Six-degree-of-freedom magnetic suspension motion platform

Abstract

The utility model discloses a six-degree-of-freedom magnetic suspension motion platform, which relates to the technical field of precision transmission and comprises a motion platform, a first motor rotor is arranged at the corner of the surface of the motion platform, an upper permanent magnet array mechanism is arranged on the top surface of the right end of the motion platform, and a clamping mechanism is arranged on the bottom surface of the upper permanent magnet array mechanism. A lower permanent magnet array mechanism is arranged on the bottom face of the clamping mechanism, and a lifting mechanism is arranged on the side face of the upper permanent magnet array mechanism. According to the utility model, the No.1 motor rotor, the No.2 motor rotor and the gravity compensation mechanism rotor share the array stators of the upper permanent magnet array and the lower permanent magnet array, so that the structure of the device becomes simpler, and the device is convenient to use; meanwhile, the gravity compensation mechanism composed of the gravity compensation mechanism mover, the lower permanent magnet array and the upper permanent magnet array can avoid the influence of the gravity of the gravity compensation mechanism, and machining of precise instruments is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of precision transmission, in particular to a six-degree-of-freedom magnetic suspension motion platform. Background Art

[0002] A six-degree-of-freedom (6DOF) magnetic levitation motion platform is a high-precision device that uses magnetism to achieve contactless, multi-directional motion in space. As the name suggests, a 6DOF magnetic levitation motion platform is capable of precise control of six degrees of freedom in three-dimensional space. These six degrees of freedom include three translations (movement in the X, Y, and Z axes) and three rotations (rotation around the X, Y, and Z axes). This platform typically utilizes a non-contact electromagnetic drive unit to achieve these six degrees of freedom. By controlling the electromagnetic field, precise displacement and positioning of the platform can be achieved.

[0003] Patent publication number CN103066894 discloses a six-degree-of-freedom magnetic levitation workpiece stage. The device includes a base, a rotary drive device, a planar motion device, an angle measurement device, and a displacement measurement device. The displacement measurement device includes four linear motors and four PSD assemblies. Under the action of the rotary drive device, the planar motion device's permanent magnet array stator, which is connected to the rotary drive device's annular permanent magnet array mover by an axis, rotates, creating a phase difference between the planar motion device's permanent magnet array mover and the planar motion device's coil array stator.

[0004] In order to solve the problem of transmission error during the structural stacking process and the difficulty in improving the accuracy of the workpiece table, the existing technology adopts magnetic levitation technology, which effectively controls the permanent magnets and the coils of the annular coil array stator of the rotating drive device are all rectangular, fan-shaped or trapezoidal; in the planar motion device, the coil array stator of the planar motion device adopts a stacked form, and the arrangement directions of the two adjacent layers of coil arrays are perpendicular to each other. However, when the device is in operation, there is no gravity compensation structure, the power consumption is high, the acceleration of the motion table is limited, and the structure is complex, which leads to problems affecting the operation accuracy and efficiency. Utility Model Content

[0005] The purpose of the present invention is to provide a six-degree-of-freedom magnetic suspension motion platform to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A six-degree-of-freedom magnetic levitation motion platform comprises a motion platform, wherein a first motor mover is provided at a corner of the surface of the motion platform, an upper permanent magnet array mechanism is provided on the top surface of the right end of the motion platform, a clamping mechanism is provided on the bottom surface of the upper permanent magnet array mechanism, a lower permanent magnet array mechanism is provided on the bottom surface of the clamping mechanism, and a lifting mechanism is provided on the side surface of the upper permanent magnet array mechanism.

[0008] The sports platform comprises a plug-in block which is fixedly mounted on the side of the sports platform. A spring column is fixedly mounted on the side of the plug-in block, and a clamping block is fixedly mounted on one end of the spring column away from the plug-in block.

