis displacement stage 4 and can move along the Y-axis direction.

[0047] It should be noted that the lower left Y-axis displacement stage 5, the middle lower X-axis displacement stage 6, and the lower right Y-axis displacement stage 7 are arranged at intervals in sequence along the X-axis direction. These three lower displacement stages all have a linear motor embedded inside and a second sliding member connected to the mover 9 at their tops, namely the lower left Y-axis sliding member 51DL, the middle lower X-axis sliding member 61DM, and the lower right Y-axis sliding member 51DR, as Figure 2 shown. The upper left X-axis displacement stage 2, the middle upper Y-axis displacement stage 3, and the upper right X-axis displacement stage 4 are respectively located above the lower left Y-axis displacement stage 5, the middle lower X-axis displacement stage 6, and the lower right Y-axis displacement stage 7 in one-to-one correspondence. The bottoms of these three upper displacement stages are respectively fixed on the lower left Y-axis sliding member 51DL, the middle lower X-axis sliding member 61DM, and the lower right Y-axis sliding member 51DR. Under the driving action of the mover 9 of the linear motor, the lower left Y-axis sliding member 51DL can drive the upper left X-axis displacement stage 2 to move along the Y-axis direction, the middle lower X-axis sliding member 61DM can drive the middle upper Y-axis displacement stage 3 to move along the X-axis direction, and the lower right Y-axis sliding member 51DR can drive the upper right X-axis displacement stage 4 to move along the Y-axis direction; in addition, the tops of the three upper displacement stages are all provided with a first sliding member 21, namely the upper left X-axis sliding member 21UL arranged to move along the X-axis direction, the middle upper Y-axis sliding member 21UM arranged to move along the Y-axis direction, and the upper right X-axis sliding member 21UR arranged to move along the X-axis direction, as Figure 2 shown. The three are respectively rotatably connected to the left side, the middle, and the right side of the bottom end of the sliding stage 1 through a rotating shaft 213, and the top end of the sliding stage 1 is used to carry the load to be driven.

[0048] In this way, when the driving platform with the built-in linear motor adopting the above structure is in use, the load to be driven is placed on the sliding table 1. If it is necessary to rotate the sliding table 1 counterclockwise around the rotating shaft 213 between it and the upper left X-axis sliding member 21UL, the linear motors of the middle lower X-axis displacement table 6 and the lower right Y-axis displacement table 7 are started, so that the middle lower X-axis sliding member 61DM drives the middle upper Y-axis displacement table 3 to move in the reverse X-axis direction. At this time, both the upper left X-axis sliding member 21UL and the upper right X-axis sliding member 21UR move in the reverse X-axis direction, and the lower right Y-axis sliding member 51DR drives the upper right X-axis displacement table 4 to move in the positive Y-axis direction. At this time, the middle upper Y-axis sliding member 21UM moves in the positive Y-axis direction, so as to realize the counterclockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the upper left X-axis sliding member 21UL. Similarly, conversely, the clockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the upper left X-axis sliding member 21UL is realized;

[0049] If it is necessary to rotate the sliding table 1 counterclockwise around the rotating shaft 213 between it and the middle upper Y-axis sliding member 21UM, the linear motors of the lower left Y-axis displacement table 5 and the lower right Y-axis displacement table 7 are started, so that the lower left Y-axis sliding member 51DL drives the upper left X-axis displacement table 2 to move in the reverse Y-axis direction, and the lower right Y-axis sliding member 51DR drives the upper right X-axis displacement table 4 to move in the positive Y-axis direction, so as to realize the counterclockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the middle upper Y-axis sliding member 21UM. Similarly, conversely, the clockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the middle upper Y-axis sliding member 21UM is realized;

