CN120582400B - A high-resolution precision six-dimensional translation platform - Google Patents
A high-resolution precision six-dimensional translation platformInfo
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- CN120582400B CN120582400B CN202511081315.8A CN202511081315A CN120582400B CN 120582400 B CN120582400 B CN 120582400B CN 202511081315 A CN202511081315 A CN 202511081315A CN 120582400 B CN120582400 B CN 120582400B
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Abstract
本发明公开了一种高分辨率精密六维平移平台，包括：平台板和底板，设置在底板上表面的若干调节机构，以及设置在调节机构内的控制模组：调节机构包括：固定板和安装壳，固定板的一侧与安装壳固定连接；该高分辨率精密六维平移平台中，以空心杯电机为一级驱动元件，结合摩擦驱动原理实现初级驱动，驱动信号传递至二级摩擦驱动机构，实现稳定、高分辨率的输出传动：一级摩擦驱动轮与一级摩擦从动轮带动一级摩擦驱动杆，经二级驱动摩擦杆调节平台板，安装壳内压力传感器实时监测摩擦杆接触力变化以计算实际位移量，结合控制系统自适应算法，实现平台的闭环高精度姿态控制，能有效实现六自由度调节，实现光路在六个自由度上的精细调节。
The present invention discloses a high-resolution precision six-dimensional translation platform, comprising: a platform plate and a base plate, a plurality of adjustment mechanisms arranged on the upper surface of the base plate, and a control module arranged in the adjustment mechanism: the adjustment mechanism comprises: a fixed plate and a mounting shell, one side of the fixed plate is fixedly connected to the mounting shell; in the high-resolution precision six-dimensional translation platform, a hollow cup motor is used as a primary driving element, and the friction driving principle is combined to realize primary driving, and the driving signal is transmitted to the secondary friction driving mechanism to realize stable and high-resolution output transmission: the primary friction driving wheel and the primary friction driven wheel drive the primary friction driving rod, and the platform plate is adjusted by the secondary driving friction rod, and a pressure sensor in the mounting shell monitors the contact force change of the friction rod in real time to calculate the actual displacement, and combined with the control system adaptive algorithm, the closed-loop high-precision posture control of the platform is realized, which can effectively realize six-degree-of-freedom adjustment and realize fine adjustment of the optical path in six degrees of freedom.
Description
Technical Field
The invention relates to the technical field of translation platforms, in particular to a high-resolution precise six-dimensional translation platform.
Background
The six-dimensional translation platform, also called a six-degree-of-freedom motion platform, can realize translation along X, Y, Z axes and rotation around the three axes in a Cartesian coordinate system, and has six degrees of freedom. The structure is various, the swing platform with six degrees of freedom is arranged, the lower platform is fixed on the ground, the upper platform is a motion platform and is supported by six electric cylinders, and each connecting point adopts a Hooke hinge; the six-dimensional adjusting frame is also provided with a precision knob and a scale mark by applying an advanced multi-dimensional adjusting technology and adopting a high-rigidity material; the six-dimensional manual combination table is composed of components of different types and is made of aluminum alloy, and the six-dimensional optical fiber special translation table is made of precise cross guide rails and stainless steel. When the robot is in operation, the computer control system coordinates and controls the stroke of the electric cylinder, and takes a six-degree-of-freedom swinging platform as an example, and the movement of the upper platform in the space with six degrees of freedom is realized by controlling the stroke of the electric cylinder driven by six servo motors.
Most conventional six-dimensional translation stages on the market at present usually adopt a hydraulic or ball screw driving mode. The driving mode depends on the traditional high-cost positioning feedback devices such as grating rulers, not only leads to the complexity of the structure of the whole device, but also greatly increases the manufacturing cost and limits the wide application of the device in more fields. In addition, the existing system has poor mechanical flexibility and posture adaptability when performing six-degree-of-freedom adjustment. Due to lack of sufficient flexibility and adaptability, it is difficult to adapt to complicated and changeable adjustment requirements, and when facing some special working conditions or complicated adjustment tasks, stable and reliable adjustment effects cannot be provided.
