Differential drive and rigid-flexible composite guiding motion platform

Abstract

The present invention relates to the technical field of motion platforms, and in particular, to a differential drive and rigid-flexible compound guiding motion platform. The present invention mainly aims to address the problems that although rigid-flexible coupled motion platforms can reduce friction and improve precision, flexible hinges are prone to vibration, and that in the ball screw driving mode in motion platform driving modes, the lead, driving precision, and load capacity are mutually constrained, and provides the following technical solution. The motion platform comprises a base having a top opening structure and a driving mechanism mounted on the base, and further comprises a rigid-flexible composite guiding mechanism and a differential lead screw driving unit, wherein the rigid-flexible composite guiding mechanism comprises a flexible platform and a rigid guiding assembly for guiding the flexible platform, and the flexible platform comprises a mounting frame, a flexible hinge group and an output platform. The present invention can improve the applicability of a motion platform in industrial production and scientific research, meet the increasing requirements for high precision and high stability, and has important practical significance and application value.

Description

A differential drive and rigid-flexible composite guidance motion platform Technical Field

[0001] This invention relates to the field of motion platform technology, and in particular to a differential drive and rigid-flexible composite guide motion platform. Background Technology

[0002] In modern industrial production and scientific research, the precision and performance of motion platforms play a crucial role in the completion of many key tasks. Traditional rigid motion platforms, with their structural stability and high load-bearing capacity, were widely used in early industrial applications. However, with continuous technological advancements and increasingly stringent requirements for the precision and performance of motion platforms, the limitations of rigid platforms have gradually become apparent.

[0003] During operation, rigid platforms inevitably experience friction between components due to their structural characteristics, which severely impacts their motion accuracy. Even minor frictional resistance can cause lag in platform movement and, over time, lead to component wear, further reducing the platform's accuracy and reliability. To overcome these drawbacks of rigid platforms, rigid-flexible coupling motion platforms have emerged. By introducing a flexible structure, rigid-flexible coupling platforms effectively reduce the impact of friction on platform motion, resulting in superior accuracy compared to traditional rigid platforms.

[0004] In terms of motion platform drive methods, traditional drive methods have certain limitations in terms of accuracy and stability. Currently, ball screw drives are increasingly widely used in the field of motion platforms due to their numerous advantages. Using ball screw drives allows for good contact between the rigid-flexible coupling platform and the screw, which helps reduce platform vibration and improve the smoothness of platform movement. Furthermore, with the same servo motor accuracy, the drive accuracy of the ball screw is inversely proportional to its lead; that is, the smaller the lead, the higher the drive accuracy. However, the lead is also inversely proportional to the load capacity; the smaller the lead, the lower the load capacity. Therefore, it is necessary to comprehensively consider the balance between drive accuracy and load capacity during the design and application process to meet the needs of motion platforms in different scenarios. In view of this, this invention proposes a differential drive and rigid-flexible composite guided motion platform. Summary of the Invention

[0005] The purpose of this invention is to address the problems in the background technology where rigid-flexible coupled motion platforms can reduce friction and improve accuracy, but the flexible hinges are prone to vibration, and the ball screw drive in the motion platform driving mode has the problem of mutual constraints between lead, driving accuracy and load capacity. The invention proposes a differential drive and rigid-flexible composite guiding motion platform.

[0006] The technical solution of the present invention is as follows: A differential drive and rigid-flexible composite guide motion platform, comprising a base with a top opening structure and a drive mechanism mounted on the base, further comprising a rigid-flexible composite guide mechanism and a differential screw drive unit, wherein the rigid-flexible composite guide mechanism comprises a flexible platform and a rigid guide assembly for guiding it, the flexible platform comprising a mounting frame, a flexible hinge group and an output platform, the mounting frame being connected to the output end of the differential screw drive unit in sequence through the flexible hinge group and the output platform; a positioning plate and a motor plate are located on the same plane as the flexible platform, the positioning plate being connected to the output end of the drive mechanism, and the differential screw drive unit being mounted on the bottom of the motor plate.