[0050] If it is necessary to rotate the sliding table 1 counterclockwise around the rotating shaft 213 between it and the upper right X-axis sliding member 21UR, the linear motors of the lower left Y-axis displacement table 5 and the middle lower X-axis displacement table 6 are started, so that the lower left Y-axis sliding member 51DL drives the upper left X-axis displacement table 2 to move in the positive Y-axis direction. At this time, the middle upper Y-axis sliding member 21UM moves in the positive Y-axis direction, and the middle lower X-axis sliding member 61DM drives the middle upper Y-axis displacement table 3 to move in the positive X-axis direction. At this time, both the upper left X-axis sliding member 21UL and the upper right X-axis sliding member 21UR move in the positive X-axis direction, so as to realize the counterclockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the upper right X-axis sliding member 21UR. Similarly, conversely, the clockwise rotation of the sliding table 1 around the rotating shaft 213 between it and the upper right X-axis sliding member 21UR is realized.

[0051] To sum up, the three lower displacement tables are embedded with linear motors as the power source. On the one hand, the cost of the driving platform is saved, and the assembly of the driving platform is more convenient, and the structure is more concise and lightweight. On the other hand, the rotation position of the sliding table 1 can be accurately controlled by controlling the movement of the three upper displacement tables to ensure that the load placed on the sliding table 1 rotates in place, improving the control reliability of the driving platform.

[0052] Preferably, the lower left Y-axis displacement stage 5, the middle lower X-axis displacement stage 6, and the lower right Y-axis displacement stage 7 are integrally arranged on the base 10 opposite to the slide table 1, so that the three upper displacement stages and the three lower displacement stages form a driving platform with a compact overall structure, facilitating the moving and installation of the driving platform.

[0053] Considering the specific installation methods of the first sliding member 21 on the upper left X-axis displacement stage 2, the middle upper Y-axis displacement stage 3, and the upper right X-axis displacement stage 4 respectively, on the basis of the above embodiments, the upper left X-axis displacement stage 2, the middle upper Y-axis displacement stage 3, and the upper right X-axis displacement stage 4 all include a fixing plate 22 and a first sliding member 21.

[0054] Among them, the structures of the upper left X-axis displacement stage 2, the upper right X-axis displacement stage 4, and the upper right X-axis displacement stage 4 are the same. Taking the upper left X-axis displacement stage 2 as an example for illustration, please refer to Figure 3 and Figure 4 , its fixing plate 22 is fixed on the lower left Y-axis sliding member 51DL. The first sliding member 21 of the upper left X-axis displacement stage 2, that is, the upper left X-axis sliding member 21UL, is composed of a first sliding plate 211 and a first slider 212. The top surface of the first sliding plate 211 is rotatably connected to the slide table 1, and the bottom surface is integrally processed with the first slider 212. And the fixing plate 22 is located below the first sliding plate 211, and a pair of first guide rails 221 are arranged on its top surface, and the two are spaced apart to form a sliding channel 222 for the first slider 212 to slide and insert. In this way, even when the fixing plate 22 and the lower left Y-axis sliding member 51DL have no relative movement, if the slide table 1 is subjected to a pulling force in the X-axis direction, it can drive the upper left X-axis sliding member 21UL to move in the X-axis direction.

[0055] It should be noted that the sliding channels 222 in the upper left X-axis displacement stage 2 and the upper right X-axis displacement stage 4 and the first sliders 212 adapted to be inserted thereinto all extend in the X-axis direction, while the sliding channels 222 in the middle upper Y-axis displacement stage 3 and the first sliders 212 adapted to be inserted thereinto all extend in the Y-axis direction.

[0056] Considering the specific installation methods of the slide table 1 and the first sliding member 21, on the basis of the above embodiments, please refer to Figure 4 , the top surfaces of the first sliding plates 211 in the upper left X-axis sliding member 21UL, the middle upper Y-axis sliding member 21UM, and the upper right X-axis sliding member 21UR are all provided with rotating shafts 213, and shaft collars 214 fixedly connected to the slide table 1 are sleeved on the rotating shafts 213. The shaft collars 214 can play a role in axially positioning the slide table 1, providing a stable supporting effect for the slide table 1.

