CN108646382B - Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load - Google Patents
Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load Download PDFInfo
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- CN108646382B CN108646382B CN201810294934.9A CN201810294934A CN108646382B CN 108646382 B CN108646382 B CN 108646382B CN 201810294934 A CN201810294934 A CN 201810294934A CN 108646382 B CN108646382 B CN 108646382B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/183—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors specially adapted for very large mirrors, e.g. for astronomy, or solar concentrators
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
Abstract
The invention discloses a flexible parallel three-dimensional rotating support and adjustment structure under heavy load, which comprises a first flexible support rod, a second flexible support rod, a third flexible support rod, a first flexible adjustment rod, a second flexible adjustment rod, a third flexible adjustment rod, a fixed platform, a movable platform, a bottom supporting plate, a movable platform connecting support and a fixed platform connecting support. The invention solves the contradiction that the rigid parallel structure can bear large load but must be lubricated, and the flexible structure does not need to be lubricated but is basically only applied under the condition of small load, and meanwhile, the structure has the overload protection function and has high precision and high vibration stability. The method is applied to the fields of large-caliber optical elements used in the environment which cannot be lubricated but needs to bear large load, such as a vacuum ultra-clean environment and aerospace.
Description
Technical Field
The invention relates to a flexible three-degree-of-freedom parallel structure, which is suitable for a vacuum ultra-clean environment or other environments inconvenient for lubrication, in particular to a large-load three-degree-of-freedom rotary supporting and adjusting structure which is applied with a flexible revolute pair with an overload protection function and has a determinable rotation center.
Background
The parallel structure has the advantages of high rigidity, strong bearing capacity, compact structure, small occupied space, no accumulated error, high precision and the like, and is widely applied to various industrial fields. At present, the parallel structure applied to the supporting and adjusting structure of the large-caliber optical element adopts a rigid structure mostly due to large load. For example, the secondary mirror supporting and adjusting structure of the VST telescope adopts a Stewart platform for a motion adjusting part, the moving space is +/-7 mm, the moving precision is 1 mu m, the rotation is +/-0.5 degrees, and the rotation precision is 0.8 degrees. In the secondary mirror mechanism of the TNG telescope, a Hexapod mechanism is adopted for adjusting the reflecting mirrors with the apertures of phi 0.875m and phi 3.58 m. Although the requirements of precision and large load can be achieved, the rigid hinge adopted by the hinge needs lubrication and cannot be used in many scenes.
However, the flexible structure is mainly applied to small loads and miniature structures because of the principle that the flexible structure adopts weakened materials to generate flexible kinematic pairs. While the application of flexible mechanisms under heavy load conditions is very rare. Sometimes, however, flexible hinges have to be used where lubrication is not convenient or where rigid hinges are otherwise not suitable.
With the wider application of the parallel mechanism, the application environment of the parallel mechanism is more diversified. However, the current parallel adjustment structure mainly includes the following problems:
(1) the rigid kinematic pair is mainly adopted and cannot be used under the condition that some environments are inconvenient to lubricate.
(2) The parallel adjustment structure adopting the flexible structure is usually only applied under the condition of micro small load and has difficulty in application under the condition of large load due to the weakening of the parallel adjustment structure on the structure.
Aiming at the problems, the flexible parallel mechanism needs to be reasonably designed, and the structure must be weakened as little as possible from the flexible hinge to the integral structure on the premise of meeting the same kinematic function.
Disclosure of Invention
The invention aims to solve the technical problem that the traditional rigid parallel structure cannot be applied to the environment which cannot be lubricated such as vacuum ultra-clean and the like, but the flexible parallel structure cannot be used for lubrication but cannot be applied to a large load. The three-degree-of-freedom rotary flexible parallel mechanism can be applied to a large load in a non-lubrication environment.
