CN103170966B - A kind of complete submissive micro displacement magnifying mechanism - Google Patents
A kind of complete submissive micro displacement magnifying mechanism Download PDFInfo
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- CN103170966B CN103170966B CN201310112375.2A CN201310112375A CN103170966B CN 103170966 B CN103170966 B CN 103170966B CN 201310112375 A CN201310112375 A CN 201310112375A CN 103170966 B CN103170966 B CN 103170966B
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Abstract
The present invention relates to a kind of Grazing condition micro displacement magnifying mechanism, it is characterized in that: at least comprise displacement amplifying mechanism (1), parallel-guiding (2), displacement amplifying mechanism (1) and parallel-guiding (2) are bilateral symmetry, the two ends, left and right of displacement amplifying mechanism (1) symmetry respectively comprise three rigid rods, three, two ends, left and right rigid rod is connected by flexible hinge, on two ends, left and right, rigid rod is connected with upper guide pad (11) left and right flexible hinge respectively, under two ends, left and right, rigid rod is connected with lower guide pad (21) left and right flexible hinge respectively, displacement amplifying mechanism (1) forms the frame structure closing envelope.It is that a kind of structure is simple, cheap, the Grazing condition micro displacement magnifying mechanism of high accuracy, Long Distances, to realize micron order being inputted displacement equations to grade output displacement, during work, the state of the whole tension of whole mechanism avoids flexible hinge unstability, improves overall structure lateral rigidity and intrinsic frequency.
Description
Technical field
The invention belongs to compliant mechanism field, relate to a kind of Grazing condition micro displacement magnifying mechanism.
Background technology
Flexible hinge has compact conformation, gapless controls without rubbing, being easy to, kinematic accuracy advantages of higher, receives the extensive concern of precise and tiny manipulation area research personnel.
Existing micro displacement magnifying mechanism mainly contains following several: (1) takes thick smart platform to combine the method for (macro-micro), segmented interactive system is adopted to control, precision is high, can meet motion in a big way, but the too fat to move complexity of structure and cost is higher.(2) adopt portable drive system, but product is not yet market-oriented at present, need oneself to develop, cost intensive, and control system is complicated.(3) realize with motion amplification mechanism, as lever mechanism, bridge type mechanism etc., normal employing piezoelectric type driver is combined with motion amplification device and realizes, and this type of mechanism structure is comparatively simple, and cost is lower.
3rd class displacement amplification device uses wider at present, the particularly motion amplification mechanism of Grazing condition, but because the type selecting of flexible hinge and the setting of parameter thereof not yet have the foundation of science, often there is very large blindness in the design of designer to the type selecting of flexible hinge and parameter thereof, so that there is larger error in the mechanism of design, precision is lower.In order to improve the precision of mechanism, reduce the error of mechanism, designer then can use the universal model of flexible hinge by the setting unification of the type selecting of hinge and parameter thereof in the design and optimizing process of whole mechanism, the parameter of selected hinge and setting hinge in the design optimization to whole mechanism.
Due to the difference of application & design method, during the motion amplification institution staff of Grazing condition, each hinge in mechanism is often in different stresses, or pressurized, or tension, and this also can have influence on error and the precision of whole mechanism.
Summary of the invention
The object of this invention is to provide that a kind of structure is simple, cheap, the Grazing condition micro displacement magnifying mechanism of high accuracy, Long Distances, to realize micron order being inputted displacement equations to grade output displacement, during work, the state of the whole tension of whole mechanism avoids flexible hinge unstability, improves overall structure lateral rigidity and intrinsic frequency.
The technical solution adopted in the present invention is: Grazing condition micro displacement magnifying mechanism, it is characterized in that: at least comprise displacement amplifying mechanism, parallel-guiding, displacement amplifying mechanism and parallel-guiding are bilateral symmetry, the two ends, left and right of displacement amplifying mechanism symmetry respectively comprise three rigid rods, three, two ends, left and right rigid rod is connected by flexible hinge, on two ends, left and right, rigid rod is connected with upper guide pad left and right flexible hinge respectively, under two ends, left and right, rigid rod is connected with lower guide pad left and right flexible hinge respectively, and displacement amplifying mechanism forms the frame structure closing envelope.
Described displacement amplifying mechanism forms symmetrical frame structure, and parallel-guiding is in frame structure.
