CN103552066B - Deviation prevention type elastic moving pair - Google Patents
Deviation prevention type elastic moving pair Download PDFInfo
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- CN103552066B CN103552066B CN201310576059.0A CN201310576059A CN103552066B CN 103552066 B CN103552066 B CN 103552066B CN 201310576059 A CN201310576059 A CN 201310576059A CN 103552066 B CN103552066 B CN 103552066B
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- cuboid
- shaped base
- stiff block
- elastic
- rigid block
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Abstract
The invention provides a deviation prevention type elastic moving pair which comprises a cuboid rigid block, a U-shaped base and four same elastic thin plates connected between the cuboid rigid block and the U-shaped base. The deviation prevention type elastic moving pair is characterized in that two elastic thin plates are connected to one side surface of the cuboid rigid block, and the other two elastic thin plates are connected to the opposite side surface of the cuboid rigid block; the distance between the connection ends of the two elastic thin plates connected to the same side surface and the cuboid rigid block is smaller than the distance between the connection ends of the two elastic thin plates and the U-shaped base; one end of a micro-displacement driving device is fixedly connected to the U-shaped base, and the other end of the micro-displacement driving device is connected to the cuboid rigid block. The deviation prevention type elastic moving pair can realize unidirectional movement of a kinematic pair and can prevent deviation.
Description
Technical field
The invention belongs to manufacturing technology field, specifically relate to a kind of anti-bias tyre resilient movement secondary.
Background technology
Parallel micromotion platform has without friction, gapless, without the need to lubrication, responds the advantages such as fast, compact conformation, manufacturing process are simple, is therefore widely used in the fields such as trickle operation such as processing, assembling, Precision and Ultra-precision Machining of chromosome cutting, chip manufacturing, micro electronmechanical product.
Abroad, Ellis proposition parallel institution as inching operation manipulator, and is applied to biotechnology and microsurgery to early sixties; Magnani and Pernette have studied the flexible hinge form of revolute pair, moving sets, Hooke's hinge and ball pivot; Kallio have developed three-freedom microoperation parallel robot; Hara and Henimi have studied planar three freedom and six-freedom micro displacement robot; Hudgens and Tesar have studied six-freedom parallel micromanipulator, for error compensation and the Cont rol Method of Precise Force control of precision; Lee is studied the freedom degree parallel connection micromotion mechanism realizing a movement two rotation; Ryu devises for silicon chip workbench X-Y-θ
zthe compliant mechanism of three-degree-of-freedom motion, analyzes the input and output displacement relation of mechanism, establishes the rigidity model of this mechanism.At present at home, BJ University of Aeronautics & Astronautics have developed the six degree of freedom connection in series-parallel micro-manipulating robot of two-stage decoupling zero and the micro-manipulating robot of freedom degree parallel connection Delta mechanism; Harbin Institute of Technology successively have developed 6-PSS and 6-SPS six-freedom parallel Stewart jiggle robot; Hebei University of Technology have developed the 6-PSS type microoperation platform of crossing decoupling structure.Be in the patent document of 01128916.3,99121020.4,00100196.5,00100197.3,00100198.1, disclose " new type series-parallel connection jogging robot ", " six-freedom parallel decoupling-structure jogging robot ", " vernier robot with decoupled parallel five freedoms and five-axle structure ", " four-freedom four-shaft structure decoupling parallel jiggle robot ", " vernier robot with decoupled parallel three freedoms and three-axle structure " at application number.
Although there are many scholar's research parallel micro-moving robot both at home and abroad, these achievements in research and patented technology meet certain kinematic accuracy requirement mostly, and the resilient movement pair that it adopts is all veneer moving sets or parallel-plate framework moving sets.Owing to not considering the offset error of moving sets, in some Ultra-precision Turning fields, be difficult to ensure that micromotion platform has enough kinematic accuracies.
Summary of the invention
The object of this invention is to provide a kind of resilient movement pair that can overcome above-mentioned defect, there is anti-bias function.Its technical scheme is:
A kind of anti-bias tyre resilient movement is secondary, comprise cuboid Stiff Block, U-shaped base and be connected to the identical elastic sheet of between cuboid Stiff Block with U-shaped base four, it is characterized in that: two elastic sheets are connected on a side of cuboid Stiff Block, all the other two elastic sheets are connected on the opposite flank of cuboid Stiff Block, two elastic sheets be connected with same side and the distance of cuboid Stiff Block link are less than the distance of these two elastic sheets and U-shaped base link, micro-displacement driving device one end is fixed in U-shaped base, the other end is connected on cuboid Stiff Block.
Described anti-bias tyre resilient movement is secondary, four elastic sheets with through the geometric center of cuboid Stiff Block and the plane parallel with the side that elastic sheet is connected with cuboid Stiff Block for the plane of symmetry symmetrical.
Compared with prior art, its advantage is in the present invention: adopt four elastic sheet structures, can meet the anti-bias requirement of moving sets, effectively improves the kinematic accuracy of mechanism.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, cuboid Stiff Block 2, elastic sheet 3, U-shaped base 4, micro-displacement driving device.
