CN101745915A - Rectilinear translation planar nine-bar mechanism and method for constructing a rectilinear translation motion mechanism - Google Patents
Rectilinear translation planar nine-bar mechanism and method for constructing a rectilinear translation motion mechanism Download PDFInfo
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Abstract
The invention relates to a planar nine-bar mechanism for generating high-accuracy rectilinear translation and a method for constructing a rectilinear translation motion mechanism. The planar nine-bar mechanism for generating high-accuracy rectilinear translation is designed based on the principles of the Roberts mechanism and parallelogram pantograph (pantograph) and the basic structure consists of a Roberts mechanism and two parallelogram four-bar mechanisms. Based on the basic structure, the planar nine-bar mechanism for generating high-accuracy rectilinear translation can be assembled and modified into a plurality of transformations. The planar nine-bar mechanism for generating high-accuracy rectilinear translation has the advantages of few rods, high structural stiffness, compact structure, structural symmetry, etc. The planar nine-bar mechanism for generating high-accuracy rectilinear translation and the method for constructing the rectilinear translation motion mechanism can be widely applied to the occasions where the translation needs to be implemented, can substitute various small-stroke guide rails, simplify maintenance and also can be used as a rectilinear motion decelerator for increasing the driving force.
Description
Technical field
The present invention relates to not have the guide rail linear moving apparatus, specifically can produce the planar linkage mechanism and the building method thereof of high accuracy linear translational motion.This invention can be widely used in the occasion that needs are realized translational motion, can substitute various little stroke guide rails, also can be used as the rectilinear motion decelerator.
Background technology
Straight line generates mechanism and is often referred to and is converted to straight-line linkage with rotatablely moving.In the industrial revolution first time, the research that straight line generates mechanism occupies an important position, and according to the precision that generates straight line, can be divided near linear generation mechanism and generate mechanism with accurate straight line, because near linear generates the common bar that needs still less of mechanism, therefore uses more.The classical four-bar mechanism that is used to generate near linear comprises Roberts mechanism, Watt linkage, Daniel linkage, Chebyshev linkage, Evans linkage, Hoekens linkage and Scott Russell linkage or the like.On the other hand, adopt the mechanism size integrated approach also can obtain various new near linears and generate mechanism.
Generate in the mechanism at traditional straight line, have only a specified point on the connecting rod to move along straight line, therefore connecting rod itself can not be directly used in linear translational motion then with rotation, also needs to adopt some particular design usually.
Adopt linkage to realize that the method for linear translational motion mainly contains four kinds at present at present, but all have certain weak point.
First method is two straight lines to be generated four-bar linkage be arranged in parallel or symmetric arrangement, makes the direction of motion of corresponding rectilinear motion point parallel, and connects with connecting rod between rectilinear motion point, forms the eight-linkage mechanism of constraint.On the basis of run-in index eight-linkage mechanism, can utilize the parallel-crank mechanism principle to carry out some distortion.Typical example has a product of German Physik Instrumente company, adopts two Roberts connecting rods to link to each other and obtains single-degree-of-freedom straight line mobile platform, then with three three-dimensional mobile platforms of straight line mobile platforms stack composition.The patent of General Motors Overseas Corporation " Straight Line Linkage Mechanism " (U.S. Patent number: US6357768) then propose a kind of straight line and generate four-bar mechanism, two straight lines can be generated the four-bar mechanism symmetry and place composition straight line mobile platform by dimension synthesis.The shortcoming of this class mechanism is a relatively side of mobile platform, when the anti-twisting property deficiency of load entire mechanism when the axis of mobile platform is far away.In order to improve the rigidity of structure, two eight-linkage mechanisms can be arranged in parallel or symmetric arrangement was combined into ten four-bar mechanisms of constraint, but the number of components to be more, structure is compact inadequately.Above-mentioned ten four-bar mechanisms also can be reduced to 12 linkages that do not have constraint, but lack symmetry on Stiffness Distribution.
Second method is to generate on the basis of four-bar linkage at existing straight line, increases by two bars and forms plane six-bar linkage, makes mobile platform realize that straight line moves by dimension synthesis.Typical example has patent " Three degree of freedom translational axis handcontroller the mechanism " (U.S. Patent number: US5182961) of U.S. Honeywell company.The advantage of this class mechanism is that bar quantity is few, and two six-bar mechanism symmetric arrangement can be obtained ten higher linkages of rigidity; It is lower that its shortcoming is that precision that straight line moves is compared first kind of scheme, promptly mobile platform when straight line moves with a little rotation.
