Multi-directional moving sliding table
By combining a vertically stacked dual-slide layout with electromagnetic drive, grating components, and vibration damping devices, the complexity and wear issues of traditional multi-directional slide structures are solved, enabling high-speed, high-precision multi-directional movement, suitable for high-density equipment integration.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-04
- Publication Date
- 2026-03-24
AI Technical Summary
Traditional multi-directional slides are complex in structure, large in size, have high moment of inertia, and limited response speed. Furthermore, their drive methods suffer from high mechanical wear, low transmission efficiency, and high maintenance costs, especially with a decrease in positioning accuracy during high-speed motion.
It adopts a vertically stacked layout of dual slides, with the sliding component and the first slide directly driven by the drive component. Combined with the interaction between electromagnets or coils and permanent magnets or coils, along with grating components and shock absorption devices, it achieves high-speed and high-precision motion, and performs precise measurement and adjustment through a multi-axis collaborative control module.
It significantly reduces redundant components and space occupation, improves positioning repeatability and motion stability, enhances positioning accuracy and response speed, and reduces maintenance difficulty and cost, making it suitable for high-density device integration scenarios.
Smart Images
Figure CN224037645U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of slide module technology, and in particular discloses a multi-directional moving slide. Background Technology
[0002] In modern industrial automation and precision manufacturing, multi-directional sliding tables are widely used in various mechanical equipment as a key positioning and transmission device. Traditional multi-directional sliding tables mostly adopt a series mechanical structure, achieving planar motion by stacking multiple single-axis sliding tables. However, this design suffers from problems such as complex structure, large size, high moment of inertia, and limited response speed. Furthermore, existing sliding tables often rely on ball screws or rack and pinion drives, which suffer from high mechanical wear, low transmission efficiency, and high maintenance costs. Especially in high-speed, high-frequency reciprocating motion, vibration and impact can easily lead to a decrease in positioning accuracy, affecting the long-term stability of the equipment. Utility Model Content
[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a multi-directional moving slide.
[0004] To achieve the above objectives, the present invention provides a multi-directional sliding table, comprising a slider, a first sliding table, a second sliding table, and a driving component; the driving component drives the slider to slide on the first sliding table to form a first sliding trajectory, and the driving component drives the first sliding table to slide on the second sliding table to form a second sliding trajectory, the first sliding trajectory and the second sliding trajectory being perpendicular to each other; the second sliding table is further provided with a positioning module, which is used to adjust the slider to move in multiple directions along the first sliding trajectory and the second sliding trajectory.
[0005] The vertically stacked dual-slide layout replaces the traditional multi-axis serial structure, reducing redundant components, overall weight, and space occupation, making it particularly suitable for high-density equipment integration scenarios. The sliding component and the first slide are directly driven by the drive component, and with the rigid guidance of the vertical slide rail, the backlash error of the mechanical transmission chain can be eliminated, improving the positioning repeatability under multi-axis linkage (down to the micrometer level).
[0006] The first slide table includes a first plate surface, a first slide rail disposed on the first plate surface, and a first baffle. There are two sets of first baffles, and the two sets of first baffles are respectively vertically installed at both ends of the first plate surface. The sliding member slides on the first plate surface via the first slide rail.
[0007] Two sets of first baffles are vertically installed at both ends of the first plate surface, forming a closed slide rail guide structure. This restricts the lateral displacement of the sliding component in the X-axis direction, avoiding the risk of derailment due to inertia or sudden load changes during high-speed movement, and is especially suitable for high-acceleration conditions. The double baffle design facilitates the disassembly of the slide rail for lubrication maintenance or wear detection (the amount of slide rail wear can be indirectly measured by the change in the baffle spacing), reducing downtime for maintenance by approximately 60%.
[0008] The second slide includes a second plate, a second slide rail disposed on the second plate, and a second baffle. There are two sets of second baffles, which are vertically installed at both ends of the second plate. The first slide slides on the second plate via the second slide rail, and the sliding member is disposed on the second plate via the first slide.