Described displacement amplifying mechanism forms symmetrical frame structure, and parallel-guiding is in frame structure lower end.
Described parallel-guiding comprises the flexible body of rod of two groups of symmetries and lower guide pad, and the flexible body of rod one the first from left right side of two groups of symmetries is distributed in lower guide pad both sides, symmetrical about lower guide pad.
The right flexible body of rod comprises the 3rd flexible link, the 4th flexible link, the 5th flexible link, the 6th flexible link and right rigid rod, 3rd flexible link, the 4th flexible link, the 5th flexible link, the 6th flexible link are parallel to be from top to bottom integrated with right rigid rod consolidation, 3rd flexible link, the 4th flexible link, the 5th flexible link, the 6th flexible link are isometric wide, 4th flexible link, the 5th flexible link other end and basis are fixed, and the 3rd flexible link and the 6th flexible link are connected to the right positions up and down of lower guide pad.
The left flexible body of rod comprises the 7th flexible link, the 8th flexible link the 9th flexible link, the tenth flexible link and left rigid rod, 7th flexible link, the 8th flexible link, the 9th flexible link, the tenth flexible link are parallel to be from top to bottom integrated with left rigid rod consolidation, 7th flexible link, the 8th flexible link, the 9th flexible link, the tenth flexible link are isometric wide, 8th flexible link, the 9th flexible link other end and basis are fixed, and the 7th flexible link and the tenth flexible link are connected to the leftward position up and down of lower guide pad.
Described lower guide pad is I shape, I shape lower end integral type is consolidated with tetragonal body Stiff Block, the Stiff Block lower end one right integral type of the first from left is consolidated with the 6th flexible hinge and the 12 flexible hinge, 6th flexible hinge and the 12 flexible hinge other end are connected the 4th rigid rod and the 8th rigid rod respectively, 4th rigid rod is connected again the 5th flexible hinge, the 11 flexible hinge respectively with the 8th rigid rod lower end, is integrated by the other end of the 5th flexible hinge, the 11 flexible hinge and the termination consolidation of the 3rd rigid rod and the 7th rigid rod.
Described upper guide pad is Stiff Block, first flexible link and the second flexible link are cemented in Stiff Block lower end right position respectively, first flexible link is connected with the first rigid rod, the 5th rigid rod upper end respectively with the second flexible link other end, and basic fixed block is connected with the first rigid rod, the 5th rigid rod respectively by the first flexible hinge, the 7th flexible hinge.
The invention has the beneficial effects as follows: successfully achieve a kind of Grazing condition micro displacement magnifying mechanism.It is characterized in that: when there being input displacement, namely input guide pad goes up guide pad by the motion of its guide direction, and be attached thereto the rigid rod, flexible link, the flexible hinge that connect and also can move thereupon, lever displacement amplifying mechanism will input displacement equations, the side direction that parallel-guiding provides output exports rigidity, and namely the displacement after amplification descends guide pad place to export at output guide pad.In whole motion process, whole mechanism is all in tension state everywhere, avoids flexible hinge unstability, improves overall structure lateral rigidity and intrinsic frequency.The multiplication factor of whole mechanism can adjust according to the position of flexible hinge in rigid rod size in displacement amplifying mechanism or mechanism, realizes the demand of different multiplication factors.Regulate the spacing between the length of flexible link and flexible link can change the lateral rigidity of output in parallel-guiding, flexible link length increases, and lateral rigidity reduces.Because this micro displacement magnifying mechanism structure is simple, easily manufactured, cost is low, use the features such as reliable, can be used in microscopic fields scientific research, as the docking and location etc. of the processing of high-precision part and assembling, optical fiber, as location, the manipulation equipment of high accuracy, high reliability, can promote the use of in the subtle operation field of the subjects such as MEMS, bioengineering, microelectric technique, optics.
Accompanying drawing explanation
Below in conjunction with embodiment accompanying drawing, the present invention will be further described.
Fig. 1 is the structural representation of micro displacement magnifying mechanism;
Fig. 2 is the micro displacement magnifying mechanism operating diagram shown in Fig. 1;
Fig. 3 is the micro displacement magnifying mechanism operating diagram shown in embodiment 2;
Fig. 4 is that described flexible link occurs bending and deformation, rigid rod generation translation and rotation when there being input displacement Yin to act on upper guide pad 11, thus the operating diagram of displacement Yout when lower guide pad 21 place exports after being exaggerated.