Therefore, it is necessary to provide a high-resolution precision six-dimensional translation stage to solve the above technical problems.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a high-resolution precise six-dimensional translation platform.
In order to achieve the aim, the technical scheme adopted by the invention is that the high-resolution precision six-dimensional translation platform comprises a platform plate, a bottom plate, a plurality of adjusting mechanisms arranged on the upper surface of the bottom plate and a control module arranged in the adjusting mechanisms:
The adjusting mechanism comprises a fixed plate and an installation shell, wherein one side of the fixed plate is fixedly connected with the installation shell, a plurality of support rods are fixedly connected between the inner wall of one side of the installation shell and the outer wall of one side of the fixed plate, a driven friction seat is arranged in the installation shell, tension springs are fixedly connected at the top points of intersecting lines of adjacent three surfaces of the driven friction seat, and the other ends of the tension springs are fixedly connected with the circumferential outer walls of the adjacent support rods;
The automatic friction device comprises a driven friction seat, a motor friction seat, a hollow cup motor, a first-stage friction driving wheel, a second-stage friction driven wheel, a second-stage friction driving wheel and a second-stage driving friction rod, wherein the motor friction seat is fixedly connected to one side of the driven friction seat, the hollow cup motor is fixedly connected to one side outer wall of the motor friction seat, one side inner wall of the driven friction seat is rotationally connected with the first-stage friction driving wheel, one end of the first-stage friction driven wheel is rotationally connected with the driven friction seat, one-stage friction driving rod is in transmission connection between the first-stage friction driving wheel and the first-stage friction driving wheel, pressure sensors are fixedly connected to the inner wall of the top and the inner wall of the bottom of a mounting shell, the first-stage friction driving rod is located between the two pressure sensors and is movably connected with the friction wheel supporting seat, one-stage friction driving wheel is rotationally connected between the inner walls of the two sides of the friction wheel supporting seat, and the second-stage friction driving wheel is in transmission connection between the second-stage friction driving wheel and the first-stage friction driving wheel.
In a preferred embodiment of the present invention, the bottom of the fixing plate is fixedly connected to the upper surface of the bottom plate.
In a preferred embodiment of the present invention, a compression spring is fixedly connected between an outer wall of one side of the friction wheel supporting seat and an inner wall of one side of the driven friction seat.
In a preferred embodiment of the present invention, a push rod linear motor is fixedly connected to an outer wall of one side of the installation shell.
In a preferred embodiment of the present invention, one end of the output shaft of the push rod linear motor penetrates through the mounting shell and is fixedly connected with the outer wall of one side of the driven friction seat.
In a preferred embodiment of the invention, the circumference outer wall of the platform plate is fixedly connected with a plurality of transmission plates, a plurality of secondary driving friction rods are respectively positioned below the plurality of transmission plates, and the top and the bottom of the installation shell are respectively provided with a through hole.
In a preferred embodiment of the invention, a universal groove is formed at the bottom of the transmission plate, and a universal ball is fixedly connected to the top of the secondary driving friction rod.
In a preferred embodiment of the present invention, the universal ball is clamped with the universal slot.
In a preferred embodiment of the present invention, the two through holes are coincident in position, and the secondary driving friction rod is located in the two through holes.
In a preferred embodiment of the invention, the module comprises a driving module, a sensing module and a control module, wherein the driving module is electrically connected with the hollow cup motor and the push rod linear motor, the sensing module is electrically connected with the pressure sensor, and the control module is used for controlling the hollow cup motor and the push rod linear motor in real time by using a self-adaptive algorithm according to information fed back by the pressure sensor, so that closed-loop high-precision attitude control of the platform is realized.
The invention solves the defects existing in the background technology, and has the following beneficial effects:
the invention provides a high-resolution precise six-dimensional translation platform, which uses a hollow cup motor as a primary driving element, combines a friction driving principle to realize primary driving, transmits driving signals to a secondary friction driving mechanism to realize stable and high-resolution output transmission, drives a primary friction driving rod by a primary friction driving wheel and a primary friction driven wheel, and realizes adjustment of a platform plate by the secondary friction driving rod.