[0007] Optionally, the flexible hinge assembly includes a first flexible sheet and a second flexible sheet. Multiple sets of the first flexible sheets are fixedly connected to the inner side of the mounting frame. The mounting frame is connected to the output platform through the first flexible sheets. Multiple sets of the second flexible sheets are respectively disposed on both sides of the output platform. A first pressure block is disposed on the side of the second flexible sheet away from the output platform. The first pressure block is fixed to the output platform by bolts. A second pressure block is also disposed on the side of the second flexible sheet closer to the output platform. The second pressure block is fixed to the mounting frame by bolts.

[0008] Optionally, the rigid guide assembly includes a mounting frame, a positioning plate, and a first slider mounted on the bottom of the motor plate. Multiple sets of the first sliders on the same side are slidably connected to a first slide rail, and both sets of the first slide rails are mounted on the top of the base.

[0009] Optionally, the drive mechanism includes a first servo motor installed inside the base, the output end of the first servo motor is fixedly connected to a first threaded rod, and at least two sets of positioning blocks are rotatably connected to the first threaded rod, the positioning blocks being fixedly connected to the inside of the base.

[0010] Optionally, a first threaded sleeve is threadedly connected to the first threaded rod, and a movable block is fixedly connected to the first threaded sleeve, the movable block being fixedly connected to the positioning plate.

[0011] Optionally, the differential screw drive unit includes a second threaded sleeve installed in the moving block, a second threaded rod threadedly connected to the second threaded sleeve, a third threaded sleeve threadedly connected to the second threaded rod, a synchronization block fixedly connected to the third threaded sleeve, and the synchronization block fixedly connected to the output platform.

[0012] Optionally, the differential screw drive unit further includes a second servo motor, with a mounting plate on the outside of the second servo motor, the second servo motor being mounted on the mounting plate, the output end of the second servo motor passing through the mounting plate and being fixedly connected to the second threaded rod, and the mounting plate being connected to the bottom of the motor plate.

[0013] Optionally, when the motor plate is fixedly connected to the mounting frame or the positioning plate, a mating mechanism is provided between the mounting plate and the motor plate.

[0014] Optionally, the mating mechanism includes a second slide rail fixedly connected to the top of the mounting plate, a second slider slidably connected to the second slide rail, and the second slider being fixedly connected to the motor plate.

[0015] Optionally, the internal thread pitch of the second threaded sleeve is greater than that of the internal thread pitch of the third threaded sleeve, and the thread pitches at both ends of the second threaded rod are different.

[0016] In summary, this application includes at least one of the following beneficial technical effects:

[0017] By setting up a flexible platform, this invention can effectively reduce the impact of friction between the first slider and the first slide rail on the movement of the output platform, resulting in better precision performance.

[0018] Furthermore, by setting up the drive mechanism, the motion stroke of the output platform can be increased. At the same time, by setting up the differential screw drive unit, the position of the output platform can be precisely adjusted, ensuring accurate positioning.

[0019] In summary, this invention can improve the application efficiency of motion platforms in industrial production and scientific research, meet the growing demand for high precision and high stability, and has important practical significance and application value. Attached Figure Description

[0020] Figure 1 shows a schematic diagram of the differential drive and rigid-flexible composite guide motion platform of the present invention;

[0021] Figure 2 is a schematic diagram of the cross-sectional structure of Figure 1;

[0022] Figure 3 is an enlarged view of point A in Figure 2;

[0023] Figure 4 is a schematic diagram of the structure for fixing the motor plate to the mounting frame;

[0024] Figure 5 is a schematic diagram of the cross-sectional structure of Figure 4;

[0025] Figure 6 is a structural schematic diagram of another mounting position of the second servo motor;

[0026] Figure 7 is a schematic diagram of the cross-sectional structure of Figure 6;

[0027] Figure 8 is a schematic diagram of the structure for fixing the motor plate and the positioning plate;

[0028] Figure 9 is a schematic diagram of the cross-sectional structure of Figure 8.