[0057] Preferably, the first guide rail 221 is a crossed roller guide rail. The crossed roller guide rail includes two guide rails and cylindrical rollers. A V-shaped raceway is formed between the two guide rails, and a plurality of cylindrical rollers are arranged crosswise in the V-shaped raceway and are in rolling contact with the first sliding plate 211.

[0058] It is understandable that, on the one hand, a pair of crossed roller guides are spaced apart to form a sliding channel 222 to guide and restrict the movement of the first slider 21 in a specified direction, thereby ensuring the accuracy of the rotational positioning of the slide table 1; on the other hand, the crossed roller guides have a strong load-bearing capacity to provide stable support for the first slider 21. At the same time, the cylindrical rollers are in rolling contact with the first slide plate 211 of the first slider 21, which is beneficial to reducing the friction force on the first slide plate 211, thereby increasing the service life of the first slider 21.

[0059] It should be noted that the structures of the lower left Y-axis displacement stage 5 and the lower right Y-axis displacement stage 7 are the same, and their structures are the same as that of the middle lower X-axis displacement stage 6.

[0060] In addition, the second slider in the lower left Y-axis displacement stage 5 and the lower right Y-axis displacement stage 7 is the first type of second slider 51, while the second slider in the middle lower X-axis displacement stage 6 is the second type of second slider 61, and the structures of the two types of second sliders are different.

[0061] Considering the specific structures of the lower left Y-axis displacement stage 5 and the lower right Y-axis displacement stage 7, on the basis of the above embodiments, please refer to Figure 5 and Figure 6 , taking the lower left Y-axis displacement stage 5 as an example for illustration. The lower left Y-axis displacement stage 5 includes a Y-axis fixed block 52 and the first type of second slider 51. The first type of second slider 51 includes a second slide plate 511 and a second slider 512 provided thereon; on the two walls of the second slide plate 511 opposite to the Y-axis fixed block 52, the mover 9 and the stator 8 of the linear motor are respectively arranged, and a second guide rail 521 extending in the Y-axis direction is provided on the Y-axis fixed block 52, and the second guide rail 521 is slidably connected to the second slider 512. In this way, the mover 9 drives the first type of slider to move in the Y-axis direction, so that the second slider 512 slides along the second guide rail 521 on the Y-axis fixed block 52. The sliding cooperation between the second guide rail 521 and the first slider 212 can play a guiding role, thereby ensuring that the upper left X-axis displacement stage 2 or the upper right X-axis displacement stage 4 can move accurately in the Y direction, and further ensuring the accuracy of the rotational positioning of the slide table 1.

[0062] To make the structures of the lower left Y-axis displacement stage 5 and the lower right Y-axis displacement stage 7 more compact, on the basis of the above embodiments, please refer to Figure 6, the second slide plate 511 is in an inverted L shape. A groove 522 is provided on the side of the Y-axis fixing block 52 facing the second slide plate 511. The stator 8 is placed in the groove 522 and is in clearance fit with the rotor 9 placed on the side section of the Y-axis fixing block 52. Moreover, a second slider 512 and a second guide rail 521 which are slidably connected are respectively arranged on the top section of the second slide plate 511 and the top end surface of the Y-axis fixing block 52, and a second slider 512 and a second guide rail 521 which are slidably connected are respectively arranged at the bottom of the side section of the second slide plate 511 and the bottom of the side end surface of the Y-axis fixing block 52. It should be noted that the top section of the second slide plate 511 is connected to the fixing plate 22 in the upper left X-axis displacement stage 2 or the upper right X-axis displacement stage 4 to support the upper left X-axis displacement stage 2 and the upper right X-axis displacement stage 4, and further support the left side and the right side of the slide table 1.