The invention provides a high-resolution precise six-dimensional translation platform which adopts friction drive to replace traditional hydraulic or ball screw drive, omits a traditional high-cost positioning feedback device of a grating ruler, and utilizes a pressure sensor to acquire the stress change condition of a friction rod in real time in an adjusting mechanism, combines force moment feedback and algorithm calculation to accurately calculate the displacement of a first-stage friction rod, thereby simplifying the structure and reducing the cost.
The invention provides a high-resolution precise six-dimensional translation platform, which is characterized in that a driven friction seat is flexibly suspended by a tension spring through the arrangement of the tension spring and a compression spring, so that the free motion capability of the driven friction seat in the posture adjustment process is endowed by the tension spring, the system is ensured to have enough mechanical flexibility and posture adaptability when the six-degree-of-freedom adjustment is carried out, and the compression force of a secondary friction rod can be automatically adjusted by the compression spring, so that stable and reliable transmission contact is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
fig. 1 is a perspective view showing the whole structure of a device body according to a preferred embodiment of the present invention;
FIG. 2 is a perspective view showing the appearance of an adjusting mechanism according to a preferred embodiment of the present invention;
fig. 3 is a partial sectional structural view of a first viewing angle device body according to a preferred embodiment of the present invention;
fig. 4 is a partial sectional structural view of a second viewing angle device body according to a preferred embodiment of the present invention;
Fig. 5 is a partial sectional structural view of a third perspective device body according to a preferred embodiment of the present invention.
1, A mounting shell; 2, a fixed plate, 3, an adjusting mechanism, 301, a motor friction seat, 302, a driven friction seat, 303, a hollow cup motor, 304, a push rod linear motor, 305, a secondary driving friction rod, 306, a universal ball, 307, a pressure sensor, 308, a tension spring, 309, a primary friction driving wheel, 310, a primary friction driven wheel, 311, a primary friction driving rod, 312, a secondary friction driven wheel, 313, a compression spring, 314, a friction wheel supporting seat, 315, a supporting rod, 4, a through hole, 5, a platform plate, 6, a transmission plate, 7 and a bottom plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may include one or more of the feature, either explicitly or implicitly. In the description of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
As shown in fig. 1-2, the invention provides a high-resolution precision six-dimensional translation platform, which comprises a platform plate 5, a bottom plate 7, a plurality of adjusting mechanisms 3 arranged on the upper surface of the bottom plate 7, and a control module arranged in the adjusting mechanisms 3:
As shown in fig. 3-5, the adjusting mechanism 3 comprises a fixed plate 2 and a mounting shell 1, wherein the bottom of the fixed plate 2 is fixedly connected with the upper surface of a bottom plate 7, one side of the fixed plate 2 is fixedly connected with the mounting shell 1, a plurality of support rods 315 are fixedly connected between the inner wall of one side of the mounting shell 1 and the outer wall of one side of the fixed plate 2, a driven friction seat 302 is arranged in the mounting shell 1, tension springs 308 are fixedly connected at the top points of the intersecting lines of the adjacent three surfaces of the driven friction seat 302, and the other ends of the tension springs 308 are fixedly connected with the circumferential outer walls of the adjacent support rods 315;
A motor friction seat 301 is fixedly connected to one side of a driven friction seat 302, a hollow cup motor 303 is fixedly connected to the outer wall of one side of the motor friction seat 301, a primary friction driving wheel 309 is rotatably connected to the inner wall of one side of the driven friction seat 302, one end of an output shaft of the hollow cup motor 303 penetrates through the motor friction seat 301 and is fixedly connected with one end of the primary friction driving wheel 309, a primary friction driven wheel 310 is rotatably connected to the inner wall of one side of the driven friction seat 302, one end of the primary friction driven wheel 310 penetrates through the driven friction seat 302 and is rotatably connected, a primary friction driving rod 311 is in transmission connection between the primary friction driving wheel 309 and the primary friction driven wheel 310, pressure sensors 307 are fixedly connected to the inner wall of the top and the inner wall of the bottom of the installation shell 1, a friction driving rod 311 is positioned between the two pressure sensors 307 and is movably connected, a friction wheel supporting seat 314 is slidably connected between the inner walls of two sides of the driven friction seat 302, a secondary friction driven wheel 312 is rotatably connected between the inner walls of the friction wheel supporting seat 314, and a secondary driving rod 305 is in transmission connection between the secondary friction driven wheel 312 and the primary friction driven wheel 310;
A compression spring 313 is fixedly connected between one side outer wall of the friction wheel supporting seat 314 and one side inner wall of the driven friction seat 302, one side outer wall of the installation shell 1 is fixedly connected with a push rod linear motor 304, and one end of an output shaft of the push rod linear motor 304 penetrates through the installation shell 1 and is fixedly connected with one side outer wall of the driven friction seat 302.
