A lifting platform

Abstract

The utility model provides a kind of lifting platform, including base and object table, between the base and object table, it is provided with several supporting mechanisms along the circumferential direction, each supporting mechanism includes supporting shaft, supporting bearing and adjusting device, the adjusting device includes guide rail seat slidably installed on the base, first linear guide rail installed on the guide rail seat, first slider slidably installed on the first linear guide rail and supporting seat installed on the first slider;By the way of high-precision control multi-point supporting adjustment, so that object table has Z direction lifting ability while also having Rx and Ry direction multi-degree-of-freedom adjustment capability, by linear motor independent drive, combined with the closed-loop control of optical encoder, high-precision regulation and control of complex attitude are realized, its movement resolution is superior to 5nm, angle resolution is superior to 0.1 arc second, meet the operation needs of high motion accuracy, high dynamic adjustment performance.

Description

Technical Field

[0001] This utility model relates to the field of automation, and in particular to a lifting platform. Background Technology

[0002] In the field of automation control, lifting platforms are common material handling platforms, mainly used for material positioning and transfer. The control accuracy of the material platform directly affects the operational accuracy of material processing or inspection. In fields such as biomedical gene sequencing, fiber optic coupling in communications, laser processing, semiconductor manufacturing, atomic force microscopy, and 3D imaging systems, even higher precision requirements are placed on the motion accuracy and dynamic performance of the lifting platform. Current technologies show that conventional lifting platforms have relatively low motion accuracy and mostly offer single-degree-of-freedom position adjustment in the height (Z-axis) direction, which cannot meet the application needs of multi-degree-of-freedom adjustment in special operating environments. Utility Model Content

[0003] The technical problem to be solved by this utility model is that the existing lifting platform's adjustment accuracy and degree of freedom cannot meet the operational requirements. This utility model provides a lifting platform to solve the above problem.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a lifting platform, including a base and a platform, and a plurality of support mechanisms are arranged between the base and the platform along the circumferential direction. Each support mechanism includes a support shaft, a support bearing and an adjustment device. The adjustment device includes a guide rail seat slidably mounted on the base, a first linear guide rail mounted on the guide rail seat, a first slider slidably mounted on the first linear guide rail and a support seat mounted on the first slider. The upper end face of the guide rail seat is inclined along the sliding direction of the guide rail seat, and the first linear guide rail is fixedly disposed on the upper end face of the guide rail seat parallel to its inclined direction. The upper end of the support shaft is fixedly connected to the bottom end of the platform, and the lower end of the support shaft is hinged to the support base through the support bearing.

[0005] Furthermore: a second linear guide rail is provided on the base along the sliding direction of the guide rail seat, and a second slider is slidably mounted on the second linear guide rail; a linear motor is also provided on the base, the linear motor includes a stator and a mover, the stator is fixedly mounted on the base along the sliding direction of the guide rail seat, the mover slides on the stator and is fixedly connected to the guide rail seat, and the mover drives the guide rail seat to slide along the second linear guide rail.

[0006] Furthermore: the number of the support mechanisms is three and they are evenly distributed along the axial direction on the base; an optical encoder is installed on the base, the reading head of the optical encoder is installed on the base, and the grating ruler of the optical encoder is attached to the surface of the guide rail seat at the position corresponding to the reading head.

[0007] Furthermore, the lower end of the support shaft is spherical and is embedded in the support bearing.

[0008] The beneficial effects of this utility model are that the lifting platform of this utility model, through a high-precision controlled multi-point support adjustment method, enables the platform surface to have Z-axis lifting capability as well as Rx and Ry-axis multi-degree-of-freedom adjustment capability. Through independent drive of linear motor and combined with closed-loop control of optical encoder, high-precision control of complex postures is achieved. Its motion resolution is better than 5nm and angular resolution is better than 0.1 arcsecond, which meets the operational needs of high motion precision and high dynamic adjustment performance. Attached Figure Description

[0009] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0010] Figure 1 This is a schematic diagram of the lifting platform structure of this utility model; Figure 2 This is a structural diagram of the lifting platform omitting the cargo platform; Figure 3 , 4 These are schematic diagrams of the partial structure of the support mechanism from different perspectives.