The third method is based on two parallelogram flexible planar linkages, be about to two parallelogram seven-bar mechanisms that the flexible four-bar mechanism series connection of two parallelogram obtains having two one-movement-freedom-degrees, on two parallelogram seven-bar mechanisms basis, increase constraint and obtain new mechanism.The patent of Switzerland's electronics and microtechnology center (CSEM) " Device for the guidance in rectilinear translation of anobject that is mobile in relation to a fixed object " (U.S. Patent number: US6059481, european patent number: EP0857891).This patent increases a lever and forms eight-linkage mechanism on two parallelogram seven-bar mechanisms, lever is connected respectively with two platforms of frame and seven-bar mechanism by three flexible bands, has the big and advantage of high precision of rectilinear translation stroke.But the flexibility band that this mechanism adopts is longer, and deflection is very big, so the rigidity of structure is less.(U.S. Patent number: US6688183) the two parallelogram seven-bar mechanisms with four groups or eight groups are combined into XY two-freedom parallel connection platform to the patent of U.S. MIT " Apparatus havingmotion with pre-determined degrees of freedom ", has the bigger advantage of symmetrical configuration and stroke, but adopt the great number of elastic part to be connected between motion platform and the frame, the rigidity of structure is lower.
The 4th kind of method is based on the Sarrus spatial six-bar mechanism, and (U.S. Patent number: US5237887), the shortcoming of this mechanism is that the space of occupying is bigger as the patent " Straight Line Mechanism " of U.S. Rockwell company.U.S. Lockhead Martin company proposes the distortion of a kind of Sarrus mechanism, (U.S. Patent number: US7086300) the leg branch of Sarrus mechanism the is drawn flexible band of wall scroll or many replaces its patent " Large Stroke Linear Motion Flexural Apparatus ", thereby structure is very compact, but this mechanism is more suitable for the less situation of load.The patent of U.S. Equipment Solution company " High Stiffness Flexure " (U.S. Patent number: US7364145) at the characteristics of flexure hinge mechanism, adopting the cross section is the rigidity of leg-of-mutton tubing with raising leg branch, and this scheme can be used for the bigger situation of load.Have at least a leg branch can't be installed on the plane parallel in the scheme based on Sarrus mechanism, therefore only be used for the situation of rectilinear translation direction usually perpendicular to frame and motion platform with the rectilinear translation direction.At this limitation, the Yeong-junChoi of U.S. Texas university etc. will and synthesize based on the scheme of Sarrus based on the plane eight-linkage mechanism scheme of two-stage parallelogram four-bar mechanism, on the parallelogram four-bar mechanism of two series connection, increase by two Sarrus constraint leg branches, obtain straight-line displacement platform with one degree of freedom.Then two straight-line displacement platforms are superposed to XY two-freedom series connection platform, and reduce the space that XY two-freedom platform occupies by optimizing distribution, but this mechanism is still oversize, integral rigidity is not high.
Therefore seek a kind of bar negligible amounts, compact conformation, rigidity of structure height and the very high linkage of straight line mobile accuracy, and be used for replacing line slideway to be still the target of those skilled in the art's effort always.
On the other hand, linear electric motors have the characteristics of high-speed, high precision, and have saved machine driving links such as gear and screw mandrel, therefore in a lot of the application trend that replaces electric rotating machine are arranged.But the load capacity of middle-size and small-size linear electric motors is relatively low, and its maximum speed in some applications neither be essential, therefore wishes by reducing gear to be the high speed rectilinear motion with the high-speed straight-line conversion of motion.But it is also very rare to be used for the straight-line reducing gear of high speed at present, though common travel multiplier scheme can realize slowing down, and for example adopts the scheme of extension means, and the scheme that adopts gear, cam or pulley, but difficult in maintenance, be difficult to use in the occasion that high speed is moved.
Therefore a kind of compact conformation, can realize slowing down or the planar linkage mechanism that quickens is the key issue that this area needs to be resolved hurrily than the rectilinear motion in the short stroke scope.
Summary of the invention
In order to overcome above-mentioned deficiency, an object of the present invention is to propose a kind of bar negligible amounts, compact conformation, rigidity of structure height and straight line mobile accuracy are very high and can realize the planar linkage mechanism that slows down than the rectilinear motion in the short stroke scope can be used to replace line slideway.
Another object of the present invention be propose a kind of based on rectilinear translation planar nine-bar mechanism, set up the building method of the planar linkage mechanism of high accuracy linear translational motion.
