TWI902289B - Moving platform - Google Patents

Abstract

A moving platform includes two sliding seats, two sliding blocks, a carrying member, and two weight blocks. The two sliding seats extend along a first axis and are arranged in a second axis. The two sliding blocks are respectively slidably disposed on two inner sides of the two sliding seats to move along the first axis. The carrying member is connected between the two sliding blocks. The two weight blocks are slidably disposed on two outer sides of the two sliding seats to move along the first axis. The two sliding blocks and the two weight blocks are configured to move in opposite directions along the first axis.

Description

Mobile Platform

This disclosure relates to a mobile platform.

The current gantry mobile platform structure generates an impact when the X-axis moves back and forth, producing acceleration and deceleration. This energy must be offset by the platform's structure, and this is the source of vibrational kinetic energy. The higher the system's speed, the greater its acceleration and deceleration, and the greater the impact on the mobile platform.

Currently, there are two ways to solve the aforementioned problem. The first is to use damping design in the structure of the mobile platform. The second is to increase the structural rigidity and overall weight of the mobile platform. However, both methods have an upper limit to their stabilization effect. That is, the upper limit of the system stability of the mobile platform cannot be effectively improved.

Therefore, how to propose a mobile platform that can solve the above problems has become one of the important research and development issues at present.

In view of this, one of the purposes of this disclosure is to propose a mobile platform that can solve the above problems.

To achieve the above objectives, according to one embodiment of this disclosure, a mobile platform includes two slide blocks, two sliders, a support member, two load-bearing blocks, a first motion module, and a second motion module. The two slide blocks extend along a first direction and a second direction, and are arranged opposite to each other. The first direction and the second direction are opposite directions. The two sliders are respectively disposed inside the two slide blocks to move along either the first direction or the second direction. The support member extends in a third direction and a fourth direction and is respectively connected between the two sliders. The third direction and the fourth direction are opposite directions. The two load-bearing blocks are respectively disposed outside the two slide blocks to move along either the first direction or the second direction. The first motion module is connected to one of the two sliders. The second motion module is connected to one of the two load-bearing blocks. One of the two sliders and one of the two load blocks are located on one of the two slide blocks. The two sliders and the two load blocks are arranged to move in opposite directions in the first and second directions.

In one or more embodiments disclosed herein, the mobile platform further includes a first processing module and a second processing module. The first processing module is configured to control the first motion module to drive one of the two sliders to move along a first direction. The second processing module is configured to: calculate the driving force of the first motion module on the one of the two sliders; and control the second motion module to drive the one of the two load blocks to move along a second direction based on the driving force.

In one or more embodiments disclosed herein, the mobile platform further includes an accelerometer. The accelerometer is configured to detect the acceleration of one of the two sliders. A second processing module is configured to calculate a driving force based on the acceleration.

In one or more embodiments disclosed herein, a first motion module includes an encoder. The encoder is configured to calculate the acceleration of one of the two sliders. A second processing module is configured to calculate a driving force based on the acceleration.

In one or more embodiments disclosed herein, a second processing module is configured to control a second motion module to move one of the two loads by another driving force. The magnitude of the driving force is substantially equal to the magnitude of the other driving force.

In one or more embodiments disclosed herein, the mobile platform further includes a first slide rail assembly and a second slide rail assembly. The first slide rail assembly is disposed on the inner side of one of the two slide blocks. One of the two sliders is slidably engaged with the first slide rail assembly. The second slide rail assembly is disposed on the outer side of the aforementioned one of the two slide blocks. One of the two load-bearing blocks is slidably engaged with the second slide rail assembly.

In one or more embodiments disclosed herein, the first slide rail assembly includes a first lower slide rail and a first upper slide rail. The second slide rail assembly includes a second lower slide rail and a second upper slide rail. One of the two slides includes a base and a wall portion. The base has a surface. The first and second lower slide rails are disposed on the surface. The wall portion connects to the surface and is located between the first and second lower slide rails. The first and second upper slide rails are disposed on opposite sides of the wall portion.

To achieve the above objectives, according to one embodiment of this disclosure, a mobile platform includes a slide, a slider, a first motion module, a support member, a load-bearing block, and a second motion module. The slide extends along a first direction and a second direction, and has opposing first and second sides. The first and second directions are opposite directions. The slider is disposed on the first side to move along either the first or second direction. The first motion module is connected to the slider. The support member is connected to the slider. The load-bearing block is disposed on the second side to move along either the first or second direction. The second motion module is connected to the load-bearing block. The slider and the load-bearing block are arranged to move in opposite directions in the first and second directions.