[0029] Figure label:

[0030] 1. Base; 11. First slider; 12. First slide rail;

[0031] 2. Drive mechanism; 21. First servo motor; 22. First threaded rod; 23. Positioning block; 24. First threaded sleeve; 25. Moving block;

[0032] 3. Flexible platform; 31. Mounting frame; 32. First flexible sheet; 33. Output platform; 34. Second flexible sheet; 35. First pressure block; 36. Second pressure block;

[0033] 4. Positioning plate; 5. Motor plate;

[0034] 6. Differential lead screw drive unit; 61. Second threaded sleeve; 62. Second threaded rod; 63. Third threaded sleeve; 64. Synchronizer block; 65. Second servo motor; 66. Mounting plate;

[0035] 7. Coordinating mechanism; 71. Second slide rail; 72. Second slider. Detailed Implementation

[0036] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0037] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0038] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Example 1

[0042] As shown in Figure 1, the differential drive and rigid-flexible composite guide motion platform proposed in this invention includes a base 1 with a top opening structure. The base 1 is made of multiple steel plates welded together or assembled by threads. This structure of the base 1 has high strength and stability. The welding method allows the steel plates to be tightly connected, resulting in strong overall integrity; the threaded assembly facilitates installation and disassembly, making it convenient for later maintenance and adjustment.

[0043] Further, referring to Figure 2, the aforementioned motion platform is mounted on the base 1 via a drive mechanism 2. A positioning plate 4 is fixedly connected to the output end of the drive mechanism 2, and a motor plate 5 is mounted on one side of the positioning plate 4. The drive mechanism 2 drives the flexible platform 3, the positioning plate 4, and the motor plate 5 to move synchronously. The drive mechanism 2 includes a first servo motor 21 mounted inside the base 1. The output end of the first servo motor 21 is fixedly connected to a first threaded rod 22 via a coupling. After starting, the first servo motor 21 drives the first threaded rod 22 to rotate. At least two sets of positioning blocks 23 are rotatably connected to the first threaded rod 22 via bearings. The positioning blocks 23 are fixedly connected to the inside of the base 1, ensuring that the first threaded rod 22 remains in its original position during rotation, effectively preventing axial movement of the threaded rod during rotation and ensuring the stability and accuracy of the transmission. A first threaded sleeve 24 is threadedly connected to the first threaded rod 22, and a moving block 25 is fixedly connected to the first threaded sleeve 24. The moving block 25 is fixedly connected to the positioning plate 4. When the first threaded rod 22 rotates, it drives the first threaded sleeve 24 to move, and drives the positioning plate 4 to move through the moving block 25. This structure realizes the efficient conversion of the motor's rotary motion to linear motion, providing stable power for the overall movement of the platform.

[0044] The drive mechanism 2 can also be a linear motor, with the moving end of the linear motor connected to the positioning plate 4 to achieve long-stroke movement. Linear motor drive offers fast response and high precision, meeting the needs of motion platforms in scenarios requiring rapid, long-distance movement.

[0045] Furthermore, the aforementioned motion platform also includes a rigid-flexible composite guiding mechanism, which includes a flexible platform 3 and a rigid guiding component for guiding it. The flexible platform 3 includes a mounting frame 31, a flexible hinge group, and an output platform 33. The mounting frame 31 is connected to the output end of the differential screw drive unit 6 in sequence through the flexible hinge group and the output platform 33.

[0046] The motion platform also includes a positioning plate 4 and a motor plate 5, which are on the same plane as the flexible platform 3. The positioning plate 4 is connected to the output end of the drive mechanism 2, and the differential screw drive unit 6 is installed at the bottom of the motor plate 5. The positioning plate 4 is located on the side of the flexible platform 3 closer to the first servo motor 21, and the motor plate 5 is located on the side of the flexible platform 3 away from the first servo motor 21.