[0009] By vertically installing two sets of second baffles at both ends of the second plate, stable support and limiting are provided for the first slide, effectively preventing the first slide from shifting or shaking during sliding, thereby enhancing the structural stability of the entire multi-directional sliding slide. The second baffles not only enhance structural stability but also facilitate the installation, debugging, and maintenance of the first slide. Operators can easily inspect, clean, and maintain the slide through the space between the baffles, reducing maintenance difficulty and costs.
[0010] The movable slide also includes a first anti-collision telescopic component. There are two sets of the first anti-collision telescopic components. One set of the first anti-collision telescopic component is provided on each side of the first slide. One end of the first anti-collision telescopic component is fixedly installed on the first baffle of the first slide, and the other end of the first anti-collision telescopic component is used to abut against the sliding component.
[0011] The first anti-collision telescopic component effectively prevents damage to the sliding component caused by excessive impact with the baffle or edge of the first slide table during movement. When the sliding component approaches the end of the first slide table, the anti-collision telescopic component is the first to contact and absorb the impact energy, thus protecting the integrity of the sliding component and the slide table structure. By installing the anti-collision telescopic component, the impact force generated by the sliding component during high-speed movement or sudden stop can be significantly reduced, avoiding potential injury to surrounding equipment and personnel, and improving the overall movement safety of the mobile slide table.
[0012] The movable slide also includes a second anti-collision telescopic component. There are two sets of the second anti-collision telescopic component. Each end of the second slide is provided with a set of the second anti-collision telescopic component. One end of the second anti-collision telescopic component is fixedly installed on the second baffle of the second slide, and the other end of the second anti-collision telescopic component is used to abut against the first slide.
[0013] The second anti-collision telescopic component, together with the first anti-collision telescopic component, constitutes a dual protection mechanism for the movable slide. When the first slide slides on the second slide, if, for some reason (such as control error, external interference, etc.), the first slide moves beyond the expected range, the second anti-collision telescopic component will promptly contact and prevent the first slide from moving further, thereby avoiding possible collisions and damage.
[0014] The first plate and the inner side of the second plate are provided with stator assemblies. The sliding member near the first plate and the first slide table near the second plate are provided with moving part assemblies. The stator assembly is an electromagnet or a coil, and the moving part assembly is a permanent magnet or a coil. The stator assembly and the moving part assembly are arranged opposite each other to provide driving force to the sliding member or the first slide table.
[0015] A powerful electromagnetic force can be generated through the interaction between an electromagnet or coil and a permanent magnet or coil, providing a stable and efficient driving force for the slider and the first slide table. This driving force features fast response and high control precision, meeting the requirements of the moving slide table in high-speed, high-precision motion.
[0016] The movable slide also includes a grating assembly mounted on the second slide. The grating assembly includes a grating mounting base mounted on one side of the second slide rail, a grating ruler mounted on the grating mounting base, and a grating read head mounted on the second slide. The grating read head is arranged parallel to the grating ruler. The grating read head is used to capture the position of the optical signal generated by the grating lines on the grating ruler. The grating read head converts these signals into electrical signals to achieve accurate measurement of displacement.
[0017] The grating assembly, through the interaction between the lines on the grating ruler and the grating reader, can capture minute displacement changes and convert them into electrical signals for precise measurement. This measurement method offers extremely high accuracy and resolution, meeting the needs of moving slides in precision machining, positioning, and other applications. The grating reader can capture the optical signals on the grating ruler in real time and convert them into electrical signals, transmitting them to the control system. This allows the control system to monitor the displacement of the sliding component or the first slide in real time and make timely adjustments and controls as needed, ensuring that the moving slide moves along the predetermined trajectory and speed. The grating assembly uses a non-contact measurement method, avoiding wear and malfunctions caused by mechanical contact. Furthermore, both the grating ruler and the grating reader exhibit high durability and stability, maintaining stable performance in harsh working environments, thereby enhancing the reliability and lifespan of the equipment.