Detailed description of the invention
Two elastic sheets 2 are connected on a side of cuboid Stiff Block 1, all the other two elastic sheets 2 are connected on the opposite flank of cuboid Stiff Block 1, two elastic sheets 2 be connected with same side and the distance of cuboid Stiff Block 1 link are less than the distance of these two elastic sheets 2 and U-shaped base 3 link, micro-displacement driving device 4 one end is fixed in U-shaped base 3, and the other end is connected on cuboid Stiff Block 1.
Claims (2)
1. an anti-bias tyre resilient movement is secondary, comprise cuboid Stiff Block (1), U-shaped base (3) and be connected to the identical elastic sheet (2) of between cuboid Stiff Block (1) with U-shaped base (3) four, it is characterized in that: two elastic sheets (2) are connected on a side of cuboid Stiff Block (1), all the other two elastic sheets (2) are connected on the opposite flank of cuboid Stiff Block (1), two elastic sheets (2) be connected with same side are less than the distance of these two elastic sheets (2) and U-shaped base (3) link with the distance of cuboid Stiff Block (1) link, micro-displacement driving device (4) one end is fixed in U-shaped base (3), the other end is connected on cuboid Stiff Block (1).
2. anti-bias tyre resilient movement according to claim 1 is secondary, it is characterized in that: four elastic sheets (2) with through cuboid Stiff Block (1) geometric center and the plane parallel with the side that elastic sheet (2) is connected with cuboid Stiff Block (1) is that the plane of symmetry is symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310576059.0A CN103552066B (en) | 2013-11-18 | 2013-11-18 | Deviation prevention type elastic moving pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310576059.0A CN103552066B (en) | 2013-11-18 | 2013-11-18 | Deviation prevention type elastic moving pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103552066A CN103552066A (en) | 2014-02-05 |
| CN103552066B true CN103552066B (en) | 2015-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310576059.0A Expired - Fee Related CN103552066B (en) | 2013-11-18 | 2013-11-18 | Deviation prevention type elastic moving pair |
Country Status (1)
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| CN (1) | CN103552066B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105158895B (en) * | 2015-10-13 | 2018-04-10 | 中国科学院国家天文台南京天文光学技术研究所 | Mechanical micro-displacement actuator for the adjustment of astronomical telescope mirror position |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0902488A1 (en) * | 1997-09-10 | 1999-03-17 | Daimler-Benz Aktiengesellschaft | Electrostrictive actuator |
| EP1191610A2 (en) * | 2000-09-22 | 2002-03-27 | MATRIX S.p.A. | System for connecting a piezoelectric actuator to a rigid supporting base |
| EP1482570A1 (en) * | 2003-05-30 | 2004-12-01 | Siemens VDO Automotive S.p.A. | Thermally compensated piezoelectric assembly |
| CN201075848Y (en) * | 2007-06-19 | 2008-06-18 | 浙江大学 | Air cooling temperature control type ultra-magnetic deformation micro displacement driver |
| CN101530999A (en) * | 2009-04-16 | 2009-09-16 | 上海交通大学 | Micro-nano working platform of five-dimensional mobile orthogonal structure |
| CN201976028U (en) * | 2011-04-19 | 2011-09-14 | 吉林大学 | Self-testing piezoelectric drive platform with built-in strain gauge |
| CN102369088A (en) * | 2009-03-31 | 2012-03-07 | Ats自动化加工系统公司 | Vacuum gripper assembly stabilized by springs |
| CN103198922A (en) * | 2013-04-15 | 2013-07-10 | 北方工业大学 | Comb-tooth capacitor accurate assembly method based on bi-stable state compliant mechanism |
-
2013
- 2013-11-18 CN CN201310576059.0A patent/CN103552066B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0902488A1 (en) * | 1997-09-10 | 1999-03-17 | Daimler-Benz Aktiengesellschaft | Electrostrictive actuator |
| EP1191610A2 (en) * | 2000-09-22 | 2002-03-27 | MATRIX S.p.A. | System for connecting a piezoelectric actuator to a rigid supporting base |
| EP1482570A1 (en) * | 2003-05-30 | 2004-12-01 | Siemens VDO Automotive S.p.A. | Thermally compensated piezoelectric assembly |
| CN201075848Y (en) * | 2007-06-19 | 2008-06-18 | 浙江大学 | Air cooling temperature control type ultra-magnetic deformation micro displacement driver |
| CN102369088A (en) * | 2009-03-31 | 2012-03-07 | Ats自动化加工系统公司 | Vacuum gripper assembly stabilized by springs |
| CN101530999A (en) * | 2009-04-16 | 2009-09-16 | 上海交通大学 | Micro-nano working platform of five-dimensional mobile orthogonal structure |
| CN201976028U (en) * | 2011-04-19 | 2011-09-14 | 吉林大学 | Self-testing piezoelectric drive platform with built-in strain gauge |
| CN103198922A (en) * | 2013-04-15 | 2013-07-10 | 北方工业大学 | Comb-tooth capacitor accurate assembly method based on bi-stable state compliant mechanism |
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| CN103552066A (en) | 2014-02-05 |
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