CN110883760B

CN110883760B - Planar three-degree-of-freedom motion decoupling compliant mechanism

Info

Publication number: CN110883760B
Application number: CN201911053769.9A
Authority: CN
Inventors: 李海洋; 李树军; 李允公; 王晓宇; 孙志礼; 王健
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-01-01
Anticipated expiration: 2039-10-31
Also published as: CN110883760A

Abstract

The invention provides a planar three-degree-of-freedom motion decoupling compliant mechanism, which comprises: the three flexible branched chains are perpendicular to each other and are parallel to or collinear with the three movement freedom degrees of the output module respectively, the three flexible branched chains drive and control the movement of the output module in the three freedom degrees respectively and limit the movement of the output module in the three limited freedom degrees jointly, and therefore the movement decoupling of the output module in the three freedom degrees is achieved.

Description

Planar three-degree-of-freedom motion decoupling compliant mechanism

Technical Field

The invention relates to the technical field of precision machinery, in particular to a planar three-degree-of-freedom motion decoupling compliant mechanism.

Background

In the biological world, many organisms use the flexibility of their bodies to transform available energy into delicate and complex movements. The human heart utilizes the flexibility of muscles to complete hundreds of billions of continuous movements without fatigue. In the field of engineering, there are also mechanisms that use flexibility to accomplish motion, i.e. compliant mechanisms. The practical application of compliance mechanisms dates back to 8000 years ago for arches and slingshots, and the theoretical research of compliance mechanisms has been rapidly developed in nearly 30 years and has become an important branch of modern mechanics.

The most significant feature of compliant mechanisms is the absence of rigid joints or hinges, and due to this significant feature, compliant mechanisms have the following advantages over conventional rigid mechanisms: the assembly is avoided, and the integrated design and processing can be realized, so that the miniaturization manufacturing is facilitated; no return error, no clearance and abrasion, thus realizing high-precision motion; no friction, no noise and long service life; lubrication is not needed, and pollution is avoided; the motion rigidity is adjustable, and the device can be used for energy storage and conversion. Based on the advantages, the flexible mechanism is widely applied to the fields of precision engineering, robots, intelligent structures and the like.

The compliance mechanism with planar three-degree-of-freedom motion is an important compliance mechanism and has very wide application in precision engineering, particularly in the field of micro-nano operation research. The micro-nano operation refers to operations such as moving, positioning and grabbing of an operation object on the micron and nano precision, and plays a significant role in the fields of precision manufacturing, micro-nano technology, optical engineering and the like.

However, the planar three-degree-of-freedom motion compliant mechanisms (such as the compliant mechanism disclosed in patent CN 103030103B) that have been disclosed so far are all motion non-decoupling compliant mechanisms. Therefore, a new technical solution is needed to solve the motion coupling problem of the planar three-degree-of-freedom motion compliant mechanism.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

Therefore, the invention provides a planar three-degree-of-freedom motion decoupling compliant mechanism.

In view of this, the present invention provides a planar three-degree-of-freedom motion decoupling compliant mechanism, which includes: the device comprises an output module, a connecting unit and three flexible branched chains; the output module is a rigid block which is not easy to deform and has three directions of freedom of movement, and comprises: the degree of freedom is that the X axis and the Y axis in two mutually orthogonal axial directions in a plane do linear motion, and the degree of freedom is that the Z axis in the normal direction of the plane does rotary motion; the connecting unit is connected with an external foundation; the three flexible branched chains are mutually perpendicular and are respectively parallel or collinear with the three motion freedom directions of the output module, and the three flexible branched chains comprise: the flexible branch chain comprises X-axis flexible branch chains, Y-axis flexible branch chains and Z-axis flexible branch chains, wherein one end of each flexible branch chain is connected with the output module, and the other end of each flexible branch chain is connected with an external base through a connecting unit; each flexible branch comprises: a motion input unit and a motion transfer unit; the connecting unit, the motion input unit, the motion transmission unit and the output module are sequentially connected; the motion input unit of the X-axis flexible branched chain only has the degree of freedom along the linear motion direction of the X-axis, the motion input unit of the Y-axis flexible branched chain only has the degree of freedom along the linear motion direction of the Y-axis, and the motion input unit of the Z-axis flexible branched chain only has the degree of freedom around the rotary motion direction of the Z-axis; the motion transmission unit of the X-axis flexible branched chain takes the linear motion direction along the Y-axis and the rotary motion direction around the Z-axis as the freedom degree direction, the motion transmission unit of the Y-axis flexible branched chain is in the direction of the degree of freedom in the linear motion direction along the X-axis and the rotary motion direction around the Z-axis, the motion transmission unit of the Z-axis flexible branched chain is in the direction of the degree of freedom in the linear motion direction along the X axis and the linear motion direction along the Y axis, the direction of the rotary motion around the Z axis is the direction of the limitation degree, so that the three flexible branched chains respectively drive and control the motion of the output module in the directions of three degrees of freedom, and the motion of the output module in the three limiting system directions is limited together, so that the motion decoupling of the output module in the three freedom degree directions is realized.