[0018] The slider is also provided with a first drag chain on its side, and the first slide table is provided with a second drag chain on its side; the first drag chain and the slider slide together via the first slide rail, and the second drag chain and the first slide table slide together via the second slide rail.
[0019] The primary function of the first and second cable chains is to protect and support the cables, air pipes, and other pipelines connecting the sliding components, the first slide, and fixed components (such as power supplies and control systems). These pipelines are susceptible to wear, pulling, or compression during slide movement, and the cable chain design effectively prevents this damage, ensuring pipeline integrity and lifespan. The cable chains move with the sliding components and the first slide, without restricting the slide's range of motion or flexibility. On the contrary, they adapt to the slide's movement in different directions and angles, ensuring that the pipelines remain connected and unobstructed at all times.
[0020] The gap between the grating reader and the grating ruler is 0.5-1mm.
[0021] By controlling the gap within the range of 0.5-1mm, it can be ensured that the grating read head can stably and accurately capture the optical signal generated by the engraving lines on the grating ruler, thereby improving the accuracy of displacement measurement.
[0022] The movable slide also includes a shock absorption device, which is respectively disposed between the first slide and the second slide and between the sliding member and the first slide. The shock absorption device is used to absorb and buffer the vibration and impact generated by the slide during movement.
[0023] Vibration damping devices effectively absorb and buffer vibrations and impacts generated during the movement of the slide, resulting in smoother and more stable movement. This helps reduce the accumulation of errors caused by vibration and impact, improving the positioning accuracy and motion stability of the equipment. The application of vibration damping devices makes the operation of the slide more comfortable and stable. During operation, operators experience less vibration and noise, thereby improving the user experience and satisfaction.
[0024] The shock absorption device consists of multiple sets of viscoelastic damping pads. One set of viscoelastic damping pads is installed on the contact surface of the second slide table near the first slide table, and another set of viscoelastic damping pads is installed on the contact surface of the first slide table near the sliding member. The thickness of the viscoelastic damping pads is 3-5mm. When the sliding member stops suddenly (acceleration ≥ 5m / s²), the damping pads absorb 70% of the impact kinetic energy through viscoelastic deformation, protecting the microstructure of the slide rail contact surface (reducing the wear rate by 60%).
[0025] The stator assembly array is a Heilbeck magnet array, which consists of multiple arrays. Each array includes four stators arranged along the length of the first or second plate. The four permanent magnets are, in order, S1 magnet, H1 magnet, N1 magnet and H2 magnet. The magnetization direction of the S1 magnet is along the positive Y-axis, the magnetization direction of the N1 magnet is along the negative Y-axis, the magnetization direction of the H1 magnet is along the positive X-axis, and the magnetization direction of the H2 magnet is along the negative X-axis.
[0026] Both the first and second baffles are equipped with heat dissipation channels, which are connected to an external temperature regulation device. The design of the heat dissipation channels optimizes the fluid flow path, ensuring efficient heat dissipation while reducing fluid resistance and improving the overall system energy efficiency. By integrating the heat dissipation channels with the temperature regulation system, the multi-directional moving slide can maintain a stable operating temperature under various working environments and load conditions, thereby extending equipment life and improving working accuracy and reliability.
[0027] The multi-axis slide also includes a multi-axis collaborative control module, which includes a cross-coupled controller and a look-ahead filter. Both the cross-coupled controller and the look-ahead filter are connected to an external control system. The cross-coupled controller calculates the position error difference between the X and Y axes in real time and generates a compensation control quantity. The look-ahead filter predicts the acceleration mutation point within the next 3ms based on the preset motion trajectory and adjusts the drive current waveform in advance.
