CN109531184A - A kind of both sides adjust the Coupled Rigid-flexible platform and motion platform of rigidity - Google Patents
A kind of both sides adjust the Coupled Rigid-flexible platform and motion platform of rigidity Download PDFInfo
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- CN109531184A CN109531184A CN201811526317.3A CN201811526317A CN109531184A CN 109531184 A CN109531184 A CN 109531184A CN 201811526317 A CN201811526317 A CN 201811526317A CN 109531184 A CN109531184 A CN 109531184A
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- 230000010354 integration Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
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Abstract
The invention discloses the Coupled Rigid-flexible platform that a kind of both sides adjust rigidity, the Coupled Rigid-flexible platform includes: rigidity support platform, nucleus movement platform and connection flexible hinge chain group；The rigidity support platform is connect by the connection flexible hinge chain group with the nucleus movement platform；The Rigid-flexible Coupled Motion platform further includes stiffness tuning mechanism；The stiffness tuning mechanism includes adjusting bracket, spring leaf and stiffness tuning part；The spring leaf is maintained in the gap between the rigidity support platform and the nucleus movement platform in the direction of motion of nucleus movement platform by the adjusting bracket；The stiffness tuning part for changing the adjusting bracket position with the rigidity of the spring leaf.The present invention is capable of the rigidity of flexible hinge, realizes and is suitable for different operating conditions using a platform.
Description
Technical field
The present invention relates to motor-drive techniques, more particularly relate to the Coupled Rigid-flexible platform and fortune of a kind of both sides adjusting rigidity
Moving platform.
Background technique
It can be with effective solution frictional dead problem, under the premise of not improving cost, thus substantially based on flexible hinge
Degree improve positioning accuracy the advantages of, therefore precision movement platform design in using more and more extensive.Wherein, in patent " base
In the adjustable one-dimensional micromotion platform of the rigidity frequency of Stress stiffening principle " (CN201410214605.0), " a kind of single driving is rigid for patent
Soft coupling precision movement platform and its implementation and application " " linear motor is total to stator for (CN201610508540.X) and patent
The macro micro- integration high speed precise motion one-dimensional platform of double drive " flexible hinge is all referred in the documents such as (CN201410696217.0)
Chain.But above-mentioned flexible hinge platform, since both ends are hanging, only the flexible hinge by platform two sides acts on, the load that can be carried
It is all generally less than normal, the occasion compared with big load can not be applied to.At patent " a kind of big carrying flexible hinge guiding mechanism "
(CN20170883865.0) further improvement has been done to common flexible hinge, has proposed main flexible hinge chain group and time flexibility
Hinge set.It passes through integration respectively and processes flexible hinge array or by using high resiliency spring leaf as flexible hinge sheet
Body, the mode that luggage of going forward side by side is matched realize the effect of flexible hinge.The method considerably increases what flexible hinge platform can carry
The density of load, but its disadvantage is also obvious.Firstly, by the primary and secondary flexible hinge chain group of integration processing, flexible hinge
Part and platform use identical material, generally aluminium alloy or other stainless steel materials, due to its material property defect, no matter
How stress concentration is dropped, fatigue fracture will be all generated in high-frequency work.Secondly, if using elastomeric spring leaf conduct
Flexible hinge main body, and be attached product platform and rigid support platform by way of assembly, although solving fatigue
The problem of fracture, but since rigging error inevitably exists, the overall precision of platform can be reduced surely.Furthermore either one
Body processing flexibility hinge set is assembled into the rigidity that flexible hinge main body is not adjustable flexible hinge by high resiliency spring leaf,
Therefore it can not achieve using a platform and adapt to different operating conditions, thus virtually increase cost.
Summary of the invention
The invention proposes a kind of long-lives without rigging error rigidity adjustable space flexible hinge, flat to current precise motion
Integration processing flexibility hinge present in flexible hinge is easy fatigue fracture, is assembled into flexibility using high resiliency spring leaf in platform
There is rigging error and be not adjustable spring rates of flexure hinges all having carried out effective solution in hinge body.
The present invention is combined with integration the feature that rigging error and spring-piece type flexible hinge fatigue life length are exempted from processing, connects soft
Property hinge set i.e. time flexible hinge use integral processing method, guarantee arming between rigid support platform and nucleus movement platform
With error.End is assembled using high resiliency spring leaf, improves the rigidity of flexible hinge and the energy of anti-inoperative Direction distortion
Power.In order to adapt to demand of the different operating platform to spring rates of flexure hinges, spring leaf effective length is carried out using mobile support
It adjusts, to change the rigidity of flexible hinge.Specific technical solution is as follows.
