CN109648354A - A kind of the Coupled Rigid-flexible platform and motion platform of intermediate regulations rigidity - Google Patents
A kind of the Coupled Rigid-flexible platform and motion platform of intermediate regulations rigidity Download PDFInfo
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- CN109648354A CN109648354A CN201811524858.2A CN201811524858A CN109648354A CN 109648354 A CN109648354 A CN 109648354A CN 201811524858 A CN201811524858 A CN 201811524858A CN 109648354 A CN109648354 A CN 109648354A
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- platform
- rigid
- flexible
- rigidity
- spring leaf
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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
Abstract
The invention discloses a kind of Coupled Rigid-flexible platform of intermediate regulations 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 upper fixed block, lower fixed block, spring leaf and stiffness tuning part；The upper and lower fixed block is fixed in the rigidity support platform；The upper and lower fixed block clamps the spring leaf and in the gap that is maintained at the spring leaf between the rigidity support platform and the nucleus movement platform in the direction of motion of nucleus movement platform；The middle part of the spring leaf is arranged in the stiffness tuning part；The stiffness tuning part for changing the spring leaf rigidity.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 intermediate regulations 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 patent " single driving
Coupled Rigid-flexible precision movement platform and its implementation and application " " linear motor is fixed altogether for (CN201610508540.X) and patent
The sub- macro micro- integration high speed precise motion one-dimensional platform of double drive " flexibility is all referred in the documents such as (CN201410696217.0)
Hinge.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
Lotus is all generally less than normal, can not be applied to the occasion compared with big load.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 Coupled Rigid-flexible platform of intermediate regulations rigidity, the Coupled Rigid-flexible platform include: 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 upper fixed block,
Lower fixed block, spring leaf and stiffness tuning part；The upper and lower fixed block is fixed in the rigidity support platform；On described,
The rigidity that lower fixed block clamps the spring leaf and is maintained at the spring leaf in the direction of motion of nucleus movement platform
In gap between support platform and the nucleus movement platform；The middle part of the spring leaf is arranged in the stiffness tuning part；
The stiffness tuning part for changing the spring leaf rigidity.
Further, the stiffness tuning part includes: screw and multiple groups pressing plate group；Pressing plate group described in every group include front pressuring plate and
Rear fender；The spring leaf is clamped before and after the front pressuring plate and the rear fender；By the identical front pressuring plate of holding area and
The rear fender is paired into one group of pressing plate group；The rigidity of the spring leaf can be changed by replacing different size of pressing plate group；It is described
The forward and backward pressing plate and the nucleus movement platform are rigidly connected by screw.
Further, the stiffness tuning part includes: the briquetting and screw of four L shapes；One is just being set the pressure of the L shape
Block and the briquetting of an inverted L shape, which cooperate, to be placed, and a combination briquetting is formed；Folder before and after two combination briquettings
Hold the spring leaf；The briquetting of L shape and/or the briquetting of inverted L shape are just being set in movement two simultaneously can change the bullet
The rigidity of reed.
Further, the stiffness tuning part further include: screw；The briquetting of four L shapes is machined with strip hole confession
The screw passes through；The briquetting of the L shape and the nucleus movement platform are rigidly connected by the screw.
Further, the stiffness tuning part further include: pressing plate；The screw passes through the pressing plate for the pressure of the L shape
Block is pressed on the nucleus movement platform.
Further, the upper fixing block, the lower fixed block include former and later two fixed blocks；The spring is clamped in
Between former and later two described fixed blocks.
Further, the upper fixing block, the lower fixed block pass through screw and are fixed in the rigidity support 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, play the role of connecting microfluidic platform and macro platform using the flexible hinge I that integral type is processed, make microfluidic platform with it is macro
Rigging error is not present between platform, to ensure that the installation essence for the flexible hinge II being mounted between microfluidic platform and macro platform
Degree.
2, the rigidity of flexible hinge I is less than the rigidity of flexible hinge II, therefore described based on composite and flexible hinge
It is single when driving the macro micro- composite motion platform movement of hard and soft coupling, by spring plate group at flexible hinge II be first subject to put down from fine motion
The deformation of platform.The fatigue life of spring leaf processes the fatigue life of aluminum alloy materials used much higher than platform, therefore ensure that
The service life of platform avoids the fatigue fracture that the flexible hinge I of short time inner platform is generated due to Fatigue Life Problems.
3, flexible hinge II is made up of the fixed block of spring leaf, the pressing plate being fixed among spring leaf and both ends.