[0028] The cross-coupled controller calculates and monitors the position error difference between the X-axis and Y-axis (or more axes, depending on the specific design) in real time, and generates precise compensation control quantities based on these differences to reduce synchronization errors in multi-axis motion and improve the positioning accuracy and motion coordination of the slide table. The look-ahead filter, based on the preset motion trajectory and velocity curve, uses advanced algorithms to predict acceleration abrupt changes within the next 3 milliseconds (or less, depending on the specific implementation), thereby adjusting the current waveform of the drive system in advance to smoothly transition through these abrupt changes, reduce vibration and shock, and improve the dynamic response speed and motion stability of the slide table. Through the integration of the multi-axis collaborative control module and the dynamic compensation system, the multi-directional moving slide table can achieve high-precision, high-efficiency, and high-stability motion control in complex multi-axis motion tasks.
[0029] The beneficial effects of this invention are as follows: The multi-directional sliding table of this invention achieves sliding of the slider in two mutually perpendicular directions through a vertically stacked layout of two sliding tables. Specifically, the driving component directly drives the slider to slide on the first sliding table, forming a first sliding trajectory, and simultaneously drives the first sliding table to slide on the second sliding table, forming a second sliding trajectory. This design reduces redundant components, lowering the overall weight and space occupied. Furthermore, the interaction between an electromagnet or coil and a permanent magnet or coil provides the driving force for the slider and the first sliding table, achieving high-speed, high-precision motion control. The grating assembly is used to accurately measure the displacement of the slider and the first sliding table, ensuring the accuracy of the motion. The vertically stacked layout of the two sliding tables replaces the traditional multi-axis serial structure, significantly reducing the overall weight and space occupied, making it particularly suitable for high-density equipment integration scenarios. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0031] Figure 2 This is a schematic diagram of the sliding component and the first sliding table of this utility model;
[0032] Figure 3 This is an exploded view of the slider and the first slide of this utility model;
[0033] Figure 4 This is a schematic diagram of the structure of the second slide of this utility model;
[0034] Figure 5 This is an exploded view of the first and second slides of this utility model;
[0035] Figure 6 This is a schematic diagram of the structure of the grating assembly of this utility model;
[0036] Figure 7 This is a schematic diagram of the arrangement structure of the stator assembly of this utility model.
[0037] The reference numerals in the figures include:
[0038] 1. Sliding component; 2. First slide table; 3. Second slide table; 4. First sliding track; 5. Second sliding track; 6. First plate surface; 7. First slide rail; 8. First baffle; 9. Second plate surface; 11. Second slide rail; 12. Second baffle; 13. First anti-collision telescopic component; 14. Second anti-collision telescopic component; 15. Stator assembly; 16. Mover assembly; 17. Grating assembly; 18. Grating mounting base; 19. Grating ruler; 21. Grating reader; 22. First cable chain; 23. Second cable chain; 24. Shock absorption device; 25. S1 magnet; 26. H1 magnet; 27. N1 magnet; 28. H2 magnet; 29. Heat dissipation channel; 30. Cross-coupling controller; 31. Look-ahead filter. Detailed Implementation
[0039] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.
[0040] Please see Figures 1 to 6 As shown, a multi-directional sliding table of this utility model includes a slider 1, a first sliding table 2, a second sliding table 3, and a driving component. The driving component drives the slider 1 to slide on the first sliding table 2 to form a first sliding trajectory 4, and the driving component drives the first sliding table 2 to slide on the second sliding table 3 to form a second sliding trajectory 5. The first sliding trajectory 4 and the second sliding trajectory 5 are perpendicular to each other. The second sliding table 3 is also provided with a positioning module, which is used to adjust the slider 1 to move in multiple directions along the first sliding trajectory 4 and the second sliding trajectory 5.
[0041] The vertically stacked dual-slide layout replaces the traditional multi-axis serial structure, reducing redundant components, overall weight, and space occupation, making it particularly suitable for high-density equipment integration scenarios. Slide 1 and the first slide 2 are directly driven by a drive component, and with the rigid guidance of the vertical slide rail, the backlash error of the mechanical transmission chain can be eliminated, improving the positioning repeatability under multi-axis linkage (down to the micrometer level).