Technical solution of the present invention is as follows: be used to generate the planar nine-bar mechanism of high accuracy linear translational motion, comprise a Roberts mechanism, the first parallelogram four-bar mechanism, the second parallelogram four-bar mechanism, a motion platform; Two parallelogram four-bar mechanism symmetries are installed in the Roberts mechanism, and the connecting rod that floats links to each other with the parallelogram four-bar mechanism by hinge; In the frame of described motion platform and Roberts mechanism one is fixing, and another realizes high accuracy linear translational motion among a small circle;
Wherein: described Roberts mechanism comprises frame, connecting rod, left rocking bar and right rocking bar; Described frame comprises left side hinge and right side hinge; Described connecting rod comprises connecting rod left hand edge, connecting rod right hand edge and lever point; Described lever point generates the high accuracy straight path;
Described planar nine-bar mechanism is about axis of symmetry left-right symmetry; The described axis of symmetry is through the mid point of the left side hinge of Roberts mechanism and right side hinge line and perpendicular to this line;
The described first parallelogram four-bar mechanism comprises four edges, article one, the limit is adjacent with the second limit, and overlap with the left rocking bar and the connecting rod left hand edge of Roberts mechanism respectively, article three, the limit links to each other with article one limit, or link to each other with the second limit, article three, on the limit a unsteady hinge is installed, this unsteady hinge is on the line of Roberts mechanism rod point (P) and Roberts mechanism frame left side hinge;
The described second parallelogram four-bar mechanism comprises four edges, article one, the limit is adjacent with the second limit, and overlap with the right rocking bar and the connecting rod right hand edge of Roberts mechanism respectively, article three, the limit links to each other with article one limit, or link to each other with the second limit, and with the 3rd frontier juncture of described first parallelogram four-bar mechanism in described axis of symmetry symmetry, a unsteady hinge is installed on the described limit, and this unsteady hinge is on the line of Roberts mechanism rod point (P) and Roberts mechanism frame right side hinge;
The left and right two ends of described motion platform link to each other with the unsteady hinge of described two parallelogram four-bar mechanisms respectively; Described motion platform is parallel with the frame of Roberts mechanism.
After removing, two bars that two rocking bars of Roberts mechanism link to each other in the described planar nine-bar mechanism obtain a kind of plane seven-bar mechanism; Described plane seven-bar mechanism has two frees degree, and one of them free degree is the rectilinear translation free degree;
After removing, two bars that the connecting rod of Roberts mechanism links to each other in the described planar nine-bar mechanism obtain a kind of plane seven-bar mechanism; Described plane seven-bar mechanism has two frees degree, and one of them free degree is the rectilinear translation free degree;
The method of structure rectilinear translation motion mechanism, by from the set of two-freedom mechanism module, selecting two mechanism modules arbitrarily, two mechanism module symmetries are placed or placed side by side, the frame of two mechanism modules is connected mutually, motion platform with two mechanism modules is connected mutually simultaneously, obtains only to have the plane combined mechanism of a frame and a motion platform; The free degree of described plane combined mechanism is the common factor of the free degree of two mechanism modules, is the linear translational motion free degree along the frame direction.
Described two-freedom mechanism module set comprises four kinds of two-freedom mechanism modules; First kind of module is two bars that two rocking bars of Roberts mechanism in the described planar nine-bar mechanism link to each other to be removed obtain a kind of plane seven-bar mechanism; Second kind of module is two bars that two rocking bars of Roberts mechanism in the described planar nine-bar mechanism link to each other to be removed obtain a kind of plane seven-bar mechanism; The third module is the two parallelogram seven-bar mechanisms that obtained by two parallelogram four-bar mechanism series connection; The 4th kind of module is installed in a planar five-bar mechanism that motion platform is formed on the Roberts mechanism rod point by Roberts mechanism with by a hinge; Described every kind of mechanism module all has two frees degree, and the space of its motion platform includes the rectilinear translation free degree along the frame direction.
A kind of rectilinear motion decelerator is made up of two plane 12 linkages, a frame and two motion platforms that generate the high accuracy linear translational motion.12 linkages of described generation high accuracy linear translational motion obtain according to the method for above-mentioned structure rectilinear translation motion mechanism.Two plane 12 linkages are piled up placement, described frame is connected the frame of plane 12 linkages and the frame of another plane 12 linkages, and described two motion platforms are connected the connecting rod of two Roberts mechanisms in plane 12 linkages and the connecting rod of two Roberts mechanisms in 12 linkages of another plane respectively; Drive a motion platform, make another motion platform produce retarded motion.
The present invention has following advantage:
1. have that bar quantity is few, the rigidity of structure is high, advantage such as compact conformation and symmetrical configuration;
2. hinge can adopt flexible hinge, for example traditional straight beam type flexible hinge, circular arc type flexible hinge, oval flexible hinge, split cartridge type flexible hinge (as U.S. Pat 6585445), cross type hinge (as U.S. Pat 3073584, US3807029, US5588632), butterfly type hinge (as European patent EP 0961151) and various hinge (as the Hexfoil flexible hinge of U.S. Pat 6146044, US7044459, NASA) etc., safeguard thereby reduce based on reed;
3. can be combined into the rectilinear motion decelerator, and speed reducing ratio can be any real number in theory, also can be used as stroke multiplier.