Therefore can by replacement or adjustment spring piece among pressing plate, using different in width pressing plate or make pressing plate have different width
Degree to change the effective interaction length of spring leaf, and then changes the rigidity of flexible hinge II, that is, changes described based on multiple
The list for closing flexible hinge drives the rigidity of the macro micro- composite motion platform entirety of hard and soft coupling.
Detailed description of the invention
Fig. 1 is the overall schematic of the Coupled Rigid-flexible platform of embodiment one.
Fig. 2 is the schematic cross-section of the II intermediate press plate installation place of flexible hinge of embodiment one.
Fig. 3 is the II intermediate press plate mounting means partial enlarged view of flexible hinge of embodiment one.
Fig. 4 is the schematic cross-section of the II both ends fixed block installation place of flexible hinge of embodiment one.
Fig. 5 is the II intermediate press plate mounting means partial enlarged view of flexible hinge of embodiment one.
Fig. 6 is the contrast schematic diagram of embodiment one changed after II intermediate press plate width of flexible hinge.
Fig. 7 is that the list based on composite and flexible hinge of embodiment one drives macro micro- composite motion platform overall schematic.
Fig. 8 is the II intermediate press plate mounting means partial enlarged view of flexible hinge of embodiment two.
Fig. 9 is the II intermediate press plate main view of flexible hinge of embodiment two.
Figure 10 is the II intermediate press plate left view of flexible hinge of embodiment two.
Figure 11 is the II intermediate press plate shaft side figure of flexible hinge of embodiment two.
Figure 12 is the contrast schematic diagram of embodiment two adjusted behind II intermediate press plate position of flexible hinge.
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
Rigid-flexible Coupled Motion platform as shown in Figure 1, A4 is rigidity support platform, A2 is nucleus movement platform, A3 is company
Flexible hinge chain group is connect, A1 is stiffness tuning mechanism.Rigidity support platform A4 is transported by connection flexible hinge chain group A3 and the core
Moving platform A2 connection.Stiffness tuning mechanism A1 is arranged on the front and back between rigidity support platform A4 and nucleus movement platform A2
In gap, and it is arranged symmetrically in platform front and back end.Wherein, Rigid-flexible Coupled Motion platform is integral type processing.Flexible hinge chain group A3
For flexible hinge I, stiffness tuning mechanism A1 is flexible hinge II.
Stiffness tuning mechanism A1 is as shown in Figure 3,4, and stiffness tuning mechanism A1 includes spring leaf A101, sets before and after upper and lower position
Two fixed blocks A103 and A104 setting, the front and back two pressure plates for being fixed on front and back clamp springs A101 in the middle part of spring leaf A101
A102, screw.Pressing plate A102 and nucleus movement platform A2 is rigidly connected by screw.Two fixed block A103 and A104 and rigidity
Support platform A4 connection.
By the effective work for changing the adjustable spring leaf A101 of width of briquetting A102 before and after spring leaf A101 in Fig. 5
With length, that is, have adjusted the rigidity of flexible hinge II.A102-2 is that after replacing briquetting, it is rigid to increase flexible hinge II in Fig. 6
The contrast schematic diagram of degree.
As shown in fig. 7, above-mentioned Rigid-flexible Coupled Motion platform can be arranged on precision movement platform, the precise motion is flat
Platform includes base 1, the linear guide being fixed on base 12, guide rail slide block, linear actuator 5 and displacement sensor 6；It is above-mentioned
Nucleus movement platform in Rigid-flexible Coupled Motion platform 3 is connect with linear actuator 5, and rigidity support platform passes through guide rail slide block
It is connect with linear guide 2；Displacement sensor 6 is connect with nucleus movement platform, is being moved for measuring the nucleus movement platform
Displacement on direction.
Embodiment two
List in embodiment two based on composite and flexible hinge drives macro micro- composite motion platform overall structure reality and embodiment
One is identical, is not repeated to describe herein.The difference is that the structure shape of II spring leaf of composite and flexible hinge centre position briquetting
Formula and the mode for adjusting rigidity.Different briquettings is needed replacing in embodiment one to change the effective interaction length of spring leaf,
That is the rigidity of composite and flexible hinge II.One group of briquetting is only needed in embodiment two, by adjusting two briquettings in one group of briquetting
Relative position, to change spring leaf effective interaction length, the i.e. rigidity of composite and flexible hinge II.