In figure: 1, displacement amplifying mechanism; 2, parallel-guiding; 11, upper guide pad; 121, the first rigid rod; 122, the second rigid rod; 123, the 3rd rigid rod; 124, the 4th rigid rod; 125, the 5th rigid rod; 126, the 6th rigid rod; 127, the 7th rigid rod; 128, the 8th rigid rod; 131, the first flexible link; 132, the second flexible link; 141, the first flexible hinge; 142, the second flexible hinge; 143, the 3rd flexible hinge; 144, the 4th flexible hinge; 145, the 5th flexible hinge; 146, the 6th flexible hinge; 147, the 7th flexible hinge; 148, the 8th flexible hinge; 149, the 9th flexible hinge; 150, the tenth flexible hinge; 151, the 11 flexible hinge; 152, the 12 flexible hinge; 21, lower guide pad; 221, the 9th rigid rod; 222, the tenth rigid rod bar; 231, the 3rd flexible link; 232, the 4th flexible link; 233, the 5th flexible link; 234, the 6th flexible link; 235, the 7th flexible link; 236, the 8th flexible link; 237, the 9th flexible link; 238, the tenth flexible link.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, Grazing condition micro displacement magnifying mechanism, at least comprise displacement amplifying mechanism 1, parallel-guiding 2, displacement amplifying mechanism 1 and parallel-guiding 2 are bilateral symmetry, the two ends, left and right of displacement amplifying mechanism 1 symmetry respectively comprise three rigid rods, left end three rigid rods (the first rigid rod 121, second rigid rod 122, 3rd rigid rod 123) and right-hand member three rigid rods (the 5th rigid rod 125, 6th rigid rod 126, 7th rigid rod 127), concrete connection is, upper guide pad 11 connects with the first flexible link 131, the other end of the first flexible link 131 connects with the first rigid rod 121, first flexible hinge 141 one end is fixed, first flexible hinge 141, second flexible hinge 142 is connected across the two ends of the first rigid rod 121, second flexible hinge 142, the 3rd flexible hinge 143 are connected across the two ends of the second rigid rod 122, 3rd flexible hinge 143, the 5th flexible hinge 145 are connected across the two ends of the 3rd rigid rod 123, one end of 4th flexible hinge 144 is fixed, and one end connects with the 3rd rigid rod 123, 5th flexible hinge 145, the 6th flexible hinge 146 are connected across the two ends of the 4th rigid rod 124, the other end of the 6th flexible hinge 146 connects with lower guide pad 21.Symmetrical side is that upper guide pad 11 connects with the second flexible link 132, and the other end of the second flexible link 132 connects with the 5th rigid rod 125; 7th flexible hinge 147 one end is fixed; 7th flexible hinge 147, the 8th flexible hinge 148 are connected across the two ends of the 5th rigid rod 125; 8th flexible hinge 148, the 9th flexible hinge 149 are connected across the two ends of the 6th rigid rod 126; 9th flexible hinge the 149, the 11 flexible hinge 151 is connected across the two ends of the 7th rigid rod 127; One end of tenth flexible hinge 150 is fixed, and one end connects with the 7th rigid rod 127; 11 flexible hinge the 151, the 12 flexible hinge 152 is connected across the two ends of the 8th rigid rod 128; The other end of the 12 flexible hinge 152 connects with lower guide pad 21.Rigid rod (rigid rod 221,222 is generically and collectively referred to as rigid rod 22), flexible link (flexible link 231,232,233,234,235,236,237,238 is generically and collectively referred to as flexible link 23) are formed parallel-guiding 2 by certain length and order with lower guide pad 21 consolidation.Concrete connection is, the second flexible link 231, the 5th flexible link 234 one end connect with lower guide pad 21, and the other end connects with the 9th rigid rod 221; 3rd flexible link 232, the 4th flexible link 233 one end are fixed, and the other end the 9th connects with rigid rod 221.Symmetrical side is the 7th flexible link 235, the tenth flexible link 238 one end connects with lower guide pad 21, and the other end connects with the tenth rigid rod 222; 8th flexible link 236, the 9th flexible link 237 one end are fixed, and the other end connects with the tenth rigid rod 222.Displacement amplifying mechanism 1 and parallel-guiding 2 consolidation form whole micro displacement magnifying mechanism, and upper guide pad 11 and lower guide pad 21 move by the direction of its guiding.