[0063] As can be seen from the above structure, both sections of the inverted L-shaped second slide plate 511 are buckled on the Y-axis fixing block 52 through the second sliders 512 which are slidably matched with the second slide rails to form a table-like structure with an accommodating space. It can not only stably support the upper left X-axis displacement stage 2 and the upper right X-axis displacement stage 4, but also enable electrical components such as the stator 8 and the rotor 9 to be safely and stably placed in the accommodating space. In addition, the stator 8 is placed in the groove 522 of the Y-axis fixing block 52, reducing the accommodating space, making the structures of the lower left Y-axis displacement stage 5 and the lower right Y-axis displacement stage 7 more compact, so as to further improve the structural compactness of the driving platform.

[0064] To accurately control the Y-axis moving stroke of the lower left Y-axis sliding member 51DL and the lower right Y-axis sliding member 51DR, on the basis of the above embodiment, please refer to Figure 6 , a first absolute grating encoder 514 and a first absolute grating scale 523 which are used in cooperation are respectively provided on two opposite walls of the second slide plate 511 and the Y-axis fixing block 52.

[0065] Specifically, a first encoder fixing member 513 is arranged on the side section of the second slide plate 511. The first absolute grating encoder 514 is installed on the first encoder fixing member 513, and the first absolute grating scale 523 is attached to the side wall of the Y-axis fixing block 52 facing the second slide plate 511. In this way, the first absolute grating encoder 514 moves along with the second slide plate 511. The first absolute grating encoder 514 measures the absolute position of the first type of second sliding member 51, that is, the lower left Y-axis sliding member 51DL or the lower right Y-axis sliding member 51DR, by scanning the dedicated coding track of the first absolute grating scale 523 with light. And the first absolute grating encoder 514 is electrically connected to the controller and is used to transmit the moving stroke of the first type of second sliding member 51 to the controller. If the moving stroke reaches the preset stroke, the controller controls the rotor 9 of the linear motor to cut off the power to stop the movement of the first type of second sliding member 51, so as to accurately control the Y-axis moving stroke of the lower left Y-axis sliding member 51DL and the lower right Y-axis sliding member 51DR, and further facilitate the accurate control of the rotational positioning of the slide table 1.

[0066] Optionally, please refer to Figure 6 , a first limiting block 524 is arranged on the periphery of the sliding path of the second slider 512 of the Y-axis fixing block 52 to limit the sliding stroke of the second slider 512 and prevent the first type of second sliding member 51 from sliding off.

[0067] Considering the specific structure of the middle and lower X-axis displacement stage 6, on the basis of the above embodiments, please refer to Figure 7 and Figure 8 , the middle and lower X-axis displacement stage 6 includes an X-axis fixed stage 62 and a second type of second sliding member 61. The second type of second sliding member 61 includes a third sliding plate 611 and third sliders 612 symmetrically arranged on both sides of its end face. Two third guide rails 621 slidably connected to the two third sliders 612 in a one-to-one correspondence are respectively arranged on both sides of the end face of the X-axis fixed stage 62, and the third guide rails 621 extend along the X-axis direction. The moving part 9 and the stator 8 of the linear motor are respectively arranged on the opposite end faces of the third sliding plate 611 and the X-axis fixed stage 62. It should be noted that the second type of sliding member is the middle and lower X-axis sliding member 61DM, and the top end face of its third sliding plate 611 is connected to the fixing plate 22 of the middle and upper Y-axis displacement stage 3 to support the middle and upper Y-axis displacement stage 3, and further support the middle part of the sliding table 1.

[0068] It can be understood that the support of the middle part of the sliding table 1 is particularly important. The weight support of the middle part of the sliding plate is stable enough to effectively ensure the smoothness of the sliding table 1 during the rotation process and prevent the sliding table 1 from tipping over and affecting the rotation of the load in place. Therefore, the middle and lower X-axis displacement stage 6 of the present application is composed of an X-axis fixed stage 62 with strong bearing capacity and a middle and lower X-axis sliding member 61DM. The third sliding plate 611 of the middle and lower X-axis sliding member 61DM is connected to the X-axis fixed stage 62 through a symmetrically arranged slider guide rail structure, and there is a space for placing the linear motor between the two, which can make the middle and lower X-axis sliding member 61DM be stably installed on the X-axis fixed stage 62, conducive to providing stable support to the middle part of the sliding table 1 and improving the stability of the structure of the sliding table 1.