[0047] As shown in Figures 1 and 3, the flexible hinge assembly includes a first flexible piece 32 and a second flexible piece 34. The flexible platform 3 includes a mounting frame 31. Multiple sets of first flexible pieces 32 are fixedly connected to the inner side of the mounting frame 31. The mounting frame 31 is connected to the output platform 33 through the first flexible pieces 32, and the output platform 33 is connected to the mounting frame 31 through the first flexible pieces 32. This is used to eliminate the influence of friction between the first slider 11 and the first slide rail 12. The first flexible piece 32 can effectively buffer and absorb the small vibrations and impacts generated by friction between the slider and the slide rail, making the movement of the output platform 33 more stable and smooth, and avoiding interference from these adverse factors on the positioning accuracy of the platform. Multiple sets of second flexible plates 34 are respectively disposed on both sides of the output platform 33. A first pressure block 35 is disposed on the side of the second flexible plate 34 away from the output platform 33, and the first pressure block 35 is fixed to the output platform 33 by bolts. A second pressure block 36 is also disposed on the side of the second flexible plate 34 closer to the output platform 33, and the second pressure block 36 is fixed to the mounting frame 31 by bolts. The arrangement of the first pressure block 35 and the second pressure block 36 ensures that the second flexible plate 34 is firmly fixed to the mounting frame 31 and the output platform 33. The second flexible plate 34 further improves the connection stability between the output platform 33 and the mounting frame 31, while eliminating the influence of friction. The double flexible plate design greatly enhances the stability and anti-interference capability of the output platform 33.

[0048] Specifically, the rigid guide assembly includes a mounting frame 31, a positioning plate 4, and a first slider 11 mounted at the bottom of the motor plate 5. Multiple sets of first sliders 11 on the same side are slidably connected to a first slide rail 12. Both sets of first slide rails 12 are mounted on the top of the base 1. The arrangement of the first sliders 11 and the first slide rails 12 ensures stable movement of the mounting frame 31, the positioning plate 4, and the motor plate 5. This slider-slide rail combination precisely guides the movement direction of each component, ensuring the straightness and flatness of the platform during movement, providing a fundamental guarantee for achieving high-precision positioning.

[0049] Furthermore, the aforementioned motion platform includes a differential screw drive unit 6 connected below the flexible platform 3, positioning plate 4, and motor plate 5. The output end of the differential screw drive unit 6 is connected to the output platform 33 in the rigid-flexible composite guide mechanism. The differential screw drive unit 6 includes a second threaded sleeve 61 installed in the moving block 25. The second threaded sleeve 61 remains fixed in position after the first servo motor 21 stops. A second threaded rod 62 is threadedly connected to the second threaded sleeve 61, and the second threaded rod 62 moves along its own length direction when rotating. A third threaded sleeve 63 is threadedly connected to the second threaded rod 62, and the second threaded rod 62 drives the third threaded sleeve 63 to move along its length direction when rotating. A synchronization block 64 is fixedly connected to the third threaded sleeve 63, and the synchronization block 64 is fixedly connected to the output platform 33. When the third threaded sleeve 63 moves, it drives the output platform 33 to move through the synchronization block 64. The differential screw drive unit 6 also includes a second servo motor 65. A mounting plate 66 is provided on the outside of the second servo motor 65, which is mounted on the mounting plate 66. The output end of the second servo motor 65 passes through the mounting plate 66 and is fixedly connected to the second threaded rod 62 via a coupling. The mounting plate 66 is connected to the bottom of the motor plate 5. After starting, the second servo motor 65 drives the second threaded rod 62 to rotate. When the second threaded rod 62 rotates, its direction of movement is opposite to that of the third threaded sleeve 63. Because the internal thread pitch of the second threaded sleeve 61 is greater than that of the third threaded sleeve 63, and the thread pitches at both ends of the second threaded rod 62 are different, the movement distance of the third threaded sleeve 63 is less than that of the second threaded rod 62, thereby reducing the displacement of the third threaded sleeve 63 and improving the positioning accuracy of the output platform 33. This differential screw drive unit 6 with this differential screw structure can achieve high-precision fine-tuning of the position of the output platform 33, meeting the needs of the motion platform in some working scenarios with extremely high positioning accuracy requirements.