A kind of both sides adjust the Coupled Rigid-flexible platform of rigidity, and the Coupled Rigid-flexible platform includes: rigidity support platform, core
Motion platform and connection flexible hinge chain group；The rigidity support platform passes through the connection flexible hinge chain group and the nucleus movement
Platform connection；The Rigid-flexible Coupled Motion platform further includes stiffness tuning mechanism；The stiffness tuning mechanism include adjusting bracket,
Spring leaf and stiffness tuning part；The spring leaf is maintained at the institute in the direction of motion of nucleus movement platform by the adjusting bracket
It states in the gap between rigidity support platform and the nucleus movement platform；The stiffness tuning part is for changing the spring leaf
Rigidity.
Further, the stiffness tuning part includes: that bracket adjusts briquetting and screw rod；The bracket adjusts briquetting for the tune
Section bracket is pressed in the rigidity support platform；The screw rod connects the bracket adjusting briquetting, the adjusting bracket is pressed and described
Rigidity support platform；Adjust the elastic journey that can be adjusted the bracket adjusting briquetting and compress the adjusting bracket of the screw rod
Degree.
Further, the adjusting bracket includes upper adjusting bracket and lower adjusting bracket, and the spring leaf is clamped on described
Between adjusting bracket and lower adjusting bracket；It includes that upper bracket adjusts briquetting and lower bracket adjusting briquetting that the bracket, which adjusts briquetting,；
The screw rod includes upper screw rod and lower screw rod；The upper screw rod connect the upper bracket adjust briquetting, the upper adjusting bracket and
The rigidity support platform；By the connection of the upper screw rod, the upper bracket adjusts briquetting and the adjusting bracket is pressed on institute
State rigidity support platform；The lower screw rod connects the lower bracket and adjusts briquetting, the lower adjusting bracket and rigidity support
Platform；By the connection of the lower screw rod, the lower bracket adjusts briquetting and the lower adjusting bracket is pressed on the rigidity support
Platform.
Further, the stiffness tuning part further includes spring leaf briquetting, and the spring leaf is pressed in by the spring leaf briquetting
On the nucleus movement platform.
Further, the stiffness tuning part further include: the boss and screw of nucleus movement platform side are set；Institute
It states screw and connects the spring leaf and the boss.
Further, the stiffness tuning part includes stand briquetting, nut and screw rod；The stand briquetting props up the adjusting
Frame is pressed in the rigidity support platform；The nut is connect with the adjusting bracket；The screw rod attaching nut and the core
Heart motion platform；It adjusts the elastic position that can change the nut of the screw rod and adjusts the adjusting bracket to drive
Position.
Further, the adjusting bracket includes upper adjusting bracket and lower adjusting bracket, and the spring leaf is clamped on described
Between adjusting bracket and lower adjusting bracket；The stand briquetting includes upper bracket briquetting and lower bracket briquetting；The upper bracket pressure
The upper adjusting bracket is pressed in the rigidity support platform by block, and the lower adjusting bracket is pressed in institute by the lower bracket briquetting
It states in rigidity support platform；The nut includes top nut and lower nut, and the top nut is located at the nucleus movement platform
Top, the lower nut are located at the lower section of the nucleus movement platform；The top nut is connect with the upper adjusting bracket, described
Lower nut is connect with the lower adjusting bracket；The top nut is left-handed nut, and the lower nut is right-handed nut；The screw rod
For reverse-flighted screw；The screw rod passes through the nucleus movement platform and connects the top nut and lower nut.
Further, the stiffness tuning part further include: the boss and screw of nucleus movement platform side are set；Institute
It states screw and connects the spring leaf and the boss.
Further, the stiffness tuning part further includes spring leaf briquetting, and the spring leaf is pressed in by the spring leaf briquetting
On the nucleus movement platform.
Further, the stiffness tuning mechanism is arranged symmetrically in Rigid-flexible Coupled Motion platform front and back end.
A kind of precision movement platform, which is characterized in that the precision movement platform includes base, is fixed on the base
Linear guide, guide rail slide block, Rigid-flexible Coupled Motion platform above-mentioned, linear actuator, displacement sensor；The Coupled Rigid-flexible
Nucleus movement platform in motion platform is connect with the linear actuator, and the rigid frame passes through the guide rail slide block and institute
State linear guide connection；Institute's displacement sensors are connect with the nucleus movement platform, for measuring the nucleus movement platform
Displacement in the movement direction.