[0069] Optionally, please refer to Figure 8 , a second limiting block 623 is arranged on the periphery of the sliding path of the third slider 612 of the X-axis fixed stage 62 to limit the sliding stroke of the third slider 612 and prevent the second type of second sliding member 61 from sliding off.

[0070] Optionally, please refer to Figure 8 , the moving part power line 91 is fixed on the third sliding plate 611 through a moving part power line fixing member 615 to make the appearance of the driving platform neater.

[0071] To accurately control the Y-axis movement stroke of the middle and lower X-axis sliding member 61DM, on the basis of the above embodiments, please refer to Figure 8, on the side walls of the third slide plate 611 and the X-axis fixing platform 62 on the same side, there are respectively provided a second absolute grating encoder 614 and a second absolute grating scale 622 for cooperative use.

[0072] Specifically, the second absolute grating encoder 614 is installed on the side wall of the third slide plate 611 through a second encoder fixing member 613, and the second absolute grating scale 622 is attached to the side wall of the X-axis fixing platform 62 adjacent to the second encoder fixing member 613. In this way, the second absolute grating encoder 614 moves along with the third slide plate 611, and the second absolute grating encoder 614 measures the absolute position of the second second sliding member 61, that is, the middle and lower X-axis sliding member 61DM, by scanning the dedicated coding track of the second absolute grating scale 622 with light. And the second absolute grating encoder 614 is electrically connected to the controller, and is used to transmit the moving stroke of the second second sliding member 61 to the controller. If the moving stroke reaches the preset stroke, the controller controls the mover 9 of the linear motor to cut off the power, so as to stop the movement of the second second sliding member 61, thereby accurately controlling the X-axis moving stroke of the middle and lower X-axis sliding member 61DM, and further being beneficial to accurately controlling the rotational positioning of the slide table 1.

[0073] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0074] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0075] The above has introduced in detail a driving platform with an embedded linear motor provided by the present utility model. Specific examples are used in this article to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A driving platform embedded with a linear motor, characterized in that Comprising: Sliding table (1); Upper left X-axis displacement table (2), middle upper Y-axis displacement table (3), upper right X-axis displacement table (4), at the top of each of which there is a first sliding member (21) rotatably connected to the sliding table (1), and the first sliding member (21) of the upper left X-axis displacement table (2) is movable along the X-axis direction, the first sliding member (21) of the middle upper Y-axis displacement table (3) is movable along the Y-axis direction, and the first sliding member (21) of the upper right X-axis displacement table (4) is movable along the X-axis direction; Lower left Y-axis displacement table (5), middle lower X-axis displacement table (6), lower right Y-axis displacement table (7), each of which is internally embedded with a linear motor and at the top of each there is a second sliding member connected to the mover (9) of the linear motor, and the second sliding member of the lower left Y-axis displacement table (5) is connected to the bottom of the upper left X-axis displacement table (2) and is movable along the Y-axis direction, the second sliding member of the middle lower X-axis displacement table (6) is connected to the bottom of the middle upper Y-axis displacement table (3) and is movable along the X-axis direction, and the second sliding member of the lower right Y-axis displacement table (7) is connected to the bottom of the upper right X-axis displacement table (4) and is movable along the Y-axis direction.