As illustrated in figs. 8-12, pressing plate B105 plays the role of compressing briquetting B102 in figure.As shown in figs. 9-11, briquetting B102
For the briquetting of 4 L shapes.1 briquetting for just setting L shape and the briquetting of an inverted L shape form one group of combination briquetting.Bullet
Reed B101 is stepped up between two groups of combination briquettings.
It is passed through due to being machined with strip hole in each L shape briquetting for screw, screw is by the briquetting of L shape, pressing plate
B105 and the nucleus movement platform are rigidly connected, so the adjustable range of combination briquetting is the length of strip hole.Figure 12 is
To increase the rigidity schematic diagram of flexible hinge II by the relative position for adjusting briquetting B102.
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 (9)
1. a kind of Coupled Rigid-flexible platform of intermediate regulations 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 upper fixed block, lower fixed block, spring leaf and stiffness tuning part；
The upper and lower fixed block is fixed in the rigidity support platform；
The upper and lower fixed block clamps the spring leaf and is maintained at the spring leaf in the direction of motion of nucleus movement platform
The rigidity support platform and the nucleus movement platform between gap in；
The middle part of the spring leaf is arranged in the stiffness tuning part；
The stiffness tuning part for changing the spring leaf rigidity.
2. Rigid-flexible Coupled Motion platform according to claim 1, which is characterized in that the stiffness tuning part includes: screw
With multiple groups pressing plate group；
Pressing plate group described in every group includes front pressuring plate and rear fender；
The spring leaf is clamped before and after the front pressuring plate and the rear fender；
The identical front pressuring plate of holding area and the rear fender are paired into one group of pressing plate group；
The rigidity of the spring leaf can be changed by replacing different size of pressing plate group；
The forward and backward pressing plate and the nucleus movement platform are rigidly connected by the screw.
3. Rigid-flexible Coupled Motion platform according to claim 1, which is characterized in that the stiffness tuning part includes: four
The briquetting and screw of L shape；
One briquetting for just setting the L shape and the briquetting of an inverted L shape, which cooperate, to be placed, and a group combined pressure is formed
Block；
The spring leaf is clamped before and after two combination briquettings；
The briquetting of L shape and/or the briquetting of inverted L shape are just being set in movement two simultaneously can change the rigid of the spring leaf
Degree.
4. Rigid-flexible Coupled Motion platform according to claim 3, which is characterized in that the stiffness tuning part further include: spiral shell
Nail；
The briquetting of four L shapes is machined with strip hole and passes through for the screw；
The briquetting of the L shape and the nucleus movement platform are rigidly connected by the screw.
5. Rigid-flexible Coupled Motion platform according to claim 4, which is characterized in that the stiffness tuning part further include: pressure
Plate；
The screw passes through the pressing plate and the briquetting of the L shape is pressed on the nucleus movement platform.
6. Rigid-flexible Coupled Motion platform according to any one of claims 1-5, which is characterized in that the upper fixing block,
The lower fixed block includes former and later two fixed blocks；
The spring is clamped between former and later two described fixed blocks.
7. Rigid-flexible Coupled Motion platform according to any one of claims 1-5, which is characterized in that the upper fixing block,
The lower fixed block passes through screw and is fixed in the rigidity support platform.
8. Rigid-flexible Coupled Motion platform according to any one of claims 1-5, which is characterized in that the stiffness tuning machine
Structure is arranged symmetrically in Rigid-flexible Coupled Motion platform front and back end.
9. a kind of precision movement platform, which is characterized in that the precision movement platform includes base, is fixed on the base
The described in any item Rigid-flexible Coupled Motion platforms of linear guide, guide rail slide block, claim 1-8, linear actuator, displacement sensing
Device；
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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| CN201811524858.2A CN109648354B (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform capable of adjusting rigidity in middle and motion platform |
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| CN201811524858.2A CN109648354B (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform capable of adjusting rigidity in middle and motion platform |
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| CN110281036A (en) * | 2019-06-14 | 2019-09-27 | 广东工业大学 | A kind of single driving Rigid-flexible Coupled Motion platform of double measurements |
| CN111075831A (en) * | 2019-12-12 | 2020-04-28 | 广东工业大学 | Integrated multi-degree-of-freedom rigid-flexible coupling motion platform driven by ball screw |
| CN111102442A (en) * | 2019-12-12 | 2020-05-05 | 广东工业大学 | Compact rigid-flexible coupling platform connecting structure and multi-axis motion platform formed by same |
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