It should be noted that, the cup motor 303 is used as a primary driving element to drive the primary friction driving wheel 309 to rotate, and further drive the primary friction driving rod 311 to lift up and down. The motion of the primary friction driving rod 311 is transmitted to the secondary driving friction rod 305 through the primary friction driven wheel 310, and secondary driving is achieved. The two-stage friction driving structure enables the platform to realize high-resolution output transmission.
Let the rotational speed of the cup motor 303 beThe primary friction drive wheel 309 has a radius ofThe primary friction driven wheel 310 has a radius ofThe radius of the secondary friction driven wheel 312 isLinear velocity of the secondary drive friction lever 305The calculation can be performed by the following formula:;
by controlling the rotational speed of the cup motor 303 High precision control of the motion of the secondary drive friction lever 305 can be achieved, thereby achieving fine adjustment of the platform in six degrees of freedom.
The pressure sensor 307 in the installation housing 1 monitors the contact force variation of the primary friction driving rod 311 in the process of jacking and jacking in real time. Let the force measured by the pressure sensor 307 beFrom the relationship between force and displacement (assuming a linear relationship), the actual displacement of the primary friction drive rod 311 can be calculated:;
Wherein the method comprises the steps ofAnd as a proportionality coefficient, the feedback information is transmitted to a control system, and the gesture of the whole platform can be controlled in a closed loop by combining an adaptive algorithm.
The tension spring 308 and the compression spring 313 respectively realize flexible support of the driven friction seat 302 and self-adaptive adjustment of the pressing force of the secondary friction rod. The tension springs 308 are arranged in pairs, so that free movement capability of the driven friction seat 302 in the posture adjustment processes of pitching, rolling and the like is provided, and the system is ensured to have enough mechanical flexibility and posture adaptability when six-degree-of-freedom adjustment is performed. The compression spring 313 can automatically adjust the compression force of the secondary friction rod according to the change of the working load, and ensures the stability of transmission contact.
Let the elastic coefficient of the tension spring 308 beThe spring coefficient of the compression spring 313 isThe extension of the tension spring 308 isThe compression amount of the compression spring 313 isTension provided by tension spring 308The method comprises the following steps: The pressure provided by the compression spring 313 The method comprises the following steps of:;
By designing the elastic coefficients and the initial states of the tension springs 308 and the compression springs 313, the platform can keep a stable running state under different working loads.
As shown in fig. 1, a plurality of transmission plates 6 are fixedly connected to the circumferential outer wall of the platform plate 5, a plurality of secondary driving friction rods 305 are respectively located below the plurality of transmission plates 6, through holes 4 penetrating through the transmission plates are formed in the top and the bottom of the installation shell 1, universal grooves are formed in the bottom of the transmission plates 6, universal balls 306 are fixedly connected to the tops of the secondary driving friction rods 305, the universal balls 306 are clamped with the universal grooves, the positions of the two through holes 4 coincide, the secondary driving friction rods 305 are located in the two through holes 4, the control module comprises a driving module, a sensing module and a control module, the driving module is electrically connected with the hollow cup motor 303 and the push rod linear motor 304, the sensing module is electrically connected with the pressure sensor 307, and the control module is used for controlling the hollow cup motor 303 and the push rod linear motor 304 in real time by using a self-adaptive algorithm according to information fed back by the pressure sensor 307, so that closed-loop high-precision attitude control of the platform is realized.