Description of drawings
Fig. 1 a-Fig. 1 d is four kinds of citation forms of a rectilinear translation linkage of the present invention embodiment, and Fig. 1 a and Fig. 1 b are two kinds of sketches that comprise the planar nine-bar mechanism of compound hinges, and Fig. 3 a and Fig. 3 b are two kinds of sketches that do not comprise the planar nine-bar mechanism of compound hinges;
Fig. 2 a-Fig. 2 f is a prior art cathetus translation linkage, wherein Fig. 2 a is the classical field formalism of Roberts mechanism, Fig. 2 b is the common version of Roberts mechanism, Fig. 2 c and Fig. 2 d are based on the rectilinear translation linkage that Roberts mechanism sets up, and Fig. 2 e and Fig. 2 f are based on the rectilinear translation linkage of two parallelogram seven-bar mechanisms;
Fig. 3 a-Fig. 3 d is used to construct four kinds of sketches with mechanism module of two-freedom of novel linear translation linkage for the present invention;
Fig. 4 a-Fig. 4 j realizes the sketch of ten kinds of plane 12 linkages of linear translational motion for the present invention;
Fig. 5 a-Fig. 5 c realizes the sketch of three kinds of plane ten linkages of linear translational motion for the present invention;
Fig. 6 a-Fig. 6 c realizes the sketch of three kinds of plane eight-linkage mechanisms of linear translational motion for the present invention;
Fig. 7 realizes the sketch of a kind of plane 13 mechanisms of linear translational motion decelerator for the present invention;
Fig. 8 realizes the sketch of a kind of plane 13 mechanisms that stroke amplifies for the present invention;
Fig. 9 a and 9b are the schematic three dimensional views of a rectilinear translation mechanism of the present invention example;
Figure 10 is the three-dimensional exploded schematic diagram of a rectilinear translation mechanism of the present invention example.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Be a kind of planar nine-bar mechanism that produces the high accuracy linear translational motion as shown in Figure 1a, by frame 1, motion platform 2, several bars 3,4,5,6,7 with single free degree, 8,9 and several hinges 101,102,201,202,301,401,402,403,404,501 form.Connect by bar 3,4,5,6,7,8 and hinge 101,102,201,202,301,401,402,403,404,501 between frame 1 and the motion platform 2.
These plane 9 linkages have symmetrical form, are the Roberts mechanism of classics and the combination of two parallelogram scaling devices in essence.Classical Roberts mechanism is characterized in shown in Fig. 2 a, two limit 4c of bar 3, bar 5 and connecting rod 4 and the equal in length of 4d.More general Roberts mechanism is characterized in shown in Fig. 2 b, the equal in length of bar 3 and bar 5, and the equal in length of two limit 4c of connecting rod 4 and 4d.When satisfying above-mentioned size condition, the lever point P initial position on the Roberts mechanism rod 4 is on the line of hinge 101 and hinge 102.Catch bar 3 or bar 5, then lever point P generates a track C, and this track C is approximately straight line near symmetric position, and this straight line is parallel with the line of hinge 102 with hinge 101.
In the planar nine-bar mechanism shown in Fig. 1 a, the part of bar 3 between hinge 301 and hinge 401 is the first half 3a of bar 3, the part of bar 3 between hinge 301 and hinge 101 is the Lower Half 3b of bar 3, the part of bar 5 between hinge 501 and hinge 401 is the first half 5a of bar 5, the part of bar 5 between hinge 501 and hinge 102 is the Lower Half 5a of bar 5, the part of bar 4 between hinge 401 and hinge 404 is the right 4a of bar 4, and the part of bar 4 between hinge 402 and hinge 403 is the right 4b of bar 4.
In the planar nine-bar mechanism shown in Fig. 1 a, the first half 3a of bar 3, bar 6, the right 4a of bar 8 and connecting rod 4 forms the parallelogram on right side; The first half 5a of bar 5, bar 7, the left side 4b of bar 9 and connecting rod 4 forms the parallelogram in left side.And the parallelogram of the left and right sides is about axis of symmetry V symmetry, and wherein axis of symmetry V is through the mid point of the left side hinge 102 of Roberts mechanism and right side hinge line 101 and perpendicular to this line.The unsteady hinge 201 of right side parallel-crank mechanism is positioned on the line of right side hinge 101 and Roberts mechanism rod point P on the frame 1, and the unsteady hinge 202 of left side parallelogram mechanism is positioned on the line of frame 1 upper left side hinge 102 and Roberts mechanism rod point P.The two ends of motion platform 2 have two hinges, overlap with hinge 201 and hinge 202 respectively, and in other words, hinge 201 and 202 is compound hingeses, thus adopt a circle to represent common hinge in the drawings, and represent compound hinges with two circles.
Because the constraint of connecting rod and hinge, motion platform 2 can be realized among a small circle high accuracy linear translational motion with respect to frame 1, and direction of translatory motion X is parallel with the line of hinge 102 with the hinge 201 on the frame 1.It is pointed out that if motion platform 2 is fixing and allow frame 1 float, then the high accuracy linear translational motion realized among a small circle with respect to motion platform 2 of frame 1.
Be depicted as the distortion of planar nine-bar mechanism shown in Fig. 1 a as Fig. 1 b, difference is that Roberts mechanism has adopted more general form.
In the mechanism shown in Fig. 1 a and Fig. 1 b, the length of the first half 3a of bar 3 can be from 0% to 100% with respect to the ratio of whole length of bar 3.The ratio that adopts is more little, and motion platform 2 obtainable linear translational motion scopes are big more.