In order to solve the problems, the invention is realized by adopting the following technical scheme:
a flexible parallel three-dimensional rotation adjusting structure under heavy load is characterized in that: the flexible support device comprises a first flexible support rod, a second flexible support rod, a third flexible support rod, a first flexible adjusting rod, a second flexible adjusting rod, a third flexible adjusting rod, a fixed platform, a movable platform, a bottom supporting plate, a movable platform connecting support and a fixed platform connecting support;
the bottom supporting plate is connected with the movable platform through a bolt group, one end of each of the first flexible supporting rod, the second flexible supporting rod and the third flexible supporting rod is fixed on the fixed platform, the other end of each of the first flexible supporting rod, the second flexible supporting rod and the third flexible supporting rod is connected with the movable platform, the extension lines of the first flexible supporting rod, the second flexible supporting rod and the third flexible supporting rod are intersected at one point, and the intersection point is the rotation center of the movable platform;
the two ends of the first flexible supporting rod, the second flexible supporting rod, the third flexible supporting rod, the first flexible adjusting rod, the second flexible adjusting rod and the third flexible adjusting rod are respectively provided with the same flexible revolute pair, and the revolute pairs are alternately arranged by 90 degrees on the same rod. Each revolute pair consists of two symmetrically arranged grooves which are parallel to each other and provided with arc notches;
one end of each of the first flexible adjusting rod, the second flexible adjusting rod and the third flexible adjusting rod is connected with the fixed platform through a driver, the other end of each of the first flexible adjusting rod and the second flexible adjusting rod is fixed on the movable platform, and in order to realize pitching and deflection, the first flexible adjusting rod and the second flexible adjusting rod are arranged on the same horizontal line;
one section of the third flexible adjusting rod is fixed on the movable platform through the movable platform connecting support and is positioned on the vertical central line of the movable platform, and the other end of the third flexible adjusting rod is connected with the fixed platform connecting support through a driver. The moving platform is driven by the actuator to roll about the center point.
The flexible support rod and the flexible adjusting rod are provided with flexible rotating pairs, the flexible rotating pairs are two symmetrical small inner round corners and parallel grooves with protruding outer sides, the linear relation between force and deformation is good, the central line deviation is extremely small, and overload protection can be realized.
Compared with the prior art, the invention has the beneficial effects that:
1) the problem that the rigid parallel structure can bear a large load but needs to be lubricated, and the flexible structure is basically only applied under the condition of a small load without being lubricated is solved, and meanwhile, the structure has an overload protection function.
2) After the driver is connected, the movable platform can realize three-degree-of-freedom rotation adjustment, and a large load can be applied to the supporting plate. The structure has good static performance and vibration stability.
3) High-precision adjustment can be realized through reasonable position arrangement of the flexible adjusting rods.
4) The structure can be applied to the fields of large-caliber optical elements used in the environment which cannot be lubricated but needs to bear large load, such as a vacuum ultra-clean environment and aerospace.
Drawings
FIG. 1 is a schematic perspective view of a flexible parallel three-dimensional rotation adjusting structure under a large load according to the present invention;
FIG. 2 is a side view of a flexible parallel three-dimensional rotational adjustment structure of the present invention under heavy load;
FIG. 3 is a schematic perspective view of the present invention with the fixed platform and the connecting bolts removed;
FIG. 4 is a front view of a flexible revolute pair of the present invention;
FIG. 5 is a perspective view of a flexible rod construction according to the present invention;
FIG. 6 is a perspective view of the movable platform of the present invention;
FIG. 7 is a perspective view of a bottom pallet structure according to the present invention;
FIG. 8 is a perspective view of the movable platform connecting bracket structure of the present invention;
FIG. 9 is a perspective view of the fixed platform connecting bracket of the present invention;
FIG. 10 is a perspective view of the stationary platen according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1-3, fig. 1 is a schematic view of a three-dimensional structure of a flexible parallel three-dimensional rotation supporting and adjusting structure under a large load, fig. 2 is a side view of the flexible parallel three-dimensional rotation adjusting structure under the large load, and fig. 3 is a schematic view of the three-dimensional structure of the flexible parallel three-dimensional rotation adjusting structure with a fixed platform and a connecting bolt on the fixed platform removed. As shown in the figure, the flexible parallel three-dimensional rotation adjusting structure under heavy load comprises a first flexible supporting rod 1, a second flexible supporting rod 2, a third flexible supporting rod 3, a first flexible adjusting rod 4, a second flexible adjusting rod 5, a third flexible adjusting rod 6, a fixed platform 7, a movable platform 8, a bottom supporting plate 9, a movable platform connecting support 10 and a fixed platform connecting support 11;
the flexible supporting rods are the first, second and third flexible supporting rods shown in figure 3, each of the three supporting rods adopts two flexible rotating pairs shown in figure 1 at the left end and the right end, the flexible rotating pairs are arranged in a staggered mode, and the axial included angle of every two adjacent rotating pairs is 90 degrees. Each support bar may provide a force in the direction of the axis of the bar, but may not provide forces in other directions and all moments. The axes of the three supporting rods are converged at one point, and the point is the rotating center of the movable platform.
The flexible adjusting rods are the first, second and third flexible adjusting rods shown in fig. 3, the radius of the rod piece is smaller than that of the flexible supporting rod, and the rest structures are the same as those of the flexible supporting rod. The flexible adjustment rod provides only forces in the direction of the axis of the rod, with zero forces in the other directions and all moments. The first flexible adjusting rod and the second flexible adjusting rod are symmetrical relative to the longitudinal symmetrical plane of the structure, and the two rods move in the same direction and move in the same displacement, so that the movable platform can pitch. When the first and second flexible adjustment levers are moved the same distance in opposite directions, deflection will occur. The third flexible adjusting rod is arranged at the lower part of the bottom supporting plate, and the driver drives the third flexible adjusting rod to enable the movable platform to tilt.