[0009] A further improvement of the technical solution of the present utility model is that the upper permanent magnet array mechanism includes an upper permanent magnet array, the bottom surface of the upper permanent magnet array is arranged on the right end surface of the moving platform, the top surface of the upper permanent magnet array is provided with a No. 2 motor mover, and the side surface of the No. 2 motor mover is provided with a gravity compensation mechanism mover.

[0010] A further improvement of the technical solution of the present utility model is that: the lower permanent magnet array mechanism includes a plug-in plate, the plug-in plate is movably connected to the side of the plug-in block, and the surface of the plug-in plate is provided with a clamping hole.

[0011] A further improvement of the technical solution of the present utility model is that: the clamping hole and the clamping block are clamped with each other, and a lower permanent magnet array is provided on the bottom surface of the plug-in board.

[0012] A further improvement of the technical solution of the present utility model is that: a first motor mover coil array is provided on the surface of the lower permanent magnet array, and a second motor mover coil array is provided on the side surface of the lower permanent magnet array.

[0013] A further improvement of the technical solution of the present utility model is that the lifting mechanism includes a lifting block, which is arranged on the side of the upper permanent magnet array, the internal thread of the lifting block is connected to a lifting screw, and a slider is fixedly installed on the side of the lifting block.

[0014] A further improvement of the technical solution of the present utility model is that a rotating disk is fixedly installed on the top surface of the lifting screw, a base is provided on the bottom surface of the lifting screw, a sliding groove is fixedly installed on the surface of the base, and the inner wall of the sliding groove is slidably connected to the slider.

[0015] Due to the adoption of the above technical solution, the present invention has achieved the following technical advancements compared to the prior art:

[0016] 1. The utility model provides a six-degree-of-freedom magnetic levitation motion platform. The No. 1 motor mover, the No. 2 motor mover and the gravity compensation mechanism mover of the device share the array stator of the upper permanent magnet array and the lower permanent magnet array, which can make the structure of the device simpler and easier to use. At the same time, the gravity compensation mechanism composed of the gravity compensation mechanism mover, the lower permanent magnet array and the upper permanent magnet array can avoid the influence of its own gravity, making the processing of precision instruments more accurate.

[0017] 2. The utility model provides a six-degree-of-freedom magnetic levitation sports platform. The height of the sports platform can be adjusted by setting a lifting mechanism composed of a base, a slide groove, a lifting screw, a lifting block, a rotating disk, and a slider, which is convenient for users to operate. When the height of the sports platform needs to be adjusted, it is only necessary to rotate the rotating disk clockwise. The rotation of the rotating disk drives the lifting screw fixedly connected to the rotating disk to rotate, and then the lifting block threadedly connected to the lifting screw can be moved up and down on the body of the lifting screw, and then the slider fixedly connected to the lifting block can be slid on the inner wall of the slide groove, thereby ensuring the stability of the entire device during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 This is a structural diagram of the lifting mechanism of the utility model;

[0020] Figure 3 This is a schematic structural diagram of the exercise platform of the present invention;

[0021] Figure 4 This is a structural diagram of the lower permanent magnet array mechanism of the present utility model;

[0022] Figure 5 This is a structural diagram of the upper permanent magnet array mechanism of the present utility model.

[0023] In the figure: 1. Moving table; 11. Plug-in block; 12. Spring column; 13. Clamping block; 2. Lifting mechanism; 21. Base; 22. Slide groove; 23. Lifting screw; 24. Lifting block; 25. Rotating disk; 26. Slider; 3. Upper permanent magnet array mechanism; 31. Upper permanent magnet array; 32. No. 2 motor mover; 33. Gravity compensation mechanism mover; 4. Lower permanent magnet array mechanism; 41. Lower permanent magnet array; 42. Plug-in board; 43. Clamping hole; 44. No. 1 motor mover coil array; 45. No. 2 motor mover coil array; 5. Clamping mechanism; 6. No. 1 motor mover. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below with reference to the embodiments:

[0025] Example 1

[0026] like Figure 1-5 As shown, the utility model provides a six-degree-of-freedom magnetic levitation motion platform, including a motion platform 1, a first motor mover 6 is provided at the corner of the surface of the motion platform 1, an upper permanent magnet array mechanism 3 is provided on the top surface of the right end of the motion platform 1, a clamping mechanism 5 is provided on the bottom surface of the upper permanent magnet array mechanism 3, a lower permanent magnet array mechanism 4 is provided on the bottom surface of the clamping mechanism 5, a lifting mechanism 2 is provided on the side of the upper permanent magnet array mechanism 3, the motion platform 1 includes a plug-in block 11, the plug-in block 11 is fixedly installed on the side of the motion platform 1, a spring column 12 is fixedly installed on the side of the plug-in block 11, and a clamping block 13 is fixedly installed on the end of the spring column 12 away from the plug-in block 11, and the upper permanent magnet array mechanism 3 includes The upper permanent magnet array 31, the bottom surface of the upper permanent magnet array 31 is arranged on the right end surface of the moving platform 1, the top surface of the upper permanent magnet array 31 is provided with the No. 2 motor mover 32, and the side of the No. 2 motor mover 32 is provided with the gravity compensation mechanism mover 33, the lower permanent magnet array mechanism 4 includes a plug-in board 42, the plug-in board 42 is movably connected to the side of the plug-in block 11, the surface of the plug-in board 42 is provided with a card hole 43, the card hole 43 and the card block 13 are mutually engaged, the bottom surface of the plug-in board 42 is provided with the lower permanent magnet array 41, the surface of the lower permanent magnet array 41 is provided with the No. 1 motor mover coil array 44, and the side of the lower permanent magnet array 41 is provided with the No. 2 motor mover coil array 45.

[0027] In this embodiment, the gravity compensation mechanism mover 33 is made of ferromagnetic material, and the distance between the gravity compensation mechanism mover 33 and the upper permanent magnet array 31 is smaller than the distance between the gravity compensation mechanism mover 33 and the lower permanent magnet array 41, so that the suction force between the gravity compensation mechanism mover 33 and the upper permanent magnet array 31 is greater than the suction force with the lower permanent magnet array 41, so as to offset the generated gravity. The gravity compensation mechanism composed of the gravity compensation mechanism mover 33, the lower permanent magnet array 41 and the upper permanent magnet array 31 can avoid the influence of its own gravity, so that the processing of precision instruments can be more accurate.

[0028] Example 2

[0029] like Figure 1-5 As shown, based on Example 1, the utility model provides a technical solution: preferably, the lifting mechanism 2 includes a lifting block 24, the lifting block 24 is arranged on the side of the upper permanent magnet array 31, the internal thread of the lifting block 24 is connected to the lifting screw 23, the side of the lifting block 24 is fixedly installed with a slider 26, the top surface of the lifting screw 23 is fixedly installed with a rotating disk 25, the bottom surface of the lifting screw 23 is provided with a base 21, the surface of the base 21 is fixedly installed with a slide groove 22, and the inner wall of the slide groove 22 is slidably connected to the slider 26.

[0030] In this embodiment, when the height of the sports platform 1 needs to be adjusted, it is only necessary to rotate the rotating disk 25 clockwise. The rotating disk 25 rotates, driving the lifting screw 23 fixedly connected to the rotating disk 25 to rotate, and then the lifting block 24 threadedly connected to the lifting screw 23 can be moved up and down on the main surface of the lifting screw 23, and then the slider 26 fixedly connected to the lifting block 24 can be slid on the inner wall of the slide groove 22, thereby ensuring the stability of the entire device during the lifting process.

[0031] The following is a detailed description of the working principle of the six-degree-of-freedom magnetic levitation motion platform.