In one or more embodiments disclosed herein, the mobile platform further includes a first processing module and a second processing module. The first processing module is configured to control a first motion module to drive a slider to move along a first direction. The second processing module is configured to: calculate the driving force of the first motion module on the slider; and control the second motion module to drive a load block to move along a second direction based on the driving force.

In one or more embodiments disclosed herein, a second processing module is configured to control a second motion module to move the load with another driving force. The magnitude of the driving force is substantially equal to the magnitude of the other driving force.

In summary, in the mobile platform disclosed herein, when the sliders on one or both sides of the slide move along the slide, the load on the other side of the slide simultaneously moves in the opposite direction along the slide, thereby eliminating the vibration generated when the sliders move along the slide. In other words, the mobile platform disclosed herein uses the force generated by the load on the slide when the sliders move to cancel out the force exerted by the sliders on the slide during movement. Furthermore, the aforementioned vibration damping mechanism can also reduce the overall center of gravity change of the mobile platform during operation. Therefore, the mobile platform disclosed herein can effectively improve the maximum speed of movement.

The above description is only used to illustrate the problem to be solved by this disclosure, the technical means to solve the problem, and the effects produced, etc. The specific details of this disclosure will be introduced in detail in the implementation method and related diagrams below.

The following diagrams disclose several embodiments of this disclosure. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit this disclosure. That is, these practical details are not necessary in some embodiments of this disclosure. In addition, for the sake of simplicity, some conventional structures and components will be shown in the diagrams in a simplified manner.

Please refer to Figure 1, which is a perspective view illustrating a mobile platform 100 according to an embodiment of this disclosure. As shown in Figure 1, the mobile platform 100 includes two slides 110, two sliders 120, a support member 130, and two load-bearing blocks 140. The two slides 110 extend along a first direction D1 and a second direction D2, and are arranged opposite to each other. The first direction D1 and the second direction D2 are opposite directions. The two sliders 120 are respectively disposed on the inner side of the two slides 110 (that is, on opposite sides of the two slides 110) to move along the first direction D1 or the second direction D2. The support member 130 extends in a third direction D3 and a fourth direction D4 and is respectively connected between the two sliders 120. The third direction D3 and the fourth direction D4 are opposite directions. Therefore, when the two sliders 120 move along the first direction D1 or the second direction D2, they can drive the load-bearing member 130 to move together along the first direction D1 or the second direction D2. The two load blocks 140 are respectively disposed on the outer side of the two slide blocks 110 (that is, opposite sides of the two slide blocks 110) to move along the first direction D1 or the second direction D2. The two sliders 120 and the two load blocks 140 are arranged in the first direction D1 and the second direction D2 to move in opposite directions.

Please refer to Figures 2A and 2B. Figure 2A is a top view of the moving platform 100 in Figure 1. Figure 2B is another top view of the moving platform 100 in Figure 1. As shown in Figures 2A and 2B, the two sliders 120 and the two load blocks 140 are positioned in opposite directions D1 and D2 and move in opposite directions. For example, when the two sliders 120 move along the first direction D1 (i.e., when the two sliders 120 move from the position in Figure 2A to the position in Figure 2B), the two load blocks 140 simultaneously move in the opposite direction D2. Conversely, when the two sliders 120 move along the second direction D2 (i.e., the two sliders 120 move from the position in Figure 2B to the position in Figure 2A), the two load blocks 140 simultaneously move in the opposite direction along the first direction D1.

In detail, as shown in Figure 2A, when the moving platform 100 applies a driving force F1 along the first direction D1 to the slider 120, causing it to move relative to the slide block 110 along the first direction D1, a corresponding reaction force F1' is generated on the slide block 110 along the second direction D2 and equal in magnitude to the driving force F1. Simultaneously, when the moving platform 100 applies a driving force F2 along the second direction D2 to the load block 140, causing it to move relative to the slide block 110 along the second direction D2, a corresponding reaction force F2' is generated on the slide block 110 along the first direction D1 and equal in magnitude to the driving force F2. Conversely, as shown in Figure 2B, when the moving platform 100 applies a driving force F1 along the second direction D2 to the slider 120, causing it to move relative to the slide block 110 along the second direction D2, a corresponding reaction force F1' is generated on the slide block 110 along the first direction D1 and equal in magnitude to the driving force F1. Simultaneously, when the moving platform 100 applies a driving force F2 along the first direction D1 to the load block 140, causing it to move along the first direction D1, a corresponding reaction force F2' equal to the driving force F2 and along the second direction D2 is generated on the slide block 110. By making the magnitude of the driving force F1 substantially equal to the magnitude of the driving force F2, the magnitudes of the corresponding reaction forces F1’ and F2’ generated on the slide 110 can be substantially equal, thereby offsetting the effect of the driving force F1 on the mobile platform 100.