The flexible supporting rods and the adjusting rods are connected with the movable platform and the fixed platform, the supporting rods can form a certain angle with the platform due to meeting at one point, and the connection of the rod pieces is realized by manufacturing inclined planes at the designated positions on the movable platform and the fixed platform. The inclination angle of the inclined plane is calculated according to the intersection of the central axes. The included angles between the first flexible supporting rod and the movable platform and the included angles between the third flexible supporting rod and the movable platform are smaller, in order to control the whole weight, cuboid protrusions are designed on the edges of the two sides of the supporting back plate, inclined planes are machined on the protrusions, and the first flexible supporting rod and the third flexible supporting rod are supported. Thereby reducing the width of the back plate, saving space and reducing the overall quality.
The movable platform is connected with the bottom supporting plate in an array bolt connection mode, and the bottom supporting plate is connected with the movable platform connecting support through bolts. The connecting position of the back of the movable platform and the flexible rod adopts a structure of digging an inclined plane groove to generate an inclined plane with a required angle, and holes are formed in the inclined plane so that the inclined plane can be connected through bolts.
The fixed platform is shown in fig. 1, and the cuboid protrusions on two sides of the fixed platform provide support for the first flexible supporting rod and the third flexible supporting rod. Holes are punched on the supporting inclined plane to realize bolt connection. The upper end and the lower end of the fixed platform are fixed, and the bottom of the fixed platform is connected with a fixed platform connecting support to provide a driver mounting pivot. The connecting part of the third adjusting rod and the driver connecting hole is reserved, and when the driver adjusting device is used, the driver is connected to the structure only through the bolt connection.
When the movable platform is used, the upper end and the lower end of the fixed platform are fixedly supported, the movable platform is supported and the front part of the fixed platform is supported by the flexible supporting rods, and the three flexible supporting rods determine the rotation center of the movable platform. The whole structure is symmetrical about a longitudinal symmetry plane passing through the center of rotation, the second flexible supporting rods are located on the longitudinal symmetry plane, in order to enable stress on each supporting rod to be more reasonable, the second flexible supporting rods are arranged at positions relatively close to the upper edge, and the first flexible supporting rods and the third flexible supporting rods are symmetrical about the longitudinal symmetry plane. The three flexible adjusting rods are driven by a driver to realize three-degree-of-freedom rotation adjustment of the movable platform. The first and second flexible adjustment levers are symmetrical with respect to a longitudinal plane of symmetry, and should be arranged as far as possible at the edges, as the construction and space allow, in order to achieve a high adjustment accuracy. The lower part of the movable platform is connected with a bottom supporting plate, so that the effect of bearing load is achieved. The lower part of the supporting plate is connected with a movable platform connecting support, and the movable platform connecting support is connected with a fixed platform connecting support at the lower part of the fixed platform through a third flexible adjusting rod. The connecting point of the third flexible adjusting rod and the movable platform connecting support is positioned on the longitudinal symmetrical plane.
The mechanism can change the rotation center by changing the intersection point of the axes of the first, second and third flexible supporting rods, and is suitable for the use environment with special requirements on the rotation center.
The flexible revolute pair is shown in figure 4, the rotating part of the flexible revolute pair is in a small circular arc shape, the linear relation between force and deformation is good, and the central line deviation is extremely small. Which is connected to the outer overload protection structure by a straight section. The overload protection structure is two inclined planes with a certain distance, and once the rotation angle of the flexible hinge is too large to exceed the yield strength of the material, the two inclined planes can be in contact with each other, so that the flexible hinge cannot be damaged. Meanwhile, arc transition is adopted for connection between the arc-shaped rotating part and the overload protection inclined plane, and stress concentration is reduced.
The invention can be used in the environment which needs vertical support and requires three-degree-of-freedom rotation adjustment and does not need lubrication. The structure adopts flexible hinge, need not lubricated, can use in the super clean environment in vacuum, like in large-scale scientific experimental facilities to and under the lubricated environment of not being convenient for, like the universe space. The structure of the device has an overload protection function, and supports the whole device to be assembled and then transported to a specified application position in the using process. And the structure can bear larger load, and is very convenient to be applied to the supporting and adjusting structure of the large-caliber optical element.