It should be noted that the second-stage driving friction rod 305 is clamped with the universal groove at the bottom of the driving plate 6 through the universal ball 306, so that the motion and force generated by the driving module can be transferred to the platform plate 5, and the adjustment of the platform in six degrees of freedom (X, Y, Z, roll, pitch and yaw) can be realized.
Let the displacement of the two-stage driving friction lever 305 beThe displacement of the platform plate 5 in a certain direction isDue to the transmission relation of the mechanical structure, a certain proportion relation exists between the two components, which can be expressed as:;
Wherein the method comprises the steps of For the transmission coefficient, depends on the mechanical design of the platform, such as the length, angle of the transmission plate 6.
Let the length of the driving plate 6 beThe transmission plate 6 forms an included angle with the horizontal directionThen a more accurate can be obtained through the geometrical relationshipExpression, for example, under a linear drive model:;
The drive module controls the cup motor 303 and the push rod linear motor 304 to power the platform adjustment. The cup motor 303 drives the primary friction driving wheel 309, and is transmitted to the secondary driving friction rod 305 through the primary friction driven wheel 310, and the push rod linear motor 304 drives the driven friction seat 302 to horizontally move to adjust the orientation of the platform.
Let the input voltage of the cup motor 303 beThe rotating speed isThe relationship between the two can be expressed as:;
Wherein the method comprises the steps of Is the voltage-rotation speed coefficient of the motor.
The input current of the push rod linear motor 304 isThe displacement isThe relationship may be expressed as:;
Wherein the method comprises the steps of Is the current-displacement coefficient of the push rod linear motor 304.
The pressure sensor 307 monitors the contact force change of the primary friction driving rod 311 in real time, and converts the contact force change into an electric signal to be fed back to the control module.
Let the force measured by the pressure sensor 307 beThe output electric signal isThe relation between the two is:;
Wherein the method comprises the steps of Is the force-voltage conversion coefficient of the pressure sensor 307.
If in use there is a measurement error in the pressure sensor 307. The formula of the measurement error assumes that the measurement error isThen actually outputs an electrical signalThe method comprises the following steps:;
Wherein the method comprises the steps of Can be determined according to factors such as the accuracy index of the pressure sensor 307 and the measurement environment.
The control module uses an adaptive algorithm (such as PID algorithm) to control the cup motor 303 and the push rod linear motor 304 in real time according to the information fed back by the pressure sensor 307. The PID algorithm formula is as follows:
;
Wherein:
At the moment for the controller Can be used to control the voltage of the cup motor 303 or the current of the push rod linear motor 304.
Is an error signal, i.e., the difference between the desired platform attitude and the current actual platform attitude.
Is a scaling factor for amplifying the current error signal.
Is an integral coefficient for eliminating steady state error of the system.
And the differential coefficient is used for predicting the change trend of the error and adjusting the system in advance.
After discretization, the PID algorithm formula is:
;
Wherein:
Is the first And a controller output for each sampling instant.
Is the firstError signals at the sampling instants.
Is the sampling time interval.
Example 1
Control of the input voltage of the cuvette motor 303 by means of a drive moduleAccording to the formula(WhereinFor the rotational speed of the coreless motor 303,Voltage-speed coefficient of the motor) such that the cup motor 303 rotates the primary friction drive wheel 309. The primary friction driving wheel 309 rotates to drive the primary friction driving rod 311 to move up and down, and the motion of the primary friction driving rod 311 is transmitted to the secondary friction driving rod 305 through the primary friction driven wheel 310, thereby realizing secondary driving. According to the formula(WhereinFor the linear velocity of the secondary drive friction lever 305,For the secondary friction driven wheel 312 radius,Rotational speed of the cup motor 303), by controlling the rotational speed of the cup motor 303High-precision control of the motion of the secondary drive friction lever 305 is realized. During X, Y, Z-direction translation adjustment, the secondary driving friction rod 305 is clamped with a universal groove at the bottom of the transmission plate 6 through a universal ball 306, and the motion of the secondary driving friction rod is transmitted to the platform plate 5. Let the displacement of the two-stage driving friction lever 305 beThe displacement of the platform plate 5 in a certain direction isThe two are related by(WhereinFor transmission factors such as the length, angle of the drive plate 6). By controlling the rotational speed of the cup motor 303, the displacement of the secondary drive friction rod 305 is changed, thereby realizing translational adjustment of the platform plate 5 in the X, Y, Z direction. During rolling, pitching and yawing adjustment, the tension springs 308 flexibly suspend the driven friction seat 302, and free movement capacity is given to the driven friction seat during posture adjustment. The position and the gesture of the driven friction seat 302 are changed by controlling the cooperative work of the hollow cup motor 303 and the push rod linear motor 304, so that the secondary driving friction rod 305 generates displacement in different directions and sizes, and the rolling, pitching and yawing adjustment of the platform plate 5 is realized. The input current of the push rod linear motor 304 isThe displacement isThe relation is that(WhereinCurrent-displacement coefficient for the push rod linear motor 304). The push rod linear motor 304 pushes the driven friction seat 302 to horizontally move, and the orientation of the platform is adjusted.