[0011] In the diagram: 1. Base; 2. Platform; 3. Support mechanism; 4. Support shaft; 5. Support bearing; 6. Adjustment device; 7. Guide rail seat; 8. First linear guide rail; 9. First slider; 10. Support seat; 11. Second linear guide rail; 12. Second slider; 13. Linear motor; 14. Stator; 15. Mover; 16. Optical encoder; 17. Reading head; 18. Grating ruler. Detailed Implementation

[0012] The embodiments of this utility model are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model. Rather, the embodiments of this utility model include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0013] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0014] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0015] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of the present invention pertain.

[0016] like Figures 1 to 4 As shown, this utility model provides a lifting platform, including a base 1 and a platform 2. A plurality of support mechanisms 3 are arranged circumferentially between the base 1 and the platform 2. Each support mechanism 3 includes a support shaft 4, a support bearing 5 and an adjustment device 6. The adjustment device 6 includes a guide rail seat 7 slidably mounted on the base 1, a first linear guide rail 8 mounted on the guide rail seat 7, a first slider 9 slidably mounted on the first linear guide rail 8 and a support seat 10 mounted on the first slider 9. The upper end face of the guide rail seat 7 is inclined along the sliding direction of the guide rail seat 7, and the first linear guide rail 8 is fixedly disposed on the upper end face of the guide rail seat 7 parallel to its inclined direction. The upper end of the support shaft 4 is fixedly connected to the bottom end of the platform 2, and the lower end of the support shaft 4 is hinged to the support seat 10 through the support bearing 5.

[0017] The lifting platform of this application adjusts the position of the loading platform through the multi-point support mechanism 3. The coordinated operation of multiple support mechanisms 3 can realize the lifting adjustment of the loading platform in the height direction Z axis and the rotation adjustment in the X and Y axis directions around the plane. Each support mechanism 3 is independently driven and controlled, realizing the complex posture control of the loading platform.

[0018] The guide rail seat 7 slides on the base 1. The first linear guide rail 8 is installed on the inclined upper surface of the guide rail seat 7. The first slider 9 slides along the inclined upper surface of the guide rail seat 7 in the inclined direction. The sliding direction of the guide rail seat 7 and the sliding direction of the first slider 9 are parallel and consistent. The first slider 9 is restricted by the bearing seat in the sliding direction. Thus, when the guide rail seat 7 slides, it will drive the first linear guide rail to slide relative to the first slider 9. Since the sliding direction of the first linear guide rail 8 relative to the first slider 9 is inclined along the upper surface of the guide rail seat 7, when the guide rail seat 7 slides, the first slider 9 will be displaced in the height direction Z-axis direction along with the first linear guide rail 8. This realizes that the support mechanism 3 drives the corresponding point of the platform 2 to adjust the height at the corresponding position.

[0019] The support mechanisms 3 beneath the platform 2 are numerous and individually adjustable, facilitating angular adjustment of the platform 2 not only in height but also around the X and Y axes. The operator can adjust the different drive states of each support mechanism 3 to achieve the desired settings for the platform 2. This adjustment method offers high degree of freedom and precision. The control system of the lifting platform unifies the motion states of each support mechanism 3, decomposing the motion drive between the shafts and motors through algorithms, thus achieving automated control of the platform.

[0020] A second linear guide rail 11 is provided on the base 1 along the sliding direction of the guide rail seat 7, and a second slider 12 is slidably mounted on the second linear guide rail 11; a linear motor 13 is also provided on the base 1, the linear motor 13 includes a stator 14 and a mover 15, the stator 14 is fixedly mounted on the base 1 along the sliding direction of the guide rail seat 7, the mover 15 slides on the stator 14 and is fixedly connected to the guide rail seat 7, and the mover 15 drives the guide rail seat 7 to slide along the second linear guide rail 11.