Preferably, the connection unit includes: the supporting leg module is of a rigid square structure, the upper end face of the supporting leg module is connected with the first supporting module, and the lower end face of the supporting leg module is connected with the second supporting module.

Preferably, the X-axis flexible branch comprises: the X-axis motion input unit and the X-axis motion transmission unit, the X-axis motion transmission unit is thin and thin slice-shaped, the X-axis motion input unit is of a parallelogram structure, and the X-axis motion input unit comprises: the X-axis motion input module is a rigid block, the first elongated sheet and the second elongated sheet are arranged in parallel and are equal in length, one ends of the first elongated sheet and the second elongated sheet are connected with the X-axis motion input module, and the other ends of the first elongated sheet and the second elongated sheet are connected with the first supporting module; the Y-axis flexible branch chain comprises: the Y-axis motion input unit and the Y-axis motion transfer unit are in a thin and long sheet shape, the Y-axis motion input unit is in a parallelogram structure and comprises: the Y-axis motion input module is a rigid block, the third elongated sheet and the fourth elongated sheet are arranged in parallel and are equal in length, one ends of the third elongated sheet and the fourth elongated sheet are connected with the Y-axis motion input module, and the other ends of the third elongated sheet and the fourth elongated sheet are connected with the first supporting module; the output module is vertically connected with one end of the X-axis motion transmission unit and one end of the Y-axis motion transmission unit, the other end of the X-axis motion transmission unit is vertically connected with the X-axis motion input unit, the other end of the Y-axis motion transmission unit is vertically connected with the Y-axis motion input unit, the X-axis motion input unit and the Y-axis motion input unit are mutually vertical and are connected with the first support module, the X-axis motion input unit and the Y-axis motion input unit share the first support module, and the output module, the X-axis flexible branched chain, the Y-axis flexible branched chain and the first support module are in a closed square structure; the Z-axis flexible branch chain comprises: a Z-axis motion input unit and a Z-axis motion transfer unit, the Z-axis motion transfer unit including a fifth elongated sheet, a sixth elongated sheet, a seventh elongated sheet, an eighth elongated sheet, a first long rigid block, a second long rigid block, a first short rigid block, and a second short rigid block, the fifth elongated sheet being perpendicular to the sixth elongated sheet, the seventh elongated sheet being perpendicular to the eighth elongated sheet such that the four elongated sheets are in two L-shaped configurations, the two L-shaped configurations being arranged parallel to each other, the first long rigid block being located at a parallel interval between the fifth elongated sheet and the seventh elongated sheet, and the first long rigid block having an upper surface connected to the fifth elongated sheet and a lower surface connected to the seventh elongated sheet, the second long rigid block being located at a parallel interval between the sixth elongated sheet and the eighth elongated sheet, and the second long rigid block having an upper surface connected to the sixth elongated sheet, the lower surface of the Z-axis motion input unit is connected with an eighth long thin sheet, a first long rigid block is parallel to a second long rigid block, the length of the first long rigid block is the same as that of the second long rigid block, a first short rigid block is positioned at the vertical intersection of a fifth long thin sheet and a sixth long thin sheet, a second short rigid block is positioned at the vertical intersection of a seventh long thin sheet and an eighth long thin sheet, the first short rigid block is parallel to the second short rigid block, the first short rigid block is connected with the output module, and the second short rigid block is connected with the Z-axis motion input unit; the Z-axis motion input unit comprises a Z-axis motion input module, a ninth elongated sheet, a tenth elongated sheet, a first rigid leg and a second rigid leg, wherein the Z-axis motion input module is a rigid block and is connected with a second short rigid block of the Z-axis motion transmission unit, one end of the ninth elongated sheet and one end of the tenth elongated sheet are both vertically connected with the Z-axis motion input module, the other end of the ninth elongated sheet is vertically connected with one end of the first rigid leg, the other end of the tenth elongated sheet is vertically connected with one end of the second rigid leg, the first rigid leg is perpendicular to the second rigid leg, the other end of the first rigid leg and the other end of the second rigid leg are both connected with the second support module, and an opening hole is formed in the second support module and used for connecting an external drive.