[0042] The first slide table 2 includes a first plate surface 6, a first slide rail 7 disposed on the first plate surface 6, and a first baffle 8. The first baffle 8 is provided in two sets, and the two sets of first baffle 8 are respectively vertically installed at both ends of the first plate surface 6. The sliding member 1 slides on the first plate surface 6 via the first slide rail 7.
[0043] Two sets of first baffles 8 are vertically installed at both ends of the first plate surface 6, forming a closed slide rail guide structure. This restricts the lateral displacement of the sliding component 1 in the X-axis direction, avoiding the risk of derailment due to inertia or sudden load changes during high-speed movement, and is especially suitable for high-acceleration conditions. The double baffle design facilitates the disassembly of the slide rail for lubrication maintenance or wear detection (the amount of slide rail wear can be indirectly measured by the change in the baffle spacing), reducing downtime for maintenance by approximately 60%.
[0044] The second slide 3 includes a second plate 9, a second slide rail 11 disposed on the second plate 9, and a second baffle 12. The second baffle 12 is provided in two sets, and the two sets of second baffles 12 are respectively vertically installed at both ends of the second plate 9. The first slide 2 slides on the second plate 9 via the second slide rail 11, and the sliding member 1 is slidably disposed on the second plate 9 via the first slide 2.
[0045] By vertically installing two sets of second baffles 12 at both ends of the second plate 9, stable support and limiting are provided for the first slide table 2, effectively preventing the first slide table 2 from shifting or shaking during the sliding process, thereby enhancing the structural stability of the entire multi-directional sliding table. The second baffles 12 not only enhance structural stability but also facilitate the installation, debugging, and maintenance of the first slide table 2. Operators can easily inspect, clean, and maintain the slide table through the space between the baffles, reducing maintenance difficulty and cost.
[0046] The movable slide also includes a first anti-collision telescopic component 13. There are two sets of the first anti-collision telescopic component 13. A set of the first anti-collision telescopic component 13 is provided on each side of the first slide 2. One end of the first anti-collision telescopic component 13 is fixedly installed on the first baffle 8 of the first slide 2, and the other end of the first anti-collision telescopic component 13 is used to abut against the sliding component 1.
[0047] The first anti-collision telescopic component 13 effectively prevents damage to the slider 1 caused by excessive impact to the baffle or edge of the first slide table 2 during movement. When the slider 1 approaches the end of the first slide table 2, the anti-collision telescopic component can first contact and absorb the impact energy, thereby protecting the integrity of the slider 1 and the slide table structure. By installing the anti-collision telescopic component, the impact force generated by the slider 1 during high-speed movement or sudden stop can be significantly reduced, avoiding potential injury to surrounding equipment and personnel, and improving the overall movement safety of the mobile slide table.
[0048] The movable slide also includes a second anti-collision telescopic component 14. There are two sets of the second anti-collision telescopic component 14. Each end of the second slide 3 is provided with a set of the second anti-collision telescopic component 14. One end of the second anti-collision telescopic component 14 is fixedly installed on the second baffle 12 of the second slide 3, and the other end of the second anti-collision telescopic component 14 is used to abut against the first slide 2.
[0049] The second anti-collision telescopic member 14 and the first anti-collision telescopic member 13 together constitute a dual protection mechanism for the movable slide. When the first slide 2 slides on the second slide 3, if the first slide 2 moves beyond the expected range due to some reason (such as control failure, external interference, etc.), the second anti-collision telescopic member 14 will contact and prevent the first slide 2 from moving further, thereby avoiding possible collisions and damage.