Claims (5)
1. The utility model provides a flexible parallelly connected three-dimensional rotation under heavy load supports and adjusts structure which characterized in that: the flexible support comprises a first flexible support rod (1), a second flexible support rod (2), a third flexible support rod (3), a first flexible adjusting rod (4), a second flexible adjusting rod (5), a third flexible adjusting rod (6), a fixed platform (7), a movable platform (8), a bottom supporting plate (9), a movable platform connecting support (10) and a fixed platform connecting support (11);
the bottom supporting plate (9) is connected with the movable platform (8) through a bolt group, one end of each of the first flexible supporting rod (1), the second flexible supporting rod (2) and the third flexible supporting rod (3) is fixed on the fixed platform (7), the other end of each of the first flexible supporting rod (1), the second flexible supporting rod (2) and the third flexible supporting rod (3) is connected with the movable platform (8), extension lines of the first flexible supporting rod (1), the second flexible supporting rod (2) and the third flexible supporting rod (3) are intersected at one point, and the intersection point is the rotation center of the movable platform;
flexible revolute pairs are respectively arranged at two ends of the first flexible supporting rod (1), the second flexible supporting rod (2), the third flexible supporting rod (3), the first flexible adjusting rod (4), the second flexible adjusting rod (5) and the third flexible adjusting rod (6), the flexible revolute pairs are formed by two symmetrical parallel grooves which are parallel to each other and provided with circular arcs, and the two circular arcs are opposite;
one end of each of the first flexible adjusting rod (4) and the second flexible adjusting rod (5) is connected with the fixed platform (7) through a driver, the other ends of the first flexible adjusting rod (4) and the second flexible adjusting rod (5) are fixed on the movable platform (8), and the first flexible adjusting rod and the second flexible adjusting rod are arranged on the same horizontal line, so that the movable platform can pitch and deflect;
the lower part of the fixed platform (7) is connected with the fixed platform connecting support (11), the lower part of the movable platform (8) is connected with the movable platform connecting support (10), one end of a third flexible adjusting rod (6) is connected with the fixed platform connecting support (11) through a driver, the other end of the third flexible adjusting rod (6) is connected with the movable platform connecting support (10), the other end of the third flexible adjusting rod (6) is positioned on the vertical central line of the movable platform (8), and the movable platform (8) is enabled to roll around the central point.
2. The flexible parallel three-dimensional rotational support and adjustment structure under heavy load of claim 1, characterized in that: the flexible revolute pair is in a shape of a small circular angle at the inner side and a bulge at the outer side, has good linear relation between force and deformation, has extremely small central line deviation, and can limit overload.
3. The flexible parallel three-dimensional rotational support and adjustment structure under heavy load of claim 2, characterized in that: the flexible revolute pair enables each rod piece to only provide force along the axial direction of the rod piece, and the force and the moment in other directions are 0.
4. The flexible parallel three-dimensional rotational support and adjustment structure under heavy load of claim 1, characterized in that: the flexible rods are connected in an angle mode through the movable platform inclined plane grooves, and meanwhile, the movable platform, the flexible supporting rods and the flexible adjusting rods are connected through bolts at designated positions.
5. The flexible parallel three-dimensional rotational support and adjustment structure under heavy load of claim 1, characterized in that: cuboid protrusions are arranged on two sides of the fixed platform (7), and angle support of the flexible rod relative to the fixed platform is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294934.9A CN108646382B (en) | 2018-03-30 | 2018-03-30 | Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810294934.9A CN108646382B (en) | 2018-03-30 | 2018-03-30 | Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load |
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| CN108646382A CN108646382A (en) | 2018-10-12 |
| CN108646382B true CN108646382B (en) | 2020-06-30 |
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| CN113655612B (en) * | 2021-09-03 | 2023-07-25 | 上海科技大学 | High-stability two-dimensional posture adjusting mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760655A (en) * | 2014-01-23 | 2014-04-30 | 中国科学院上海光学精密机械研究所 | Two-dimension angular adjustment mechanism with high bearing capacity |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN205817837U (en) * | 2016-07-13 | 2016-12-21 | 王梦梦 | A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary |
| CN106772889A (en) * | 2017-01-03 | 2017-05-31 | 中国科学院上海光学精密机械研究所 | Six-dimensional adjusting support |
-
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- 2018-03-30 CN CN201810294934.9A patent/CN108646382B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760655A (en) * | 2014-01-23 | 2014-04-30 | 中国科学院上海光学精密机械研究所 | Two-dimension angular adjustment mechanism with high bearing capacity |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN205817837U (en) * | 2016-07-13 | 2016-12-21 | 王梦梦 | A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary |
| CN106772889A (en) * | 2017-01-03 | 2017-05-31 | 中国科学院上海光学精密机械研究所 | Six-dimensional adjusting support |
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