Preferably, the output module, the X-axis flexible branched chain, the Y-axis flexible branched chain and the first support module are arranged as a coplanar whole.

Preferably, the Z-axis motion input unit and the second support module are provided as a coplanar whole.

Preferably, the planar three-degree-of-freedom motion decoupling compliant mechanism further comprises: a first screw, a second screw, a third screw and a fourth screw; the first support module is provided with a first bolt hole, the second support module is also provided with a second bolt hole, the upper end face of the landing leg module is provided with a third bolt hole, the lower end face of the landing leg module is provided with a fourth bolt hole, the output module is provided with a fifth bolt hole, the first short rigid block is provided with a sixth bolt hole, the second short rigid block is provided with a seventh bolt hole, the Z-axis motion input module is provided with an eighth bolt hole, a first screw is inserted into the first bolt hole on the first support module and the third bolt hole on the upper end face of the landing leg module to connect the first support module with the landing leg module, a second screw is inserted into the fourth bolt hole on the lower end face of the landing leg module and the second bolt hole on the second support module to connect the Z-axis motion input unit with the landing leg module, and the third screw is inserted into the fifth bolt hole on the output module and the sixth bolt hole on the first short rigid block, and connecting the output module with the Z-axis motion transmission unit, and inserting a fourth screw into a seventh bolt hole on the second short rigid block and an eighth bolt hole on the Z-axis motion input module to connect the Z-axis motion transmission unit with the Z-axis motion input unit.

Preferably, the planar three-degree-of-freedom motion decoupling compliant mechanism further comprises: redundant flexible branches.

Preferably, the redundant flexible branched chain is a symmetrical structure of each flexible branched chain.

Compared with the prior art, the invention has the technical effects that:

1. the control complexity and difficulty are relatively low;

2. in the direction of freedom degree, the linearity of the relation model of force and displacement is high;

3. the geometric structures in all decoupling directions can realize mutual independence in manufacturing, manufacturing errors are not accumulated, and manufacturing difficulty and cost can be reduced;

4. the rigidity in each decoupling direction is also mutually independent, so that the rigidity in each direction can be conveniently and independently adjusted, and the rigidity and the structure in each direction can be easily designed in the same way, so that the uniform performance in each direction can be achieved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 shows a schematic structural diagram and an exploded view of a part of a planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an overall comprehensive module of an output module, an X-axis flexible branched chain, a Y-axis flexible branched chain and a first support module of the planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a leg module of a planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the invention;

FIG. 4 is a schematic structural diagram of a Z-axis motion transfer unit of a planar three-degree-of-freedom motion decoupling compliant mechanism according to yet another embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an overall comprehensive module of a Z-axis motion input unit and a second support module of the planar three-degree-of-freedom motion decoupling compliant mechanism according to one embodiment of the invention;

FIG. 6 is a schematic structural diagram illustrating the symmetrical structure of the X-axis flexible branched chain and the Y-axis flexible branched chain of the planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram illustrating a symmetrical structure of a Z-axis motion transfer unit of a planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram illustrating a symmetrical structure of a Z-axis motion input unit of a planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

FIG. 9 shows a schematic structural diagram and an exploded view of a part of a symmetrical structure of a planar three-degree-of-freedom motion decoupling compliant mechanism according to an embodiment of the present invention;

wherein: 1 an output module; 11 a fifth bolt hole; a 21X-axis motion transfer unit; 221X axis motion input module; 222 a first elongated sheet 222; 223 a second elongated sheet; 31Y-axis motion transfer unit; 321Y-axis motion input module 321; 322 a third elongated sheet; 323 a fourth elongated sheet; 41Z-axis motion transfer unit; 411 a fifth elongated sheet; 412 a sixth elongated sheet; 413 a seventh elongate sheet; 414 an eighth elongated sheet; 415 a first long rigid block; 416 a second long rigid block; 417 a first short rigid block; 4171 sixth bolt hole; 418 second short stiff fast; 4181 seventh bolt hole; 421Z axis motion input module; 4212 eighth bolt hole; 422 a ninth elongated sheet; 423 tenth elongated sheet; 424 a first rigid leg; 425 a second rigid leg; 51 a first support module; 511 first bolt hole 52 second support module; 521 second bolt hole; 522 forming an opening; a 53-leg module; 531 third bolt hole; 6 a first screw; 7 a second screw; 8 a third screw; 9 fourth screw.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The following describes the planar three-degree-of-freedom motion decoupling compliant mechanism according to some embodiments of the invention with reference to fig. 1-9.