The flexible body of rod one the first from left right side of the flexible body of rod and lower guide pad 21, two groups of symmetries that parallel-guiding 2 comprises two groups of symmetries is distributed in lower guide pad 21 both sides, symmetrical about lower guide pad 21.
The right flexible body of rod comprises the 3rd flexible link 231, 4th flexible link 232, 5th flexible link 233, 6th flexible link 234 and right rigid rod 221, 3rd flexible link 231, 4th flexible link 232, 5th flexible link 233, 6th flexible link 234 is parallel to be from top to bottom integrated with right rigid rod 221 consolidation, 3rd flexible link 231, 4th flexible link 232, 5th flexible link 233, 6th flexible link 234 is isometric wide, 4th flexible link 232, 5th flexible link 233 other end and basis are fixed, 3rd flexible link 231 and the 6th flexible link 234 are connected to the right positions up and down of lower guide pad 21.
The left flexible body of rod comprises the 7th flexible link 235, 8th flexible link 236, 9th flexible link 237, tenth flexible link 238 and left rigid rod 222, 7th flexible link 235, 8th flexible link 236, 9th flexible link 237, tenth flexible link 238 is parallel to be from top to bottom integrated with left rigid rod 222 consolidation, 7th flexible link 235, 8th flexible link 236, 9th flexible link 237, tenth flexible link 238 is isometric wide, 8th flexible link 236, 9th flexible link 237 other end and basis are fixed, 7th flexible link 235 and the tenth flexible link 238 are connected to the leftward position up and down of lower guide pad 21.
As shown in Figure 2, when inputting displacement upwards by upper guide pad 11, described flexible link and flexible hinge are occured bending and deformation, and rigid rod rotates and translation, rigid rod generation translation, and output displacement exports through lower guide pad 21.
Detailed process is as follows, in displacement amplifying mechanism 1, the basic exercise principle of displacement amplifying mechanism 1 is four-bar mechanism, when upper guide pad 11 has input displacement, flexible link 131, flexible link 132 and the flexible hinge 145 of flexible hinge 141 and symmetry thereof occur bending and deformation, there is translation and rotation in rigid rod 121 and rigid rod 125, the one-level realizing input displacement is amplified, flexible hinge 142, flexible hinge 143, flexible hinge 144, flexible hinge 145, the flexible hinge 147 of flexible hinge 146 and symmetry thereof, flexible hinge 148, flexible hinge 149, flexible hinge 150, flexible hinge 151 occurs bending and deformation, rigid rod 122, rigid rod 123, the rigid rod 126 of rigid rod 124 and symmetry thereof, there is translation and rotation in rigid rod 127 and rigid rod 128, the secondary realizing input displacement amplifies.In parallel-guiding 2, output displacement exports on lower guide pad 21, there is translation in rigid rod 221 and 222, symmetry rigid bar thereof, do not rotate and distortion, the flexible link 235 of flexible link 231, flexible link 232, flexible link 233, flexible link 234 and symmetry thereof, flexible link 236, flexible link 237 and flexible link 238 occur bending and deformation, rigid rod 22 and flexible link 23 add the lateral rigidity of lower guide pad 21, make lower guide pad 21 produce downward displacement along its guide direction, and there is no the displacement on other directions and rotation.Input displacement is amplified by displacement amplifying mechanism 1, and parallel-guiding 2 adds the lateral rigidity of output, jointly realizes the output of whole mechanism.
Embodiment 2
As shown in Figure 3, displacement amplifying mechanism 1 forms symmetrical frame structure as different from Example 1, and parallel-guiding 2 is in frame structure lower end.