Fig. 1 c is a kind of sketch that does not comprise the planar nine-bar mechanism of compound hinges, by bar 6 in Fig. 1 a planar nine-bar mechanism and bar 7 are carried out translation along bar 3 and bar 5 respectively, and increases hinge 801 and 901 and obtain; In like manner, Fig. 1 d is the another kind of sketch that does not comprise the planar nine-bar mechanism of compound hinges.For the ease of the address and quote, below with the planar nine-bar mechanism called after Roberts-Pantograph mechanism among Fig. 1 a-Fig. 1 d.
The Grubler formula of the known calculations plane mechanism free degree, the number of degrees of freedom, of Roberts-Pantograph mechanism
DOF＝3(n-1)-2m
Wherein n is the bar number in the mechanism, and m is the number of hinge and sliding pair.According to the Grubler formula, mechanism shown in Fig. 1 a and Fig. 1 b has nine bars and 12 hinges, therefore have 3 * (9-1)-2 * 12=0 the free degree, and in fact this mechanism has a freedom of movement, in other words, this mechanism is a kind of constraint mechanism of crossing, and has only that this mechanism could move when dimensioned is very accurate, and this mechanism can not move when the dimensioned inaccuracy.
Fig. 2 a-Fig. 2 f has shown six kinds of rectilinear translation mechanisms of prior art.Wherein Fig. 2 a and Fig. 2 b are respectively the classical field formalism and the common versions of Roberts mechanism.Be depicted as a kind of rectilinear translation linkage that German PI company proposes as Fig. 2 c, adopt two Roberts connecting rods acquisition single-degree-of-freedom straight line mobile platform that links to each other based on Roberts mechanism.Fig. 2 d is a kind of rectilinear translation linkage based on Roberts mechanism and parallelogram principle.Said mechanism is difficult to obtain the compact structure and the very high rigidity of structure.
Fig. 2 e is the structure based on two parallelogram that proposes in the U.S. Pat 6059481 of Switzerland's electronics and microtechnology center (CSEM), its essential characteristic is existing the introduction in background material, its mid frame 1, motion platform 2, halfpace E, elastic rod L1, L2, L3, L4 form two parallelogram seven-bar mechanisms, rigid rod L5 links to each other with frame 1, halfpace E and motion platform 2 respectively by elastic webbing C1, C2, C3, and the mid point conllinear of elastic webbing C1, C2, C3, so rigid rod L5 plays the leverage of 2: 1 ratios.The direction of motion of motion platform 2 relative frames 1 is X, when the displacement of motion platform 2 relative frames 1 is Δ X, halfpace E with respect to frame 1 to the distance, delta X/2 that moves to left, this make two parallelogram direction of rotation but amplitude is identical.This mechanism has the big and advantage of high precision of rectilinear translation stroke.But flexibility band C1, C2, C3 that this mechanism adopts are longer, and deflection is very big, so the rigidity of structure is less.If as can be seen flexibility is with C1, C2, C3 to replace with three flexible hinges, though then motion platform 2 can produce translational motion, the translation track is to be the circular arc in the center of circle and non-rectilinear does not satisfy the requirement of rectilinear translation with the C1 mid point.Mechanism shown in Fig. 2 f is a kind of distortion of Fig. 2 e mechanism, play the effect of lever by the rigid rod L5 in the PT of the pantogragh mechanism alternate figures 2e mechanism, though this mechanism also has the big and advantage of high precision of rectilinear translation stroke, and ratio of rigidity Fig. 2 e mechanism is high, but its structure is complicated more a lot of than the mechanism among Fig. 1 a and Fig. 1 b.
Fig. 3 a-Fig. 3 d has shown four kinds of mechanism modules that are used to construct rectilinear translation mechanism, their common feature is: (1) comprises frame 1, motion platform 2 and halfpace E, (2) have the characteristics of symmetrical configuration, (3) motion platform 2 has two frees degree, and its space comprises the rectilinear translation free degree along frame 1 direction.Wherein the mechanism among Fig. 3 a and Fig. 3 b all is the distortion of Fig. 1 a midplane nine-bar mechanism (Roberts-Pantograph mechanism), and two bars removals of two parallelogram scaling devices (Pantograph) obtain by inciting somebody to action wherein.For the ease of the address, below with the called after RP-I of the mechanism module among Fig. 3 a, with the called after RP-II of the mechanism module among Fig. 3 b.Fig. 3 c is two parallelogram seven-bar mechanism modules, module shown in Fig. 3 d comprises Roberts mechanism and is installed in motion platform 2 on the lever point P by hinge, be that Roberts-Pantograph mechanism obtains after size is degenerated, the length that is the first half 5a of the first half 3a of the bar 3 among the corresponding diagram 1a and bar 5 is reduced to zero, is designated hereinafter simply as the RE module.