The pressure sensor 307 in the installation housing 1 monitors the contact force variation of the primary friction driving rod 311 in the process of jacking and jacking in real time. Let the force measured by the pressure sensor 307 beAccording to the formula(WhereinAs the actual displacement amount of the first-stage friction driving rod 311,A proportionality coefficient), the actual displacement of the primary friction drive rod 311 is calculated. The force to be measured by the pressure sensor 307Conversion to electrical signalsThe two are related by(WhereinA force-voltage conversion coefficient of the pressure sensor 307), if there is a measurement error, actually outputs an electric signal(WhereinCan be determined according to factors such as the accuracy index of the pressure sensor 307 and the measurement environment).
The control module uses an adaptive algorithm (such as PID algorithm) to control the cup motor 303 and the push rod linear motor 304 in real time according to the information fed back by the pressure sensor 307. The PID algorithm formula is under continuous timeAfter discretization processing isFor the controller output, for controlling the voltage of the cup motor 303 or the current of the push rod linear motor 304; Or (b) Is an error signal, i.e., the difference between the desired platform attitude and the current actual platform attitude; Is a coefficient of proportionality and is used for the control of the power supply, As an integral coefficient of the power supply,Is a differential coefficient; sampling time interval), and closed-loop high-precision attitude control of the platform is realized.
In general, the hollow cup motor 303 is used as a primary driving element, and a primary friction driving principle is combined, the primary friction driving wheel 309 and the primary friction driven wheel 310 drive the primary friction driving rod 311 and then are transmitted to the secondary friction driving mechanism, so that stable and high-resolution output transmission is realized, and six-degree-of-freedom adjustment can be effectively realized.
The fine adjustment of the light path on six degrees of freedom can be realized, the traditional hydraulic or ball screw drive is replaced by friction drive, and the traditional high-cost positioning feedback device of the grating ruler is omitted. The pressure sensor 307 is utilized to acquire the stress change condition of the friction rod in real time, the binding force moment feedback and algorithm calculation are utilized to accurately calculate the displacement of the first-stage friction rod, so that the structure is simplified and the cost is reduced.
The tension springs 308 flexibly suspend the driven friction seat 302, endow the driven friction seat with free movement capability in the posture adjustment process, and ensure that the system has enough mechanical flexibility and posture adaptability when performing six-degree-of-freedom adjustment. The compression spring 313 can automatically adjust the compression force of the secondary friction rod, so that stable and reliable transmission contact is realized.