[0050] Furthermore, multiple sets of bases 1 can be orthogonally arranged to allow for precise multi-directional position adjustment. In these multiple orthogonally arranged bases 1, the output platform 33 and its orthogonally arranged bases 1 are fixedly connected. This orthogonal arrangement of multiple sets of bases 1 greatly expands the motion dimensions of the motion platform, enabling precise position adjustment in multiple directions and significantly improving the platform's applicability and flexibility.

[0051] In this embodiment, when adjusting the approximate position of the output platform 33, the first servo motor 21 is activated to drive the first threaded rod 22 to rotate. As the first threaded rod 22 rotates, it drives the first threaded sleeve 24 to move. The first threaded sleeve 24, through the moving block 25, drives the positioning plate 4 to move. The positioning plate 4 moves smoothly under the limiting action of the first slider 11 and the first slide rail 12. At this time, since the flexible platform 3, the positioning plate 4, and the motor plate 5 are connected together through the differential screw drive unit 6, the flexible platform 3 moves synchronously when the positioning plate 4 moves. When fine-tuning the position of the output platform 33, the second servo motor 65 is activated, driving the second threaded rod 62 to rotate. As the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, simultaneously driving the third threaded sleeve 63 to move, and simultaneously driving the second servo motor 65, the mounting plate 66, and the motor plate 5 to move. Meanwhile, as the second threaded rod 62 rotates, it also drives the third threaded sleeve 63 to move. The direction of movement of the third threaded sleeve 63 is opposite to that of the second threaded rod 62. Since the pitch of the internal threads of the second threaded sleeve 61 is greater than that of the internal threads of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one revolution is small. This facilitates fine adjustments to the position of the output platform 33, ensuring accurate positioning of the output platform 33. Furthermore, the arrangement of the first flexible plate 32 and the second flexible plate 34 effectively prevents the friction between the first slider 11 and the first slide rail 12 from affecting the output platform 33.

[0052] Example 2

[0053] As shown in Figures 4 and 5, based on Embodiment 1, in this embodiment, the motor plate 5 is fixedly connected to the mounting frame 31, and the motor plate 5 moves synchronously with the output platform 33. A mating mechanism 7 is provided between the mounting plate 66 and the motor plate 5. The mating mechanism 7 includes a second slide rail 71 fixedly connected to the top of the mounting plate 66, and a second slider 72 slidably connected to the second slide rail 71. The second slider 72 is fixedly connected to the motor plate 5. The arrangement of the second slide rail 71 and the second slider 72 allows the mounting plate 66 to slide at the bottom of the motor plate 5. The mating of the second slide rail 71 and the second slider 72 provides precise guidance for the movement of the mounting plate 66, enabling the mounting plate 66 to slide smoothly relative to the motor plate 5 during fine-tuning, further ensuring the stability and accuracy of the output platform 33 during fine-tuning.

[0054] In this embodiment, when fine-tuning the position of the output platform 33, the second servo motor 65 is activated, driving the second threaded rod 62 to rotate. As the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length, simultaneously driving the third threaded sleeve 63 to move. The movement of the second threaded rod 62 also drives the second servo motor 65 and the mounting plate 66 to move. The mounting plate 66 slides below the motor plate 5 due to the arrangement of the second slide rail 71 and the second slider 72. Simultaneously, the rotation of the second threaded rod 62 also drives the third threaded sleeve 63 to move, and the direction of movement of the third threaded sleeve 63 is opposite to that of the second threaded rod 62. Because the pitch of the internal threads of the second threaded sleeve 61 is greater than that of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one revolution is small, facilitating fine adjustments to the position of the output platform 33 and ensuring accurate positioning of the output platform 33. Meanwhile, the arrangement of the first flexible sheet 32 ​​and the second flexible sheet 34 can effectively prevent the friction between the first slider 11 and the first slide rail 12 from affecting the output platform 33.