Compared with prior art, beneficial effect is:
1. main platform body is that integration completes the process, nucleus movement platform and rigid support are connected by connection flexible hinge chain group
Platform avoids the error generated between nucleus movement platform and rigid support platform by assembly.
2. platform end using high resiliency spring plate group at main flexible hinge, improve flexible hinge rigidity and anti-inoperative
The ability of Direction distortion.It efficiently solves because platform material characteristic limits, generated FATIGUE FRACTURE PROBLEMS.
3. the main flexible hinge being made of to change spring leaf the Support Position for changing adjusting bracket in regulating mechanism
Effective active length of chain, and then change the rigidity of main flexible hinge, it realizes and different operating conditions is suitable for using a platform.
Detailed description of the invention
Fig. 1 is one overall schematic of embodiment.
Fig. 2 is main platform body schematic diagram in embodiment one.
Fig. 3 is one perspective view of the explosion of embodiment.
Fig. 4 is the axonometric drawing of main platform body and stiffness tuning mechanism installation place in embodiment one.
Fig. 5 is the partial enlarged view of Fig. 4
Fig. 6 is the precision movement platform schematic diagram of embodiment one.
Fig. 7 is two overall schematic of embodiment.
Main platform body schematic diagram in Fig. 8 embodiment two.
Fig. 9 is two perspective view of the explosion of embodiment.
Figure 10 is the cross-sectional view of main platform body and stiffness tuning mechanism installation place in embodiment two.
Figure 11 is the partial enlarged view of Figure 10.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
Embodiment one
As shown in Figure 1, wherein A1 is Rigid-flexible Coupled Motion platform, A2 is stiffness tuning mechanism, symmetrical in platform front and back end
Arrangement.Wherein main platform body A1 is integral type processing, and main platform body A1 is by core motion platform A101 in Fig. 2, rigidity support
Platform A102, connection flexible hinge chain group A103 composition.Stiffness tuning mechanism A2 is by adjusting bracket A201, bracket tune in Fig. 3-5
Save briquetting A202, high resiliency spring leaf A203, spring leaf briquetting A204 composition.High resiliency spring leaf A203 is placed on adjusting bracket
In A201, adjusting bracket A201 is adjustably fixed on rigidity support platform by the cooperation that bracket adjusts briquetting A202 and screw rod
On A102, high resiliency spring leaf A203 is pressed on nucleus movement platform A101 by spring leaf briquetting A204.
As in Figure 3-5, stiffness tuning mechanism A2 be mounted on nucleus movement platform A101 and rigidity support platform A102 it
Between together constitute the adjustable spatial flexible hinge of main flexible hinge i.e. rigidity.Branch is adjusted in stiffness tuning mechanism A2 by changing
The position of frame A201 changes the high resiliency as main flexible hinge to change the effective length of high resiliency spring leaf A203
The rigidity of spring leaf A203.Connection flexible hinge chain group A103 plays connection nucleus movement platform A101 and rigidity support platform A102
Effect, guarantee both integral type complete the process, avoid generating between nucleus movement platform A101 and rigidity support platform A102
Rigging error.Main flexible hinge working portion uses high resiliency spring leaf A203, avoids due to platform material fatigue life itself is short
The FATIGUE FRACTURE PROBLEMS of generation.Driver is mounted on the bottom nucleus movement platform A101, and entire platform is driven to move.
Certainly, it is optimal embodiment that adjusting bracket A201, which is in upper and lower symmetric design, in attached drawing, and in actual work
In, as long as can be realized the length for changing high resiliency spring leaf A203, it can be set according to actual needs adjusting bracket A201's
Quantity and position, such as a upper adjusting bracket or lower adjusting bracket are only set.
As shown in fig. 6, above-mentioned Rigid-flexible Coupled Motion platform can be arranged on precision movement platform, the precise motion is flat
Platform includes base A05, the linear guide A04 being fixed on the base, guide rail slide block A06, linear actuator and displacement sensing
Device；Nucleus movement platform A101 in above-mentioned Rigid-flexible Coupled Motion platform is connect with linear actuator, rigidity support platform A102
It is connect by guide rail slide block A06 with linear guide A04；Institute's displacement sensors are connect with nucleus movement platform A101, for surveying
Measure the displacement of the nucleus movement platform in the movement direction.