[0050] The first plate surface 6 and the second plate surface 9 are both provided with stator assemblies 15. The sliding member 1 is provided with a moving part assemblies 16 on the side near the first plate surface 6 and the first slide table 2 is provided with a moving part assemblies 16 on the side near the second plate surface 9. The stator assembly 15 is an electromagnet or a coil, and the moving part assemblies 16 are permanent magnets or coils. The stator assembly 15 and the moving part assemblies 16 are arranged opposite each other to provide pushing force to the sliding member 1 or the first slide table 2.
[0051] A powerful electromagnetic force can be generated through the interaction between an electromagnet or coil and a permanent magnet or coil, providing a stable and efficient driving force for the slider 1 and the first slide table 2. This driving force features fast response speed and high control precision, meeting the requirements of the moving slide table in high-speed, high-precision motion.
[0052] The movable slide also includes a grating assembly 17 disposed on the second slide 3. The grating assembly 17 includes a grating mounting base 18 mounted on one side of the second slide rail 11, a grating ruler 19 mounted on the grating mounting base 18, and a grating reading head 21 mounted on the second slide 3. The grating reading head 21 is arranged parallel to the grating ruler 19. The grating reading head 21 is used to capture the position of the optical signal generated by the scribing on the grating ruler 19. The grating reading head 21 converts these signals into electrical signals to achieve accurate measurement of displacement.
[0053] The grating assembly 17, through the interaction between the grating ruler 19 and the grating reader 21, can capture minute displacement changes and convert them into electrical signals for precise measurement. This measurement method offers extremely high accuracy and resolution, meeting the needs of the moving slide in precision machining, positioning, and other applications. The grating reader 21 can capture the optical signals on the grating ruler 19 in real time and convert them into electrical signals for transmission to the control system. This allows the control system to monitor the displacement of the slider 1 or the first slide 2 in real time and make timely adjustments and controls as needed, ensuring that the moving slide moves along the predetermined trajectory and speed. The grating assembly 17 employs a non-contact measurement method, avoiding wear and malfunctions caused by mechanical contact. Simultaneously, both the grating ruler 19 and the grating reader 21 possess high durability and stability, maintaining stable performance in harsh working environments, thereby enhancing the reliability and service life of the equipment.
[0054] The sliding member 1 is also provided with a first drag chain 22 on its side, and the first slide table 2 is provided with a second drag chain 23 on its side; the first drag chain 22 and the sliding member 1 slide together via the first slide rail 7, and the second drag chain 23 and the first slide table 2 slide together via the second slide rail 11.
[0055] The primary function of the first cable chain 22 and the second cable chain 23 is to protect and support the cables, air pipes, and other pipelines connecting the sliding member 1, the first slide table 2, and fixed components (such as power supplies, control systems, etc.). These pipelines are susceptible to wear, pulling, or compression during slide table movement, and the cable chain design effectively prevents this damage, ensuring the integrity and lifespan of the pipelines. The cable chains move together with the sliding member 1 and the first slide table 2, without restricting the slide table's range of motion or flexibility. On the contrary, they can adapt to the slide table's movement in different directions and angles, ensuring that the pipelines remain connected and unobstructed at all times.
[0056] The gap between the grating reader 21 and the grating ruler 19 is 0.5-1mm.
[0057] By controlling the gap within the range of 0.5-1mm, it can be ensured that the grating read head 21 can stably and accurately capture the optical signal generated by the grating ruler 19, thereby improving the accuracy of displacement measurement.
[0058] The movable slide also includes a shock absorption device 24, which is respectively disposed between the first slide 2 and the second slide 3 and between the sliding member 1 and the first slide 2. The shock absorption device 24 is used to absorb and buffer the vibration and impact generated by the slide during the movement.
[0059] The shock absorption device 24 effectively absorbs and buffers the vibrations and impacts generated during the movement of the slide, making the movement of the entire slide smoother and more stable. This helps reduce the accumulation of errors caused by vibration and impact, improving the positioning accuracy and movement stability of the equipment. The application of the shock absorption device 24 makes the operation of the slide more comfortable and stable. During operation, operators can experience less vibration and noise, thereby improving the user experience and satisfaction.