[0055] Example 3

[0056] As shown in Figures 6 and 7, based on Embodiment 1, the positioning plate 4 is disposed on the side of the flexible platform 3 near the first servo motor 21, and the motor plate 5 is disposed on the side of the positioning plate 4 near the first servo motor 21.

[0057] In this embodiment, when adjusting the approximate position of the output platform 33, the first servo motor 21 is activated to drive the first threaded rod 22 to rotate. As the first threaded rod 22 rotates, it drives the first threaded sleeve 24 to move. The first threaded sleeve 24, through the moving block 25, drives the positioning plate 4 to move. The positioning plate 4 moves smoothly under the limiting action of the first slider 11 and the first slide rail 12. At this time, since the flexible platform 3, the positioning plate 4, and the motor plate 5 are connected together through the differential screw drive unit 6, the flexible platform 3 moves synchronously when the positioning plate 4 moves. When fine-tuning the position of the output platform 33, the second servo motor 65 is activated, driving the second threaded rod 62 to rotate. As the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length direction, simultaneously driving the third threaded sleeve 63 to move, and simultaneously driving the second servo motor 65, the mounting plate 66, and the motor plate 5 to move. Meanwhile, as the second threaded rod 62 rotates, it also drives the third threaded sleeve 63 to move. The direction of movement of the third threaded sleeve 63 is opposite to that of the second threaded rod 62. Since the pitch of the internal threads of the second threaded sleeve 61 is greater than that of the internal threads of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one revolution is small. This facilitates fine adjustments to the position of the output platform 33, ensuring accurate positioning of the output platform 33. Furthermore, the arrangement of the first flexible plate 32 and the second flexible plate 34 effectively prevents the friction between the first slider 11 and the first slide rail 12 from affecting the output platform 33.

[0058] Example 4

[0059] As shown in Figures 8 and 9, based on Embodiment 3, in this embodiment, the motor plate 5 and the positioning plate 4 are fixedly connected, and the motor plate 5 and the positioning plate 4 move synchronously. A mating mechanism 7 is provided between the mounting plate 66 and the motor plate 5. The mating mechanism 7 includes a second slide rail 71 fixedly connected to the top of the mounting plate 66, and a second slider 72 slidably connected to the second slide rail 71. The second slider 72 is fixedly connected to the motor plate 5. The mounting plate 66 slides on the bottom of the motor plate 5 through the arrangement of the second slide rail 71 and the second slider 72.

[0060] In this embodiment, when fine-tuning the position of the output platform 33, the second servo motor 65 is activated, driving the second threaded rod 62 to rotate. As the second threaded rod 62 rotates, since the position of the second threaded sleeve 61 is fixed, the second threaded rod 62 moves along its own length, simultaneously driving the third threaded sleeve 63 to move. The movement of the second threaded rod 62 also drives the second servo motor 65 and the mounting plate 66 to move. The mounting plate 66 slides below the motor plate 5 due to the arrangement of the second slide rail 71 and the second slider 72. Simultaneously, the rotation of the second threaded rod 62 also drives the third threaded sleeve 63 to move, and the direction of movement of the third threaded sleeve 63 is opposite to that of the second threaded rod 62. Because the pitch of the internal threads of the second threaded sleeve 61 is greater than that of the third threaded sleeve 63, the displacement of the third threaded sleeve 63 when the second threaded rod 62 rotates one revolution is small, facilitating fine adjustments to the position of the output platform 33 and ensuring accurate positioning of the output platform 33. Meanwhile, the arrangement of the first flexible sheet 32 ​​and the second flexible sheet 34 can effectively prevent the friction between the first slider 11 and the first slide rail 12 from affecting the output platform 33.

[0061] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A differential drive and rigid-flexible composite guiding motion platform, comprising a base (1) with a top opening structure and a drive mechanism (2) mounted on the base (1), characterized in that, Also includes: The rigid-flexible composite guide mechanism and the differential screw drive unit (6) include a flexible platform (3) and a rigid guide component for guiding it. The flexible platform (3) includes a mounting frame (31), a flexible hinge group and an output platform (33). The mounting frame (31) is connected to the output end of the differential screw drive unit (6) in sequence through the flexible hinge group and the output platform (33). The positioning plate (4) and the motor plate (5) are on the same plane as the flexible platform (3). The positioning plate (4) is connected to the output end of the drive mechanism (2). The differential screw drive unit (6) is installed at the bottom of the motor plate (5).