Concrete connection is, upper guide pad 11 connects with the first flexible link 131, and the other end of the first flexible link 131 connects with the first rigid rod 121; First flexible hinge 141 one end is fixed; First flexible hinge 141, second flexible hinge 142 is connected across the two ends of the first rigid rod 121; Second flexible hinge 142, the 3rd flexible hinge 143 are connected across the two ends of the second rigid rod 122; 3rd flexible hinge 143, the 5th flexible hinge 145 are connected across the two ends of the 3rd rigid rod 123; One end of 4th flexible hinge 144 is fixed, and one end connects with the 3rd rigid rod 123; 5th flexible hinge 145, the 6th flexible hinge 146 are connected across the two ends of the 4th rigid rod 124; The other end of the 6th flexible hinge 146 connects with lower guide pad 21.Symmetrical side is that upper guide pad 11 connects with the second flexible link 132, and the other end of the second flexible link 132 connects with the 5th rigid rod 125; 7th flexible hinge 147 one end is fixed; 7th flexible hinge 147, the 8th flexible hinge 148 are connected across the two ends of the 5th rigid rod 125; 8th flexible hinge 148, the 9th flexible hinge 149 are connected across the two ends of the 6th rigid rod 126; 9th flexible hinge the 149, the 11 flexible hinge 151 is connected across the two ends of the 7th rigid rod 127; One end of tenth flexible hinge 150 is fixed, and one end connects with the 7th rigid rod 127; 11 flexible hinge the 151, the 12 flexible hinge 152 is connected across the two ends of the 8th rigid rod 128; The other end of the 12 flexible hinge 152 connects with lower guide pad 21.With difference in Fig. 1 be, the shape of the 3rd rigid rod 123 there occurs change, now change straight-bar into, 4th flexible hinge 144 is moved to the low order end of the 3rd rigid rod 123,5th flexible hinge 145, the 4th rigid rod 124, the 6th flexible hinge 146 are identical with Fig. 1 with the order of connection of lower guide pad 21, and locality is then downward successively by upwards changing into successively in Fig. 1.Symmetrical side, the shape of the 7th rigid rod 127 there occurs change, now change straight-bar into, tenth flexible hinge 150 is moved to the high order end of the 7th rigid rod 127,11 flexible hinge 151, the 8th rigid rod the 128, the 12 flexible hinge 152 are identical with Fig. 1 with the order of lower guide pad 21, and locality is then downward successively by upwards changing into successively in Fig. 1.Rigid rod (rigid rod 221,222 is generically and collectively referred to as rigid rod 22), flexible link (flexible link 231,232,233,234,235,236,237,238 is generically and collectively referred to as flexible link 23) are formed parallel-guiding 2 by certain length and order with lower guide pad 21 consolidation.Concrete connection is, the second flexible link 231, the 5th flexible link 234 one end connect with lower guide pad 21, and the other end connects with the 9th rigid rod 221; 3rd flexible link 232, the 4th flexible link 233 one end are fixed, and the other end the 9th connects with rigid rod 221.Symmetrical side is the 7th flexible link 235, the tenth flexible link 238 one end connects with lower guide pad 21, and the other end connects with the tenth rigid rod 222; 8th flexible link 236, the 9th flexible link 237 one end are fixed, and the other end connects with the tenth rigid rod 222.With difference in Fig. 1 be, lower guide pad 21, the 9th rigid rod 221, the 3rd flexible link 231, the 4th flexible link 232, the 5th flexible link 233 are identical with Fig. 1 with the 6th flexible link 234 order of connection, and locality is then downward successively by upwards changing into successively in Fig. 1.Symmetrical side, lower guide pad 21, the tenth rigid rod 222, the 7th flexible link 235, the 8th flexible link 236, the 9th flexible link 237 are identical with Fig. 1 with the tenth flexible link 238 order of connection, and locality is then downward successively by upwards changing into successively in Fig. 1.Displacement amplifying mechanism 1 and parallel-guiding 2 consolidation form whole micro displacement magnifying mechanism, and upper guide pad 11 and lower guide pad 21 move by the direction of its guiding.
As shown in Figure 4, when there being input displacement Yin to act on upper guide pad 11, described flexible link occurs bending and deformation, rigid rod generation translation and rotation, thus the displacement Yout after being exaggerated exports at lower guide pad 21 place.