[0060] The shock absorption device 24 consists of multiple sets of viscoelastic damping pads. One set of viscoelastic damping pads is installed on the contact surface of the second slide 3 near the first slide 2, and another set of viscoelastic damping pads is installed on the contact surface of the first slide 2 near the sliding member 1. The thickness of the viscoelastic damping pads is 3-5mm. When the sliding member 1 stops suddenly (acceleration ≥ 5m / s²), the damping pads absorb 70% of the impact kinetic energy through viscoelastic deformation, protecting the microstructure of the slide rail contact surface (reducing the wear rate by 60%).
[0061] The stator assembly 15 is arranged in a Heilbeck magnet array, consisting of multiple arrays. Each array includes four stators arranged along the length of the first plate 6 or the second plate 9. The four permanent magnets are, in order, S1 magnet 25, H1 magnet 26, N1 magnet 27, and H2 magnet 28. The magnetization direction of the S1 magnet 25 is along the positive Y-axis, the magnetization direction of the N1 magnet 27 is along the negative Y-axis, the magnetization direction of the H1 magnet 26 is along the positive X-axis, and the magnetization direction of the H2 magnet 28 is along the negative X-axis.
[0062] Both the first baffle 8 and the second baffle 12 are provided with heat dissipation channels 29, which are connected to an external temperature regulation device. The design of the heat dissipation channels 29 optimizes the fluid flow path, ensuring efficient heat dissipation while reducing fluid resistance and improving the overall system energy efficiency. By integrating the heat dissipation channels 29 with the temperature regulation system, the multi-directional moving slide can maintain a stable operating temperature under various working environments and load conditions, thereby extending the equipment life and improving working accuracy and reliability.
[0063] The multi-axis slide also includes a multi-axis collaborative control module, which includes a cross-coupled controller 30 and a look-ahead filter 31. Both the cross-coupled controller 30 and the look-ahead filter 31 are connected to an external control system. The cross-coupled controller 30 calculates the position error difference between the X and Y axes in real time and generates a compensation control quantity. The look-ahead filter 31 predicts the acceleration mutation point within the next 3ms based on the preset motion trajectory and adjusts the drive current waveform in advance.
[0064] The cross-coupled controller 30 calculates and monitors the position error difference between the X-axis and Y-axis (or more axes, depending on the specific design) in real time, and generates precise compensation control quantities based on these differences to reduce synchronization errors in multi-axis motion and improve the positioning accuracy and motion coordination of the slide table. The look-ahead filter 31 predicts acceleration abrupt changes within the next 3 milliseconds (or less, depending on the specific implementation) based on the preset motion trajectory and velocity curve using advanced algorithms, thereby adjusting the current waveform of the drive system in advance to smoothly transition through these abrupt changes, reduce vibration and shock, and improve the dynamic response speed and motion stability of the slide table. Through the integration of the multi-axis collaborative control module and the dynamic compensation system, the multi-directional moving slide table can achieve high-precision, high-efficiency, and high-stability motion control in complex multi-axis motion tasks.
[0065] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of this utility model. The content of this specification should not be construed as a limitation of this utility model.
Claims
1. A multi-directional mobile carriage, characterized by: The mobile sliding table comprises a sliding piece (1), a first sliding table (2), a second sliding table (3) and a driving piece; the driving piece drives the sliding piece (1) to slide on the first sliding table (2) to form a first sliding track (4), the driving piece drives the first sliding table (2) to slide on the second sliding table (3) to form a second sliding track (5), the first sliding track (4) and the second sliding track (5) are perpendicular to each other, and the second sliding table (3) is further provided with a positioning module, which is used for adjusting the sliding piece (1) to move in multiple directions along the first sliding track (4) and the second sliding track (5).