2. The differential drive and rigid-flexible composite guiding motion platform according to claim 1, characterized in that, The flexible hinge assembly includes a first flexible piece (32) and a second flexible piece (34). Multiple sets of the first flexible pieces (32) are fixedly connected to the inside of the mounting frame (31). The mounting frame (31) is connected to the output platform (33) through the first flexible pieces (32). Multiple sets of the second flexible pieces (34) are respectively disposed on both sides of the output platform (33). A first pressure block (35) is disposed on the side of the second flexible piece (34) away from the output platform (33). The first pressure block (35) is fixed to the output platform (33) by bolts. A second pressure block (36) is also disposed on the side of the second flexible piece (34) close to the output platform (33). The second pressure block (36) is fixed to the mounting frame (31) by bolts.

3. The differential drive and rigid-flexible composite guiding motion platform according to claim 2, characterized in that, The rigid guide assembly includes a mounting frame (31), a positioning plate (4), and a first slider (11) installed at the bottom of the motor plate (5). Multiple sets of the first sliders (11) on the same side are slidably connected to a first slide rail (12), and both sets of the first slide rails (12) are installed on the top of the base (1).

4. The differential drive and rigid-flexible composite guiding motion platform according to claim 3, characterized in that, The drive mechanism (2) includes a first servo motor (21) installed inside the base (1). The output end of the first servo motor (21) is fixedly connected to a first threaded rod (22). At least two sets of positioning blocks (23) are rotatably connected to the first threaded rod (22). The positioning blocks (23) are fixedly connected to the inside of the base (1).

5. A differential drive and rigid-flexible composite guiding motion platform according to claim 4, characterized in that, The first threaded rod (22) is threadedly connected to a first threaded sleeve (24), and a movable block (25) is fixedly connected to the first threaded sleeve (24). The movable block (25) is fixedly connected to the positioning plate (4).

6. The differential drive and rigid-flexible composite guiding motion platform according to claim 5, characterized in that, The differential screw drive unit (6) includes a second threaded sleeve (61) installed in the moving block (25), a second threaded rod (62) is threadedly connected to the second threaded sleeve (61), a third threaded sleeve (63) is threadedly connected to the second threaded rod (62), a synchronization block (64) is fixedly connected to the third threaded sleeve (63), and the synchronization block (64) is fixedly connected to the output platform (33).

7. A differential drive and rigid-flexible composite guiding motion platform according to claim 6, characterized in that, The differential screw drive unit (6) also includes a second servo motor (65). The second servo motor (65) has a mounting plate (66) on its outer side. The second servo motor (65) is mounted on the mounting plate (66). The output end of the second servo motor (65) passes through the mounting plate (66) and is fixedly connected to the second threaded rod (62). The mounting plate (66) is connected to the bottom of the motor plate (5).

8. A differential drive and rigid-flexible composite guiding motion platform according to claim 7, characterized in that, When the motor plate (5) is fixedly connected to the mounting frame (31) or the motor plate (5) is fixedly connected to the positioning plate (4), a mating mechanism (7) is provided between the mounting plate (66) and the motor plate (5).

9. A differential drive and rigid-flexible composite guiding motion platform according to claim 8, characterized in that, The mating mechanism (7) includes a second slide rail (71) fixedly connected to the top of the mounting plate (66), a second slider (72) slidably connected to the second slide rail (71), and the second slider (72) fixedly connected to the motor plate (5).

10. A differential drive and rigid-flexible composite guiding motion platform according to claim 9, characterized in that, The internal thread pitch of the second threaded sleeve (61) is greater than that of the internal thread pitch of the third threaded sleeve (63), and the thread pitches at both ends of the second threaded rod (62) are different.

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