With the difference in Fig. 2 be, by seeing in figure that the input direction of displacement and the direction of output displacement are identical.Detailed process is as follows, in displacement amplifying mechanism 1, the basic exercise principle of displacement amplifying mechanism 1 is second lever structure for amplifying, when upper guide pad 11 has input displacement, flexible link 131, flexible link 132 and the flexible hinge 145 of flexible hinge 141 and symmetry thereof occur bending and deformation, there is translation and rotation in rigid rod 121 and rigid rod 125, the one-level realizing input displacement is amplified, flexible hinge 142, flexible hinge 143, flexible hinge 144, flexible hinge 145, the flexible hinge 147 of flexible hinge 146 and symmetry thereof, flexible hinge 148, flexible hinge 149, flexible hinge 150, flexible hinge 151 occurs bending and deformation, , rigid rod 122, rigid rod 123, the rigid rod 126 of rigid rod 124 and symmetry thereof, there is translation and rotation in rigid rod 127 and rigid rod 128, the secondary realizing input displacement amplifies.In parallel-guiding 2, output displacement exports on lower guide pad 21, there is translation in rigid rod 221 and 222, symmetry rigid bar thereof, do not rotate and distortion, the flexible link 235 of flexible link 231, flexible link 232, flexible link 233, flexible link 234 and symmetry thereof, flexible link 236, flexible link 237 and flexible link 238 occur bending and deformation, rigid rod 22 and flexible link 23 add the lateral rigidity of lower guide pad 21, make lower guide pad 21 produce downward displacement along its guide direction, and there is no the displacement on other directions and rotation.Input displacement is amplified by displacement amplifying mechanism 1, and parallel-guiding 2 adds the lateral rigidity of output, jointly realizes the output of whole mechanism.
In the present invention, preferred lower guide pad 21 is I shape, I shape lower end integral type is consolidated with tetragonal body Stiff Block, the Stiff Block lower end one right integral type of the first from left is consolidated with the 6th flexible hinge the 146 and the 12 flexible hinge 152, 6th flexible hinge 146 is connected the 4th rigid rod 124 and the 8th rigid rod 128 respectively with the 12 flexible hinge 152 other end, 4th rigid rod 124 is connected again the 5th flexible hinge 145 respectively with the 8th rigid rod 128 lower end, 11 flexible hinge 151, by the 5th flexible hinge 145, the other end of the 11 flexible hinge 151 and the termination consolidation of the 3rd rigid rod 123 and the 7th rigid rod 127 are integrated.
Upper guide pad 11 described in the present invention is Stiff Block, first flexible link 131 and the second flexible link 132 are cemented in Stiff Block lower end right position respectively, first flexible link 131 is connected with the first rigid rod 121, the 5th rigid rod 125 upper end respectively with second flexible link 132 other end, and basic fixed block is connected with the first rigid rod 121, the 5th rigid rod 125 respectively by the first flexible hinge 141, the 7th flexible hinge 147.
The parts that the present embodiment does not describe in detail and structure belong to the well-known components of the industry and common structure or conventional means, do not describe one by one here.
Claims (1)
1. a complete submissive micro displacement magnifying mechanism, it is characterized in that: at least comprise displacement amplifying mechanism (1), parallel-guiding (2), displacement amplifying mechanism (1) and parallel-guiding (2) are bilateral symmetry, the two ends, left and right of displacement amplifying mechanism (1) symmetry respectively comprise four rigid rods, four, two ends, left and right rigid rod is connected by flexible hinge, on two ends, left and right, rigid rod is connected by flexible link with upper guide pad (11) right position respectively, under two ends, left and right, rigid rod is connected with lower guide pad (21) left and right flexible hinge respectively, displacement amplifying mechanism (1) forms the frame structure closing envelope, described displacement amplifying mechanism (1) forms symmetrical frame structure, and parallel-guiding (2) is in frame structure, described parallel-guiding (2) comprises the flexible body of rod and the lower guide pad (21) of two groups of symmetries, and the flexible body of rod one the first from left right side of two groups of symmetries is distributed in lower guide pad (21) both sides, symmetrical about lower guide pad (21), the right flexible body of rod comprises the 3rd flexible link (231), 4th flexible link (232), 5th flexible link (233), 6th flexible link (234) and the 9th rigid rod (221), 3rd flexible link (231), 4th flexible link (232), 5th flexible link (233), 6th flexible link (234) is parallel to be from top to