[0032] like Figure 1-5 As shown, when in use, first rotate the rotating disk 25 clockwise, and the rotating disk 25 rotates, driving the lifting screw 23 fixedly connected to the rotating disk 25 to rotate, so that the lifting block 24 threadedly connected to the lifting screw 23 can move up and down on the main body surface of the lifting screw 23, and then the slider 26 fixedly connected to the lifting block 24 can slide on the inner wall of the slide groove 22 to adjust the device to a suitable position, and then through the gravity compensation mechanism composed of the gravity compensation mechanism mover 33 and the lower permanent magnet array 41 and the upper permanent magnet array 31, at the same time, the distance between the gravity compensation mechanism mover 33 and the upper permanent magnet array 31 is smaller than the distance between the gravity compensation mechanism mover 33 and the lower permanent magnet array 41, so that the suction force between the gravity compensation mechanism mover 33 and the upper permanent magnet array 31 can be greater than the suction force with the lower permanent magnet array 41, so as to offset the generated gravity.

[0033] The above generally describes the present invention in detail. However, it is obvious to those skilled in the art that modifications or improvements may be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom magnetic levitation motion platform, comprising a motion platform (1), characterized in that: A first motor mover (6) is provided at a corner of the surface of the motion platform (1); an upper permanent magnet array mechanism (3) is provided on the top surface of the right end of the motion platform (1); a clamping mechanism (5) is provided on the bottom surface of the upper permanent magnet array mechanism (3); a lower permanent magnet array mechanism (4) is provided on the bottom surface of the clamping mechanism (5); and a lifting mechanism (2) is provided on the side surface of the upper permanent magnet array mechanism (3); The sports platform (1) comprises a plug-in block (11), the plug-in block (11) being fixedly mounted on a side of the sports platform (1), a spring column (12) being fixedly mounted on the side of the plug-in block (11), and a clamping block (13) being fixedly mounted on one end of the spring column (12) away from the plug-in block (11).

2. The six-degree-of-freedom magnetic levitation motion platform according to claim 1, characterized in that: The upper permanent magnet array mechanism (3) comprises an upper permanent magnet array (31), the bottom surface of the upper permanent magnet array (31) is arranged on the right end surface of the motion platform (1), the top surface of the upper permanent magnet array (31) is provided with a No. 2 motor mover (32), and the side surface of the No. 2 motor mover (32) is provided with a gravity compensation mechanism mover (33).

3. The six-degree-of-freedom magnetic levitation motion platform according to claim 2, characterized in that: The lower permanent magnet array mechanism (4) comprises a plug-in plate (42), the plug-in plate (42) is movably connected to the side of the plug-in block (11), and a clamping hole (43) is provided on the surface of the plug-in plate (42).

4. The six-degree-of-freedom magnetic levitation motion platform according to claim 3, characterized in that: The clamping hole (43) and the clamping block (13) are clamped to each other, and a lower permanent magnet array (41) is provided on the bottom surface of the plug-in board (42).

5. The six-degree-of-freedom magnetic levitation motion platform according to claim 4, characterized in that: A first motor mover coil array (44) is provided on the surface of the lower permanent magnet array (41), and a second motor mover coil array (45) is provided on the side surface of the lower permanent magnet array (41).

6. The six-degree-of-freedom magnetic levitation motion platform according to claim 3, characterized in that: The lifting mechanism (2) comprises a lifting block (24), the lifting block (24) being arranged on the side of the upper permanent magnet array (31), the internal thread of the lifting block (24) being connected to the lifting screw (23), and the side of the lifting block (24) being fixedly mounted with a slider (26).

7. The six-degree-of-freedom magnetic levitation motion platform according to claim 6, characterized in that: A rotating disk (25) is fixedly mounted on the top surface of the lifting screw (23), a base (21) is provided on the bottom surface of the lifting screw (23), a sliding groove (22) is fixedly mounted on the surface of the base (21), and an inner wall of the sliding groove (22) is slidably connected to a slider (26).

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