Mechanism module shown in Fig. 3 a-Fig. 3 d is made up the planar linkage mechanism that can obtain multiple generation linear translational motion.Its basic ideas are to select two mechanism modules, and adopt symmetric arrangement or be arranged in parallel, and promptly keep the frame direction of two mechanism modules parallel, and the frame of two mechanism modules is connected mutually, and the motion platform with two mechanism modules is connected mutually simultaneously.Calculate according to Grubler freedom calculation formula, these combined mechanisms just in time have one degree of freedom, and this free degree can only be the common factor of two mechanism module frees degree, i.e. a rectilinear translation free degree along the frame direction.Because these combined mechanisms are the non-constraint mechanisms of crossing,, can not produce excessive internal stress during when mounted with work even therefore processing dimension is not very accurate yet.
Shown in Fig. 4 a-Fig. 4 j be ten kinds by above-mentioned four kinds of mechanism modules are made up 12 linkages of acquisition.Wherein two RP-I modules or two RP-II modules acquisitions are placed by symmetry by four mechanisms shown in Fig. 4 a-Fig. 4 d.And strictly speaking, the mechanism shown in the mechanism shown in Fig. 4 c and Fig. 4 a is with a kind of mechanism in essence, and difference is that two RP-I modules are different with the distance of horizontal axis H.In like manner, the mechanism shown in the mechanism shown in Fig. 4 d and Fig. 4 b is with a kind of mechanism in essence.Fig. 4 e is to obtain by two RP-I modules of parallel placement or two RP-II modules with two mechanisms shown in Fig. 4 f.Fig. 4 g is to obtain by RP-I module of parallel placement and a RP-II module with two mechanisms shown in Fig. 4 h.Wherein the mechanism shown in the mechanism shown in Fig. 4 g and Fig. 4 h is with a kind of mechanism in essence, and difference is that the RP-I module is different with the distance of horizontal axis H with the RP-II module.Mechanism shown in Fig. 4 i obtains by RP-I module of parallel placement and two parallelogram seven-bar mechanism modules, and the mechanism shown in Fig. 4 j obtains by RP-II module of parallel placement and two parallelogram seven-bar mechanism modules.
Shown in Fig. 5 a-Fig. 5 c three kinds of asymmetric ten linkages, Fig. 5 a is that parallel placement combines with the RP-I module by the RE module, Fig. 5 b is that parallel placement combines with the RP-II module by the RE module, and Fig. 5 c is combined with two parallel placements of parallelogram seven-bar mechanism module by the RE module.
It shown in Fig. 6 a a kind of eight-linkage mechanism of symmetry, combine by the placement of two RE module symmetries, also can be regarded as the degeneration of 12 linkages shown in Fig. 4 a and Fig. 4 b and obtain, promptly the length of the first half 5a of the first half 3a of the bar 3 among the corresponding diagram 1a and bar 5 is reduced to zero; In like manner, be that a kind of symmetry is placed the eight-linkage mechanism that two RE modules obtain shown in Fig. 6 b, be the degeneration of 12 linkages shown in Fig. 5 c and Fig. 5 d obtains; In like manner, Fig. 6 c is depicted as a kind of eight-linkage mechanism that obtains by two the RE modules that are arranged in parallel, and is that the degeneration of mechanism shown in Fig. 5 e and Fig. 5 f obtains.Obscure for avoiding in the back producing among Fig. 7 and Fig. 8, motion platform 2 is used mark 2 ' expression instead here.
Can construct the reducing gear of two kinds of different principle based on the planar linkage mechanism of above-mentioned generation linear translational motion.
Be a kind of 13 linkages as shown in Figure 7, by the stacked installation of 12 linkages among eight-linkage mechanism shown in Fig. 6 a and Fig. 5 a is combined.Two described linkages that carry out stacked installation satisfy following requirement: their Roberts mechanism measure-alike but the size difference of parallel-crank mechanism.The connecting rod of the Roberts mechanism of two linkages is carried out affixed, simultaneously the frame of the Roberts mechanism of two linkages is carried out affixed, just can obtain having a frame 1, two motion platforms 2 and 2 ' reducing gear.When adopting proportionate relationship as shown in Figure 7, if promote actuation movement platform 2 ' mobile 1mm, the displacement of motion platform 2 is 0.5mm, and promptly speed reducing ratio is 2: 1.By changing the size of parallelogram in 12 linkages, can obtain the speed reducing ratio of any real number in theory, but consider factors such as joint stiffness and power transmission angle, more suitable speed reducing ratio is in 5: 1.
As shown in Figure 8,13 linkages among Fig. 7 can realize that also the differential type stroke amplifies, the two ends of micro-displacement driver PZT respectively with motion platform 2 ' link to each other with motion platform 2.When supposing to adopt proportionate relationship as shown in Figure 8, motion platform 2 and motion platform 2 ' the ratio of rectilinear translation amount be 2: 3, the every shortening of PZT micro-displacement driver 100um like this, motion platform 2 ' mobile 300um, and motion platform 2 motion 200um, the stroke that promptly can realize 1: 3 amplifies.This mechanism also can obtain the stroke magnification ratio of any real number in theory, but more suitable amplification ratio is in 1: 100.