With the aforementioned structural configuration, the mobile platform 100 of this embodiment can utilize the two load-bearing blocks 140 to eliminate the vibration generated when the slider 120 moves along the slide block 110. In other words, for the reaction forces F1' generated by the two sliders 120 on the two slide blocks 110 respectively when they move, the mobile platform 100 of this embodiment uses the reaction forces F2' generated by the two load-bearing blocks 140 on the two slide blocks 110 respectively when they move in opposite directions to cancel them out. Furthermore, the aforementioned vibration damping mechanism can also reduce the overall center of gravity change of the mobile platform 100 during operation. Therefore, the mobile platform 100 of this embodiment can effectively improve the maximum speed of movement.

Furthermore, as shown in Figures 2A and 2B, the reaction forces F1’ and F2’ generated on the left slide 110 produce torque M, while the reaction forces F1’ and F2’ generated on the right slide 110 produce torque M’. The torques M and M’ are the same in magnitude but opposite in direction. It should be noted that the torques M and M’ are not key factors affecting the vibration of the moving platform 100 and can be resisted by the overall structural rigidity of the moving platform 100.

In some embodiments, the combination of one set of slides 110, sliders 120, and load blocks 140 can be omitted. That is, the load-bearing member 130 is connected to the slider 120 at only one end, while the other end is suspended. The aforementioned vibration damping mechanism can still be implemented in a mobile platform 100 having only one set of slides 110, sliders 120, and load blocks 140.

As shown in Figure 1, in this embodiment, the carrier 130 includes a slide 131, a slider 132, a track 133, and a motion module 134. The slide 131 is connected between two sliders 120. The track 133 is disposed on the slide 131 and extends along a third direction D3 and a fourth direction D4. The slider 132 slidably engages with the track 133 to move along the third direction D3 or the fourth direction D4. The motion module 134 is disposed on the slide 131 and configured to move the slider 132. Thus, the mobile platform 100 of this embodiment can be used as an XY table. For example, the mobile platform 100 can be a gantry table, but this disclosure is not limited thereto.

In some embodiments, the motion module 134 is a linear motor, but this disclosure is not limited to this.

Please refer to Figure 3, which is a partial three-dimensional cross-sectional view of the mobile platform 100 in Figure 2A along line segment 3-3. As shown in Figure 3, the mobile platform 100 further includes a first motion module 151 and a second motion module 152. The first motion module 151 and the second motion module 152 are linear motors. Specifically, the first motion module 151 is disposed inside the slide 110 and includes a stator 151a and a mover 151b. The stator 151a is fixed to the slide 110, while the mover 151b is fixed to the slider 120. When the first motion module 151 is activated, a driving force F1 is generated and applied to the mover 151b (which can also be considered as the first motion module 151 applying a driving force F1 to the slider 120), while a reaction force F1' is generated on the stator 151a. The second motion module 152 is disposed on the outer side of the slide 110 and includes a stator 152a and a mover 152b. The stator 152a is fixed to the slide 110, and the mover 152b is fixed to the load block 140. When the second motion module 152 is activated, a driving force F2 is generated and applied to the mover 152b (which can also be considered as the second motion module 152 applying a driving force F2 to the load block 140), while a reaction force F2' is generated on the stator 152a.

As shown in Figure 3, the mobile platform 100 further includes a first slide rail group and a second slide rail group on each slide block 110. The first slide rail group b is disposed inside the slide block 110. The first slide rail group includes a first lower slide rail 191a and a first upper slide rail 191b. The first lower slide rail 191a and the first upper slide rail 191b extend along a first direction D1 and a second direction D2, respectively. The slider 120 is slidably engaged with the first slide rail group. The second slide rail group is disposed outside the slide block 110. The second slide rail group includes a second lower slide rail 192a and a second upper slide rail 192b. The second lower slide rail 192a and the second upper slide rail 192b extend along a first direction D1 and a second direction D2, respectively. The load block 140 is slidably connected to the second slide rail assembly. By slidably connecting the slide base 110 to the slide block 120 via the first slide rail assembly, the slide block 120 can slide more smoothly on the inner side of the slide base 110. Similarly, by slidably connecting the slide base 110 to the load block 140 via the second slide rail assembly, the load block 140 can slide more smoothly on the outer side of the slide base 110.