bottom integrated with the 9th rigid rod (221) consolidation respectively, 3rd flexible link (231), 4th flexible link (232), 5th flexible link (233), 6th flexible link (234) is isometric wide, 4th flexible link (232) and the 5th flexible link (233) other end are fixed with basis respectively, 3rd flexible link (231) and the 6th flexible link (234) are connected to the right positions up and down of lower guide pad (21), the left flexible body of rod comprises the 7th flexible link (235), 8th flexible link (236), 9th flexible link (237), tenth flexible link (238) and the tenth rigid rod (222), 7th flexible link (235), 8th flexible link (236), 9th flexible link (237), tenth flexible link (238) is parallel to be from top to bottom integrated with the tenth rigid rod (222) consolidation respectively, 7th flexible link (235), 8th flexible link (236), 9th flexible link (237), tenth flexible link (238) is isometric wide, 8th flexible link (236) and the 9th flexible link (237) other end are fixed with basis respectively, 7th flexible link (235) and the tenth flexible link (238) are connected to the leftward position up and down of lower guide pad (21), described lower guide pad (21) is I shape, I shape lower end integral type is consolidated with tetragonal body Stiff Block, Stiff Block lower end one the first from left parts other integral type on the right side and is consolidated with the 6th flexible hinge (146) and the 12 flexible hinge (152), 6th flexible hinge (146) and the 12 flexible hinge (152) other end are connected the 4th rigid rod (124) and the 8th rigid rod (128) respectively, 4th rigid rod (124) is connected again the 5th flexible hinge (145) respectively with the 8th rigid rod (128) lower end, 11 flexible hinge (151), 4th rigid rod (124) and the 8th rigid rod (128) are by the 5th flexible hinge (145), the other end of the 11 flexible hinge (151) and the termination consolidation of the 3rd rigid rod (123) and the 7th rigid rod (127) are integrated, described upper guide pad (11) is Stiff Block, first flexible link (131) and the second flexible link (132) are cemented in Stiff Block lower end right position respectively, first flexible link (131) and the second flexible link (132) other end are connected with the first rigid rod (121), the 5th rigid rod (125) upper end respectively, and basic fixed block is connected with the first rigid rod (121), the 5th rigid rod (125) respectively by the first flexible hinge (141), the 7th flexible hinge (147),
The course of work is: in displacement amplifying mechanism (1), and the basic exercise principle of displacement amplifying mechanism (1) is second lever structure for amplifying, when upper guide pad (11) has input displacement, and the first flexible link (131), second flexible link (132) and the 5th flexible hinge (145) of the first flexible hinge (141) and symmetry thereof occur bending and deformation, there is translation and rotation in the first rigid rod (121) and the 5th rigid rod (125), the one-level realizing input displacement is amplified, the second flexible hinge (142), 3rd flexible hinge (143), 4th flexible hinge (144), 5th flexible hinge (145), 7th flexible hinge (147) of the 6th flexible hinge (146) and symmetry thereof, 8th flexible hinge (148), 9th flexible hinge (149), tenth flexible hinge (150), 11 flexible hinge (151) occurs bending and deformation, the second rigid rod (122), 3rd rigid rod (123), 6th rigid rod (126) of the 4th rigid rod (124) and symmetry thereof, there is translation and rotation in the 7th rigid rod (127) and the 8th rigid rod (128), the secondary realizing input displacement amplifies, in parallel-guiding (2), output displacement is in the upper output of lower guide pad (21), only there is translation in the 9th rigid rod (221) and symmetrical tenth rigid rod (222) thereof, do not rotate and distortion, 3rd flexible link (231), 4th flexible link (232), 5th flexible link (233), 7th flexible link (235) of the 6th flexible link (234) and symmetry thereof, 8th flexible link (236), 9th flexible link (237) and the tenth flexible link (238) occur bending and deformation, 9th rigid rod (221), tenth rigid rod (222), 3rd flexible link (231), 4th flexible link (232), 5th flexible link (233), 6th flexible link (234), 7th flexible link (235), 8th flexible link (236), 9th flexible link (237) and the tenth flexible link (238) add the lateral rigidity of lower guide pad (21), lower guide pad (21) is made to produce downward displacement along its guide direction, and there is no the displacement on other directions and rotation, input displacement is amplified by displacement amplifying mechanism (1), and parallel-guiding (2) then adds the lateral rigidity of output, jointly realizes the output of whole mechanism.
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| CN103170966A (en) | 2013-06-26 |
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