It is pointed out that 12 linkages among Fig. 7 and Fig. 8 are selected from Fig. 4 a, but also select 12 linkages shown in Fig. 4 b; Eight-linkage mechanism can change 12 linkages shown in Fig. 4 a or Fig. 4 b into simultaneously, because this eight-linkage mechanism is a special case of this 12 linkage, adopting eight-linkage mechanism only is in order to keep schematic diagram clear.
Be depicted as the schematic three dimensional views of a rectilinear translation mechanism example as Fig. 9 a and 9b, shown the three-dimensional structure and the size of this mechanism respectively from positive and bottom side.This mechanism is corresponding to 12 linkages among Fig. 4 d.
Be the three-dimensional, exploded view of this rectilinear translation mechanism as shown in figure 10, this mechanism mainly comprises four members: frame 1, motion platform 2, two RP-II modules (representing with RP-II-a module and RP-II-b respectively).The consistent size of RP-II-a module and RP-II-b module is an example with the RP-II-a module, and its member label is corresponding with the plan view of Fig. 1 a, and wherein hinge 101,102, and 201,202,301,401,402,501 adopt the circular arc type flexible hinge.This mechanism is by the volume of stacked installation with reducing mechanism, and wherein the frame 1a of RP-II-a module is by two screw S
4Be connected mutually with frame 1, the frame 1b of RP-II-b module is by two screw S
3Be connected mutually with frame 1, the motion platform 2a of RP-II-a module is by two screw S
1Be connected mutually with motion platform 2, the motion platform 2b of RP-II-b module is by two screw S
2Be connected mutually with motion platform 2.
(referring to Fig. 2 c-2d) compares with prior art, the present invention has overcome existing straight line translation mechanism based on Roberts mechanism and based on the low and rigidity low shortcoming of compact degree of the straight line translation mechanism of two parallelogram seven-bar mechanisms, has had more following characteristics:
1. have the advantages such as the few and symmetrical configuration of bar quantity;
2. manufacturing process is simple, and hinge can adopt flexible hinge or common bearing;
3. can be combined into the rectilinear motion decelerator, and speed reducing ratio can be any real number in theory, also can be used as the stroke amplifier.
Claims (10)
1. a planar nine-bar mechanism that generates the high accuracy linear translational motion is characterized in that: comprise a Roberts mechanism, the first parallelogram four-bar mechanism, the second parallelogram four-bar mechanism, a motion platform; Two parallelogram four-bar mechanism symmetries are installed in the Roberts mechanism, and the connecting rod that floats links to each other with the parallelogram four-bar mechanism by hinge; In the frame of described motion platform and Roberts mechanism one is fixing, and another realizes high accuracy linear translational motion among a small circle.
2. by the described planar nine-bar mechanism of claim 1, it is characterized in that: described Roberts mechanism comprises frame, connecting rod, left rocking bar and right rocking bar; Described frame comprises left side hinge and right side hinge; Described connecting rod comprises connecting rod left hand edge, connecting rod right hand edge and lever point; Described lever point generates the high accuracy straight path.
3. by the described planar nine-bar mechanism of claim 1, it is characterized in that: described planar nine-bar mechanism is about axis of symmetry left-right symmetry; The described axis of symmetry is through the mid point of the left side hinge of Roberts mechanism and right side hinge line and perpendicular to this line.
4. by the described planar nine-bar mechanism of claim 1, it is characterized in that: described parallelogram four-bar mechanism comprises four edges, article one, the limit is adjacent with the second limit, and overlap with the left rocking bar and the connecting rod left hand edge of Roberts mechanism respectively, article three, the limit links to each other with article one limit, or link to each other with the second limit, on the 3rd limit a unsteady hinge being installed, this unsteady hinge is on the line of Roberts mechanism rod point (P) and Roberts mechanism frame left side hinge.
5. by the described planar nine-bar mechanism of claim 1, it is characterized in that: described parallelogram four-bar mechanism comprises four edges, article one, the limit is adjacent with the second limit, and overlap with the right rocking bar and the connecting rod right hand edge of Roberts mechanism respectively, article three, the limit links to each other with article one limit, or link to each other with the second limit, and with the 3rd frontier juncture of described first parallelogram four-bar mechanism in described axis of symmetry symmetry, a unsteady hinge is installed on the described limit, and this unsteady hinge is on the line of Roberts mechanism rod point (P) and Roberts mechanism frame right side hinge.
6. by the described planar nine-bar mechanism of claim 1, it is characterized in that: the left and right two ends of described motion platform link to each other with the unsteady hinge of described two parallelogram four-bar mechanisms respectively; Described motion platform is parallel with the frame of Roberts mechanism.
7. by the described planar nine-bar mechanism of claim 1, it is characterized in that: two bars removals that two rocking bars of Roberts mechanism in the described planar nine-bar mechanism are linked to each other obtain a kind of plane seven-bar mechanism; Described plane seven-bar mechanism has two frees degree, and its space includes the rectilinear translation free degree along the frame direction.