Furthermore, as shown in Figure 3, the slide 110 includes a base 111 and a wall portion 112. The base 111 has a surface 111a. A first lower slide rail 191a and a second lower slide rail 192a are disposed on the surface 111a. The wall portion 112 connects to the surface 111a of the base 111 and is located between the first lower slide rail 191a and the second lower slide rail 192a. A first upper slide rail 191b and a second upper slide rail 192b are disposed on opposite sides of the wall portion 112. The first sliding rail 191a is configured to guide the slider 120 to move along the first direction D1 or the second direction D2 and primarily bear the weight of the slider 120, while the first upper sliding rail 191b is configured to auxiliaryly guide the slider 120 to move along the first direction D1 or the second direction D2. The second sliding rail 192a is configured to guide the load block 140 to move along the first direction D1 or the second direction D2 and primarily bear the weight of the load block 140, while the second upper sliding rail 192b is configured to auxiliaryly guide the load block 140 to move along the first direction D1 or the second direction D2.

Please refer to Figure 4, which is a functional block diagram illustrating some components of a mobile platform 100 according to an embodiment of the present disclosure. As shown in Figure 4, the mobile platform 100 further includes a first processing module 161 and a second processing module 171. The first processing module 161 is configured to control a first motion module 151 to drive a slider 120 to move along a first direction D1 or a second direction D2. The second processing module 171 is configured to calculate the driving force of the first motion module 151 on the slider 120, and control the second motion module 152 to drive a load block 140 to move along the first direction D1 or the second direction D2 based on the driving force.

Specifically, the first processing module 161 includes a controller 161a and a driver 161b. The controller 161a is configured to control the driver 161b based on the position information of the slider 120 in a first direction D1 or a second direction D2, thereby causing the driver 161b to control the first motion module 151 to move the slider 120 with a driving force F1 (refer to Figure 2A). The moving platform 100 further includes an accelerometer 180. The accelerometer 180 is configured to detect the acceleration of the slider 120. The second processing module 171 is configured to calculate the driving force F1 generated by the first motion module 151 based on the acceleration. In addition, the second processing module 171 includes a controller 171a, a driver 171b, and a force estimator 171c. Force estimator 171c is connected to accelerometer 180 and configured to calculate driving force F1 based on acceleration. Controller 171a is configured to control drive 171b, which in turn controls second motion module 152 to move load block 140 with driving force F2 (see Figure 2A). In some embodiments, controller 171a of second processing module 171 is configured to control drive 171b based on position information of slider 120 in a first direction D1 or a second direction D2, driving force F1 obtained by force estimator 171c, and driving force F2 (i.e., feedback) obtained by drive 171b.

Please refer to Figure 5, which is a functional block diagram illustrating some components of a mobile platform 100' according to another embodiment of this disclosure. As shown in Figure 5, the mobile platform 100' also includes a first processing module 161, a first motion module 151, a second processing module 171, and a second motion module 152. Compared to the mobile platform 100 shown in Figure 4, the mobile platform 100' of this embodiment omits the accelerometer 180. In addition, the first motion module 151 of this embodiment further includes an encoder 151c. The encoder 151c is configured to calculate the acceleration of the slider 120. A force estimator 171c is connected to the encoder 151c and configured to calculate the driving force F1 based on the acceleration.

From the detailed description of the specific embodiments of this disclosure above, it is clear that in the mobile platform disclosed herein, when the slider on one side of the slide moves along the slide, the load on the other side of the slide simultaneously moves in the opposite direction along the slide, thereby eliminating the vibration generated when the slider moves along the slide. In other words, the mobile platform disclosed herein uses the force generated by the load on the slide when the slider moves to cancel out the force exerted by the slider on the slide during movement. Furthermore, the aforementioned vibration damping mechanism can also reduce the overall center of gravity change of the mobile platform during operation. Therefore, the mobile platform disclosed herein can effectively improve the maximum speed of movement.

Although this disclosure has been made in practice as described above, it is not intended to limit this disclosure. Anyone skilled in the art may make various modifications and alterations without departing from the spirit and scope of this disclosure. Therefore, the scope of protection of this disclosure shall be determined by the scope of the attached patent application.