Embodiment two
As shown in fig. 7, wherein B1 is Coupled Rigid-flexible platform, B2 is stiffness tuning mechanism, is arranged symmetrically in platform front and back end.
Wherein main platform body B1 is integral type processing, and main platform body B1 is by core motion platform B101 in Figure 10, rigidity support platform
B102, connection flexible hinge chain group B103 composition.Stiffness tuning mechanism B2 is to adjust briquetting by adjusting bracket B201, bracket in Figure 11
B202, high resiliency spring leaf B203, spring leaf briquetting B204, reverse-flighted screw B205, left-handed nut B206, right-handed nut's B207 group
At.
As shown in figs. 9-11, high resiliency spring leaf B203 is sandwiched in adjusting bracket B201, and spring leaf briquetting B204 will be high
Elastomeric spring piece B203 is fixed on the boss of the side of nucleus movement platform B101.Bracket adjusts briquetting B202 for adjusting bracket
B201 is pressed on rigidity support platform B102.Left-handed nut B206 and right-handed nut B207 is separately mounted to two adjusting branch up and down
In frame B201.Reverse-flighted screw B205 and left-handed nut B206 and right-handed nut B207 cooperates.
Stiffness tuning mechanism B2 is mounted between nucleus movement platform B101 and rigidity support platform B102 and together constitutes
The main adjustable spatial flexible hinge of flexible hinge, that is, rigidity.Left-handed nut B206 and right-handed nut B207 is separately mounted to upper and lower two
In a adjusting bracket B201.When adjusting reverse-flighted screw B205, adjusted by left-handed nut B206 and right-handed nut B207
Lower two adjusting bracket B201 are close or incorgruous separate in the same direction.By the position for changing adjusting bracket B201 in stiffness tuning mechanism B2
It sets, to change the effective length of high resiliency spring leaf B203, that is, changes the rigidity of main flexible hinge.Connect flexible hinge chain group
B103 plays the role of connecting nucleus movement platform B101 and rigidity support platform B102, guarantees that the two integral type completes the process,
It avoids and generates rigging error between nucleus movement platform B101 and rigidity support platform B102.Main flexible hinge working portion uses
High resiliency spring leaf B203, avoids the FATIGUE FRACTURE PROBLEMS generated because platform material fatigue life itself is short.Driver installation
In the bottom nucleus movement platform B101, entire platform is driven to move.
Certainly, it is optimal embodiment that adjusting bracket B201, which is in upper and lower symmetric design, in attached drawing, and in actual work
In, as long as can be realized the length for changing high resiliency spring leaf A203, it can be set according to actual needs adjusting bracket B201's
Quantity and position, such as a upper adjusting bracket or lower adjusting bracket are only set.At this point, screw rod only connects top nut and core is transported
Moving platform, the position of nut can also be changed by adjusting rotary screw, to drive the position for changing adjusting bracket.
The difference of embodiment two and embodiment one is the difference of stiffness tuning bracket A2 Yu B2 regulative mode.Wherein A2 is
By manually changing the position of adjusting bracket A201, to change the rigidity of main flexible hinge.B2 is by rotating reverse-flighted screw
B205, to change the position of adjusting bracket B201, to change the rigidity of main flexible hinge.The advantages of embodiment one, is to process
Installation is simple, can be used for the occasion infrequently for stiffness tuning.The advantages of embodiment two be it is easy to adjust, but process installation
It is more slightly more complex than embodiment one, it can be used for being frequently necessary to the occasion of stiffness tuning.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of both sides adjust the Coupled Rigid-flexible platform of rigidity, the Coupled Rigid-flexible platform includes: rigidity support platform, core fortune
Moving platform and connection flexible hinge chain group；
The rigidity support platform is connect by the connection flexible hinge chain group with the nucleus movement platform；
It is characterized in that, the Rigid-flexible Coupled Motion platform further includes stiffness tuning mechanism；
The stiffness tuning mechanism includes adjusting bracket, spring leaf and stiffness tuning part；
The spring leaf is maintained at the rigidity support platform in the direction of motion of nucleus movement platform by the adjusting bracket
In gap between the nucleus movement platform；
The stiffness tuning part for changing the adjusting bracket position with the rigidity of the spring leaf.
2. Coupled Rigid-flexible platform according to claim 1, which is characterized in that the stiffness tuning part includes: that bracket is adjusted
Briquetting and screw rod；
The screw rod connects the bracket and adjusts briquetting, the adjusting bracket and the rigidity support platform；
By the connection of the screw rod, the bracket adjusts briquetting and the adjusting bracket is pressed on the rigidity support platform；
Adjust the elastic degree that can be adjusted the bracket adjusting briquetting and compress the adjusting bracket of the screw rod.