The pressure sensor 307 arranged in the installation shell 1 can monitor the contact force change of the friction rod in real time, and the control module can control the hollow cup motor 303 and the push rod linear motor 304 in real time by using a self-adaptive algorithm according to the information fed back by the pressure sensor 307, so that the closed-loop high-precision attitude control of the whole platform is realized.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. The high-resolution precise six-dimensional translation platform comprises a platform plate (5) and a bottom plate (7), a plurality of adjusting mechanisms (3) arranged on the upper surface of the bottom plate (7), and a control module arranged in the adjusting mechanisms (3), and is characterized in that:
The adjusting mechanism (3) comprises a fixed plate (2) and an installation shell (1), wherein one side of the fixed plate (2) is fixedly connected with the installation shell (1), a plurality of support rods (315) are fixedly connected between the inner wall of one side of the installation shell (1) and the outer wall of one side of the fixed plate (2), a driven friction seat (302) is arranged in the installation shell (1), tension springs (308) are fixedly connected at the top points of intersecting lines of three adjacent surfaces of the driven friction seat (302), and the other ends of the tension springs (308) are fixedly connected with the circumferential outer walls of the adjacent support rods (315);
One side of the driven friction seat (302) is fixedly connected with a motor friction seat (301), one side outer wall of the motor friction seat (301) is fixedly connected with a hollow cup motor (303), one side inner wall of the driven friction seat (302) is rotationally connected with a primary friction driving wheel (309), one end of an output shaft of the hollow cup motor (303) penetrates through the motor friction seat (301) and is fixedly connected with one end of the primary friction driving wheel (309), one side inner wall of the driven friction seat (302) is rotationally connected with a primary friction driven wheel (310), one end of the primary friction driven wheel (310) penetrates through the driven friction seat (302) and is rotationally connected with a primary friction driving rod (311), the top inner wall and the bottom inner wall of the installation shell (1) are fixedly connected with pressure sensors (307), the primary friction driving rod (311) is located between the two pressure sensors (307) and is movably connected with one end of the primary friction driving wheel (309), one side inner wall of the driven friction seat (302) is rotationally connected with a friction wheel supporting seat (314), one side inner wall of the driven wheel is rotationally connected with two side inner walls of the secondary friction driving wheel (312), and a secondary driving friction rod (305) is in transmission connection between the secondary friction driven wheel (312) and the primary friction driven wheel (310).
2. The high-resolution precision six-dimensional translation platform of claim 1, wherein the bottom of the fixed plate (2) is fixedly connected with the upper surface of the bottom plate (7).
3. The high-resolution precision six-dimensional translation platform of claim 1, wherein a compression spring (313) is fixedly connected between an outer wall of one side of the friction wheel supporting seat (314) and an inner wall of one side of the driven friction seat (302).
4. The high-resolution precision six-dimensional translation platform of claim 1, wherein a push rod linear motor (304) is fixedly connected to the outer wall of one side of the installation shell (1).
5. The high-resolution precision six-dimensional translation platform of claim 4, wherein one end of an output shaft of the push rod linear motor (304) penetrates through the mounting shell (1) and is fixedly connected with an outer wall of one side of the driven friction seat (302).
6. The high-resolution precision six-dimensional translation platform of claim 1, wherein a plurality of transmission plates (6) are fixedly connected to the circumferential outer wall of the platform plate (5), a plurality of secondary driving friction rods (305) are respectively positioned below the plurality of transmission plates (6), and through holes (4) are formed in the top and the bottom of the installation shell (1).
7. The high-resolution precision six-dimensional translation platform of claim 6, wherein a universal groove is formed in the bottom of the transmission plate (6), and a universal ball (306) is fixedly connected to the top of the secondary driving friction rod (305).
8. The high-resolution precision six-dimensional translational stage of claim 7, wherein said universal ball (306) is engaged with said universal slot.
9. The high-resolution precision six-dimensional translation platform as claimed in claim 6, wherein the two through holes (4) are coincident in position, and the secondary driving friction rod (305) is located in the two through holes (4).
10. The high-resolution precision six-dimensional translation platform of claim 1, wherein the control module comprises a driving module, a sensing module and a control module, wherein the driving module is electrically connected with a hollow cup motor (303) and a push rod linear motor (304), the sensing module is electrically connected with a pressure sensor (307), and the control module is used for controlling the hollow cup motor (303) and the push rod linear motor (304) in real time by using an adaptive algorithm according to information fed back by the pressure sensor (307) so as to realize closed-loop high-precision attitude control of the platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511081315.8A CN120582400B (en) | 2025-08-04 | 2025-08-04 | A high-resolution precision six-dimensional translation platform |
Applications Claiming Priority (1)
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| CN118876633A (en) * | 2024-07-11 | 2024-11-01 | 哈尔滨工业大学 | Ultrasonic embossing device and method for micro-nano array structure processing |
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