2. The multi-directional mobile carriage of claim 1, wherein: The first sliding table (2) comprises a first plate surface (6), a first sliding rail (7) arranged on the first plate surface (6) and a first baffle (8), the first baffle (8) is provided with two groups, the two groups of first baffles (8) are vertically arranged at two ends of the first plate surface (6), and the sliding piece (1) slides on the first plate surface (6) through the first sliding rail (7).
3. A multi-directional mobile carriage according to claim 2, wherein: The second sliding table (3) comprises a second plate surface (9), a second sliding rail (11) arranged on the second plate surface (9) and a second baffle (12), the second baffle (12) is provided with two groups, the two groups of second baffles (12) are vertically arranged at two ends of the second plate surface (9), the first sliding table (2) slides on the second plate surface (9) through the second sliding rail (11), and the sliding piece (1) is arranged on the second plate surface (9) through the first sliding table (2).
4. The multi-directional mobile carriage of claim 2, wherein: The mobile sliding table further comprises a first anti-collision telescopic piece (13), the first anti-collision telescopic piece (13) is provided with two groups, one group of the first anti-collision telescopic pieces (13) is arranged at each side of the first sliding table (2), one end of the first anti-collision telescopic piece (13) is fixedly arranged on the first baffle (8) of the first sliding table (2), and the other end of the first anti-collision telescopic piece (13) is used for abutting against the sliding piece (1).
5. The multi-directional mobile carriage of claim 3, wherein: The mobile sliding table further comprises a second anti-collision telescopic piece (14), the second anti-collision telescopic piece (14) is provided with two groups, one group of the second anti-collision telescopic pieces (14) is arranged at each end of the second sliding table (3), one end of the second anti-collision telescopic piece (14) is fixedly arranged on the second baffle (12) of the second sliding table (3), and the other end of the second anti-collision telescopic piece (14) is used for abutting against the first sliding table (2).
6. The multi-directional mobile carriage of claim 3, wherein: The inner sides of the first plate surface (6) and the second plate surface (9) are provided with a stator assembly (15), one side of the sliding piece (1) close to the first plate surface (6) and one side of the first sliding table (2) close to the second plate surface (9) are provided with a rotor assembly (16), the stator assembly (15) is an electromagnet or a coil, the rotor assembly (16) is a permanent magnet or a coil, and the stator assembly (15) and the rotor assembly (16) are oppositely arranged to provide a pushing force for the sliding piece (1) or the first sliding table (2).
7. The multi-directional mobile carriage of claim 3, wherein: The positioning module is a grating assembly (17) arranged on the second sliding table (3), the grating assembly (17) comprises a grating mounting seat (18) arranged on one side of the second sliding rail (11), a grating ruler (19) arranged on the grating mounting seat (18), and a grating reader (21) arranged on the second sliding table (3), the grating reader (21) is arranged in parallel with the grating ruler (19); the grating reader (21) is used for capturing the position of the optical signal generated by the engraved line on the grating ruler (19), and the grating reader (21) realizes accurate measurement of displacement by converting the signals into electrical signals.
8. The multi-directional mobile carriage of claim 3, wherein: The side of the sliding piece (1) is further provided with a first drag chain (22), and the side of the first sliding table (2) is provided with a second drag chain (23); the first drag chain (22) and the sliding piece (1) jointly slide through the first sliding rail (7), and the second drag chain (23) and the first sliding table (2) jointly slide through the second sliding rail (11).
9. The multi-directional mobile carriage of claim 7, wherein: The gap between the grating reader (21) and the grating ruler (19) is 0.5-1mm.
10. The multi-directional mobile carriage of claim 1, wherein: The moving sliding table further comprises a damping device (24), the damping device (24) is arranged between the first sliding table (2) and the second sliding table (3) and between the sliding piece (1) and the first sliding table (2) respectively, and the damping device (24) is used for absorbing and buffering the vibration and impact generated in the moving process of the sliding table.