8. by the described planar nine-bar mechanism of claim 1, it is characterized in that: two bars that the connecting rod of Roberts mechanism in the described planar nine-bar mechanism is continuous are removed and are obtained a kind of plane seven-bar mechanism; Described plane seven-bar mechanism has two frees degree, and its space includes the rectilinear translation free degree along the frame direction.
9. rectilinear translation motion mechanism building method based on the described rectilinear translation planar nine-bar mechanism of claim 1, it is characterized in that: by from the set of two-freedom mechanism module, selecting two mechanism modules arbitrarily, two mechanism module symmetries are placed or placed side by side, make the frame direction of two mechanism modules parallel, the frame of two mechanism modules is connected mutually, motion platform with two mechanism modules is connected mutually simultaneously, obtains only to have the plane combined mechanism of a frame and a motion platform; The free degree of described plane combined mechanism is the common factor of the free degree of two mechanism modules, is the linear translational motion free degree along the frame direction.
10. by the described building method of claim 9, it is characterized in that: described two-freedom mechanism module set comprises four kinds of two-freedom mechanism modules; First kind of module is two bars that two rocking bars of Roberts mechanism in the described planar nine-bar mechanism link to each other to be removed obtain a kind of plane seven-bar mechanism; Second kind of module is two bars that two rocking bars of Roberts mechanism in the described planar nine-bar mechanism link to each other to be removed obtain a kind of plane seven-bar mechanism; The third module is the two parallelogram seven-bar mechanisms that obtained by two parallelogram four-bar mechanism series connection; The 4th kind of module is installed in a planar five-bar mechanism that motion platform is formed on the Roberts mechanism rod point by Roberts mechanism with by a hinge; Described every kind of mechanism module all has two frees degree, and the space of its motion platform includes the rectilinear translation free degree along the frame direction.
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| CN2008102299879A CN101745915B (en) | 2008-12-19 | 2008-12-19 | Rectilinear translation planar nine-bar mechanism and method for constructing a rectilinear translation motion mechanism |
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| CN2008102299879A CN101745915B (en) | 2008-12-19 | 2008-12-19 | Rectilinear translation planar nine-bar mechanism and method for constructing a rectilinear translation motion mechanism |
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| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
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| ITUB20160805A1 (en) * | 2016-02-17 | 2017-08-17 | Giovanni Ausenda | MULTI-DYNAMIC PLATFORM |
| WO2017141167A1 (en) * | 2016-02-17 | 2017-08-24 | Kyneprox S.R.L. | Multi-dynamic platform |
| ES2668787A1 (en) * | 2018-02-15 | 2018-05-22 | Universidad Politécnica de Madrid | PUSH MEASURE DEVICE FOR PLASMA ENGINES (Machine-translation by Google Translate, not legally binding) |
| CN109026989A (en) * | 2017-06-09 | 2018-12-18 | 中国科学院长春光学精密机械与物理研究所 | A kind of circumference guiding mechanism based on Roberts mechanism |
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| CN100404215C (en) * | 2006-09-15 | 2008-07-23 | 清华大学 | Single-degree-of-freedom straight line translation spacing connecting rod mechanism |
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| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| CN103288035A (en) * | 2013-06-05 | 2013-09-11 | 河南工业大学 | Silicon micro plane flexible connecting rod mechanism manufactured on semiconductor chip |
| CN103288035B (en) * | 2013-06-05 | 2017-02-08 | 河南工业大学 | Silicon micro plane flexible connecting rod mechanism manufactured on semiconductor chip |
| ITUB20160805A1 (en) * | 2016-02-17 | 2017-08-17 | Giovanni Ausenda | MULTI-DYNAMIC PLATFORM |
| WO2017141167A1 (en) * | 2016-02-17 | 2017-08-24 | Kyneprox S.R.L. | Multi-dynamic platform |
| US10463980B2 (en) | 2016-02-17 | 2019-11-05 | Kyneprox S.R.L. | Multi-dynamic platform |
| CN109026989A (en) * | 2017-06-09 | 2018-12-18 | 中国科学院长春光学精密机械与物理研究所 | A kind of circumference guiding mechanism based on Roberts mechanism |
| CN109026989B (en) * | 2017-06-09 | 2021-08-20 | 中国科学院长春光学精密机械与物理研究所 | Circumference guiding mechanism based on Roberts mechanism |
| ES2668787A1 (en) * | 2018-02-15 | 2018-05-22 | Universidad Politécnica de Madrid | PUSH MEASURE DEVICE FOR PLASMA ENGINES (Machine-translation by Google Translate, not legally binding) |
| CN113532648A (en) * | 2020-04-16 | 2021-10-22 | 中国科学院西安光学精密机械研究所 | Interference spectrometer moving mirror scanning system based on symmetrical flexible supporting mechanism |
| CN113532648B (en) * | 2020-04-16 | 2022-10-04 | 中国科学院西安光学精密机械研究所 | Interference spectrometer moving mirror scanning system based on symmetrical flexible supporting mechanism |
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