100, 100’: Moving platform 110, 131: Slide 111: Base 111a: Surface 112: Wall 120, 132: Slide 130: Load-bearing component 133: Track 134: Motion module 140: Load block 151: First motion module 151a, 152a: Stator 151b, 152b: Mover 151c: Encoder 152: Second motion module 161: First processing module 161a, 171a: Controller 161b, 171b: Driver 171: Second processing module 171c: Force estimator 180: Accelerometer 191a: First sliding track 191b: First upper sliding track 192a: Second sliding track 192b: Second upper sliding track D1: First direction D2: Second direction D3: Third direction D4: Fourth direction F1, F2: Driving force F1’, F2’: Reaction force M, M’: Torque

To make the above and other objects, features, advantages, and embodiments of this disclosure more apparent, the accompanying drawings are explained as follows: Figure 1 is a perspective view of a mobile platform according to one embodiment of this disclosure. Figure 2A is a top view of the mobile platform in Figure 1. Figure 2B is another top view of the mobile platform in Figure 1. Figure 3 is a partial perspective sectional view of the mobile platform in Figure 2A along line segment 3-3. Figure 4 is a functional block diagram of some components of the mobile platform according to one embodiment of this disclosure. Figure 5 is a functional block diagram of some components of the mobile platform according to another embodiment of this disclosure.

Domestic Storage Information (Please record in order of storage institution, date, and number) None International Storage Information (Please record in order of storage country, institution, date, and number) None

100: Mobile Platforms

110, 131: Slide

120,132: Slide

130: Bearing component

133: Track

134: Sports Module

140: Weight Blocks

D1: First Direction

D2: Second Direction

D3: Third direction

D4: Fourth Direction

Claims (8)

A mobile platform includes: two slides extending along a first direction and a second direction, and arranged opposite to each other; two sliders respectively disposed on the inner side of the two slides for moving along the first direction or the second direction; a support member extending in a third direction and a fourth direction and respectively connected to the two sliders, the third direction and the fourth direction being opposite; two load-bearing blocks respectively disposed on the outer side of the two slides for moving along the first direction or the second direction; a first motion module connected to one of the two sliders; and a second motion module. The system comprises: a first processing module configured to control the first motion module to drive the slider to move along the first direction; and a second processing module configured to: calculate a driving force of the first motion module on the slider; and control the second motion module to drive the slider to move along the second direction according to the driving force, wherein the two sliders and the two loads are configured to move in opposite directions in the first and second directions. The mobile platform as described in claim 1 further includes an accelerometer configured to detect an acceleration of one of the two sliders, wherein the second processing module is configured to calculate the driving force based on the acceleration. The mobile platform as described in claim 1, wherein the first motion module includes an encoder configured to calculate an acceleration of one of the two sliders, and the second processing module is configured to calculate the driving force based on the acceleration. The mobile platform as described in claim 1, wherein the second processing module is configured to control the second motion module to move one of the two loads by another driving force, and the magnitude of the driving force is substantially equal to the magnitude of the other driving force. The mobile platform as described in claim 1 further comprises: a first slide rail assembly disposed on the inner side of one of the two slide blocks, wherein one of the two slide blocks is slidably engaged with the first slide rail assembly; and a second slide rail assembly disposed on the outer side of the two slide blocks, wherein one of the two load-bearing blocks is slidably engaged with the second slide rail assembly. The mobile platform as described in claim 5, wherein the first slide rail assembly includes a first lower slide rail and a first upper slide rail, and the second slide rail assembly includes a second lower slide rail and a second upper slide rail, wherein one of the two slide rails includes: a base having a surface, wherein the first lower slide rail and the second lower slide rail are disposed on the surface; and a wall portion connected to the surface and located between the two first lower slide rails and the second lower slide rail, wherein the first upper slide rail and the second upper slide rail are disposed on opposite sides of the wall portion. A mobile platform includes: a slide extending along a first direction and a second direction, and having a first side and a second side opposite to each other, the first direction and the second direction being opposite directions; a slider disposed on the first side for moving along the first direction or the second direction; a first motion module connected to the slider; a support member connected to the slider; and a load block disposed on the second side for moving along the first direction or the second direction. A second motion module connected to the load block; a first processing module configured to control the first motion module to drive the slider to move along the first direction; and a second processing module configured to: calculate a driving force of the first motion module on the slider; and control the second motion module to drive the load block to move along the second direction according to the driving force, wherein the slider and the load block are configured to move in opposite directions in the first and second directions. The mobile platform as described in claim 7, wherein the second processing module is configured to control the second motion module to move the load with another driving force, and the magnitude of the driving force is substantially equal to the magnitude of the other driving force.