3. Rigid-flexible Coupled Motion platform according to claim 2, which is characterized in that
The adjusting bracket includes upper adjusting bracket and lower adjusting bracket, and the spring leaf is clamped in the upper adjusting bracket under
Between adjusting bracket；
It includes that upper bracket adjusts briquetting and lower bracket adjusting briquetting that the bracket, which adjusts briquetting,；
The screw rod includes upper screw rod and lower screw rod；
The upper screw rod connects the upper bracket and adjusts briquetting, the upper adjusting bracket and the rigidity support platform；
By the connection of the upper screw rod, the adjusting bracket is pressed on the rigidity support and put down by the upper bracket adjusting briquetting
Platform；
The lower screw rod connects the lower bracket and adjusts briquetting, the lower adjusting bracket and the rigidity support platform；
By the connection of the lower screw rod, the lower adjusting bracket is pressed on the rigidity support and put down by the lower bracket adjusting briquetting
Platform.
4. Coupled Rigid-flexible platform according to claim 3, which is characterized in that the stiffness tuning part further includes spring leaf pressure
The spring leaf is pressed on the nucleus movement platform by block, the spring leaf briquetting.
5. Rigid-flexible Coupled Motion platform according to claim 1, which is characterized in that
The stiffness tuning part includes stand briquetting, nut and screw rod；
The adjusting bracket is pressed in the rigidity support platform by the stand briquetting；
The nut is connect with the adjusting bracket；
The screw rod attaching nut and the nucleus movement platform；
The position of the nut can be changed to drive the position for adjusting the adjusting bracket by rotating the screw rod.
6. Rigid-flexible Coupled Motion platform according to claim 5, which is characterized in that
The adjusting bracket includes upper adjusting bracket and lower adjusting bracket, and the spring leaf is clamped in the upper adjusting bracket under
Between adjusting bracket；
The stand briquetting includes upper bracket briquetting and lower bracket briquetting；
The upper adjusting bracket is pressed in the rigidity support platform by the upper bracket briquetting, and the lower bracket briquetting will be described
Lower adjusting bracket is pressed in the rigidity support platform；
The nut includes top nut and lower nut, and the top nut is located at the top of the nucleus movement platform, the lower spiral shell
Mother is located at the lower section of the nucleus movement platform；
The top nut is connect with the upper adjusting bracket, and the lower nut is connect with the lower adjusting bracket；
The top nut is left-handed nut, and the lower nut is right-handed nut；
The screw rod is reverse-flighted screw；
The screw rod passes through the nucleus movement platform and connects the top nut and lower nut.
7. Rigid-flexible Coupled Motion platform according to claim 6, which is characterized in that the stiffness tuning part further include: setting exists
The boss and screw of nucleus movement platform side；
The screw connects the spring leaf and the boss.
8. Coupled Rigid-flexible platform according to claim 6, which is characterized in that the stiffness tuning part further includes spring leaf pressure
The spring leaf is pressed on the nucleus movement platform by block, the spring leaf briquetting.
9. Rigid-flexible Coupled Motion platform according to claim 1 to 8, which is characterized in that the stiffness tuning machine
Structure is arranged symmetrically in Rigid-flexible Coupled Motion platform front and back end.
10. a kind of precision movement platform, which is characterized in that the precision movement platform includes base, is fixed on the base
Linear guide, guide rail slide block, the described in any item Rigid-flexible Coupled Motion platforms of claim 1-9, linear actuator, displacement pass
Sensor；
Nucleus movement platform in the Rigid-flexible Coupled Motion platform is connect with the linear actuator, and the rigid frame passes through
The guide rail slide block is connect with the linear guide；
Institute's displacement sensors are connect with the nucleus movement platform, for measuring the nucleus movement platform in the movement direction
Displacement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811526317.3A CN109531184B (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform with rigidity adjusted on two sides and motion platform |
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| CN201811526317.3A CN109531184B (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform with rigidity adjusted on two sides and motion platform |
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| CN111654993A (en) * | 2020-05-22 | 2020-09-11 | 中国航空工业集团公司西安航空计算技术研究所 | Module equal-mass variable-rigidity method and module equal-mass variable-rigidity module |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109531184B (en) | 2023-10-03 |
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