2. The driving platform with an embedded linear motor according to claim 1, wherein The upper left X-axis displacement table (2), the middle upper Y-axis displacement table (3) and the upper right X-axis displacement table (4) each include a fixed plate (22) and the first sliding member (21), on the fixed plate (22) there are a pair of first guide rails (221), and the pair of first guide rails (221) are spaced apart to form a sliding channel (222), the first sliding member (21) includes a first sliding plate (211) and a first sliding block (212) provided thereon, and the first sliding block (212) is slidably inserted into the sliding channel (222); Wherein, the sliding channels (222) in the upper left X-axis displacement table (2) and the upper right X-axis displacement table (4) both extend along the X-axis direction, and the sliding channel (222) in the middle upper Y-axis displacement table (3) extends along the Y-axis direction.

3. The drive platform with an embedded linear motor according to claim 2, characterized in that A rotating shaft (213) is further provided on the first sliding plate (211), and a collar (214) fixedly connected to the sliding table (1) is sleeved on the rotating shaft (213).

4. The drive platform with an embedded linear motor according to claim 2, characterized in that, The first guide rail (221) is a crossed roller guide rail, the crossed roller guide rail includes two guide rails and cylindrical rollers, a V-shaped raceway is formed between the two guide rails, and a plurality of the cylindrical rollers are cross-arranged in the V-shaped raceway and are in rolling contact with the first sliding plate (211).

5. The driving platform with an embedded linear motor according to claim 1, characterized in that, The lower left Y-axis displacement table (5) and the lower right Y-axis displacement table (7) each include a Y-axis fixed block (52) and a first type of second sliding member (51), and the first type of second sliding member (51) includes a second sliding plate (511) and a second sliding block (512) provided thereon; On two opposite walls of the second slide plate (511) facing the Y-axis fixed block (52), the mover (9) and the stator (8) of the linear motor are respectively arranged, and a second guide rail (521) extending in the Y-axis direction is provided on the Y-axis fixed block (52), and the second guide rail (521) is slidably connected to the second slider (512).

6. The driving platform with an embedded linear motor according to claim 5, characterized in that, The second slide plate (511) is in an inverted L shape, a groove (522) is provided on one side of the Y-axis fixed block (52) facing the second slide plate (511), the stator (8) is placed in the groove (522) and has a clearance fit with the mover (9) placed on the side section of the Y-axis fixed block (52), and the second slider (512) and the second guide rail (521) which are slidably connected are respectively arranged on the top section of the second slide plate (511) and the top end surface of the Y-axis fixed block (52), and the second slider (512) and the second guide rail (521) which are slidably connected are respectively arranged on the bottom of the side section of the second slide plate (511) and the bottom of the side end surface of the Y-axis fixed block (52).

7. The drive platform with an embedded linear motor according to claim 5, characterized in that On two opposite walls of the second slide plate (511) facing the Y-axis fixed block (52), a first absolute grating encoder (514) and a first absolute grating scale (523) which are used in cooperation are respectively provided.

8. The driving platform with an embedded linear motor according to claim 1, characterized in that The middle and lower X-axis displacement stage (6) includes an X-axis fixed stage (62) and a second type of second sliding member (61), the second type of second sliding member (61) includes a third slide plate (611) and third sliders (612) symmetrically arranged on both sides of its end face, two third guide rails (621) respectively corresponding to and slidably connected to the two third sliders (612) are provided on both sides of the end face of the X-axis fixed stage (62), and the third guide rails (621) extend in the X-axis direction, and the mover (9) and the stator (8) of the linear motor are respectively arranged on two opposite end faces of the third slide plate (611) and the X-axis fixed stage (62).

9. The drive platform with an embedded linear motor according to claim 8, characterized in that A second absolute grating encoder (614) and a second absolute grating scale (622) which are used in cooperation are respectively provided on the side wall of the third slide plate (611) and the side wall of the X-axis fixed stage (62) on the same side as it.

10. The driving platform with an embedded linear motor according to any one of claims 1 to 9, characterized in that, The lower left Y-axis displacement stage (5), the middle and lower X-axis displacement stage (6) and the lower right Y-axis displacement stage (7) are integrally arranged on a base (10) opposite to the slide table (1).

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