[0021] In each support mechanism 3, the guide rail seat 7 is driven by the linear motor 13 to slide along the second linear guide rail 11, providing drive for the support mechanism 3 to adjust the support height of the platform 2 at a single point. This method has high driving accuracy of the guide rail seat 7 and is easy to achieve high-resolution motion control. By controlling the position of the guide rail seat 7, the single-point support state of the support mechanism 3 on the platform 2 can be precisely controlled, and finally the attitude adjustment of the platform 2 in the height, Rx and Ry rotation directions can be achieved.

[0022] The number of support mechanisms 3 is three and they are evenly distributed along the axial direction on the base 1; an optical encoder 16 is installed on the base 1, the reading head 17 of the optical encoder 16 is installed on the base 1, and the grating ruler 18 of the optical encoder 16 is installed on the surface of the guide rail seat 7 at the position corresponding to the reading head 17.

[0023] Closed-loop control of the lifting platform was achieved through optical encoder 16, improving the motion control accuracy of the lifting platform. The motion resolution of the lifting platform in the Z-axis direction of height can reach 5nm, and the angular resolution is better than 0.1 arcseconds. The Z-axis travel of the lifting platform can reach 5mm, and the Rx and Ry angle adjustment travel is ±1.5° or more.

[0024] The lower end of the support shaft 4 is spherical and embedded in the support bearing 5. The lower end of the support shaft 4 is hinged to the support bearing 5, giving the support bearing 5 ample rotational freedom relative to the support shaft 4. Since the support mechanisms 3 below the platform 2 are multiple and individually driven and adjusted, the flexible hinge reduces gaps at the assembly connection points when adjusting the angle of the platform 2, ensuring connection accuracy while preventing motion interference. This makes posture adjustment flexible and precise.

[0025] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0026] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A lifting platform, characterized in that: It includes a base (1) and a platform (2). A plurality of support mechanisms (3) are arranged in the circumferential direction between the base (1) and the platform (2). Each support mechanism (3) includes a support shaft (4), a support bearing (5) and an adjustment device (6). The adjustment device (6) includes a guide rail seat (7) slidably mounted on the base (1), a first linear guide rail (8) mounted on the guide rail seat (7), a first slider (9) slidably mounted on the first linear guide rail (8), and a support seat (10) mounted on the first slider (9). The upper end face of the guide rail seat (7) is inclined along the sliding direction of the guide rail seat (7), and the first linear guide rail (8) is fixedly disposed on the upper end face of the guide rail seat (7) parallel to its inclined direction. The upper end of the support shaft (4) is fixedly connected to the bottom end of the platform (2), and the lower end of the support shaft (4) is hinged to the support seat (10) through the support bearing (5).

2. The lifting platform as described in claim 1, characterized in that: A second linear guide rail (11) is provided on the base (1) along the sliding direction of the guide rail seat (7), and a second slider (12) is slidably installed on the second linear guide rail (11); a linear motor (13) is also provided on the base (1), the linear motor (13) includes a stator (14) and a mover (15), the stator (14) is fixedly installed on the base (1) along the sliding direction of the guide rail seat (7), the mover (15) slides on the stator (14) and is fixedly connected to the guide rail seat (7), and the mover (15) drives the guide rail seat (7) to slide along the second linear guide rail (11).

3. A lifting platform as described in claim 2, characterized in that: The number of the support mechanism (3) is three and they are evenly distributed along the axial direction on the base (1); an optical encoder (16) is installed on the base (1), the reading head (17) of the optical encoder (16) is installed on the base (1), and the grating ruler (18) of the optical encoder (16) is installed on the surface of the guide rail (7) at the position corresponding to the reading head (17).

4. A lifting platform as described in claim 3, characterized in that: The lower end of the support shaft (4) is spherical and is embedded in the support bearing (5).

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