In an embodiment of the present invention, as shown in fig. 1, the present invention provides a planar three-degree-of-freedom motion decoupling compliant mechanism, including: the device comprises an output module 1, a connecting unit and three flexible branched chains; the output module 1 is a rigid block which is not easy to deform, has three directions of freedom of movement, and comprises: the freedom degree of rectilinear motion along the X-axis and the Y-axis in two mutually orthogonal axial directions in a plane and the freedom degree of rotary motion around the Z-axis in the normal direction of the plane; the connecting unit is connected with the external foundation; three flexible branched chain mutually perpendicular, and be parallel with three degrees of freedom directions of motion of output module 1 or collineation respectively, include: flexible branch chain of X axle, the flexible branch chain of Y axle and the flexible branch chain of Z axle, the one end and the output module 1 of every flexible branch chain are connected, and the other end passes through the linkage unit and is connected with outside basis, and every flexible branch chain includes: the motion input unit and the motion transmission unit are sequentially connected, and the connection unit, the motion input unit, the motion transmission unit and the output module 1 are sequentially connected; the motion input unit of the X-axis flexible branched chain only has the degree of freedom along the linear motion direction of the X-axis, the motion input unit of the Y-axis flexible branched chain only has the degree of freedom along the linear motion direction of the Y-axis, and the motion input unit of the Z-axis flexible branched chain only has the degree of freedom around the rotary motion direction of the Z-axis; the motion transmission unit of the X-axis flexible branched chain is in a degree-of-freedom direction along a linear motion direction of a Y-axis and a rotary motion direction around the Z-axis, is in a degree-of-freedom direction along the linear motion direction of the X-axis, and is limited in the linear motion direction along the X-axis and the rotary motion direction around the Z-axis, and is in a degree-of-freedom direction along the linear motion direction of the Y-axis, i.e. is limited in the linear motion direction along the Y-axis, the motion transmission unit of the Z-axis flexible branched chain is in a degree-of-freedom direction along the linear motion direction of the X-axis and the linear motion direction along the Y-axis, and is in a degree-of-freedom direction around the rotary motion direction of the Z-axis, i.e. is limited in the rotary motion direction around the Z-axis, so that the three flexible branched chains respectively drive and control the motion of the output module 1 in, and the motion of the output module 1 in the directions of three limit systems is limited together, so that the motion decoupling of the output module 1 with three degrees of freedom is realized.

In this embodiment, the motion transfer unit of the X-axis flexible branched chain is a freedom degree direction in the direction of linear motion along the Y-axis and in the direction of rotational motion around the Z-axis, is a limitation degree direction in the direction of linear motion along the X-axis (i.e., the direction of linear motion along the X-axis is not a freedom degree direction), is a freedom degree direction in the direction of linear motion along the X-axis and in the direction of rotational motion around the Z-axis, is a limitation degree direction in the direction of linear motion along the Y-axis (i.e., the direction of linear motion along the Y-axis is not a freedom degree direction), and is a freedom degree direction in the direction of linear motion along the X-axis and in the direction of linear motion along the Y-axis, and is a limitation degree direction in the direction of rotational motion around the Z-axis (i.e., the direction of rotational motion around the Z-axis is not a freedom degree direction), by the motion transfer unit in the, the output module 1 is enabled to move in three freedom degree directions, namely linear motion along the X-axis direction and the Y-axis direction and rotary motion around the Z-axis direction, the motion of the output module 1 in the three freedom degree directions has no influence on each other at the moment of starting the motion, mutual decoupling of the motion of the output module 1 in the three freedom degree directions is realized, two linear motions and one rotary motion of the output module 1 in the motion freedom degree directions are respectively controlled by two linear motion input units and one rotary motion input unit, the motions of the three motion input units have no influence on each other at the moment of starting the motion, mutual decoupling of the motion is realized, the rotary motion of the output module 1 around the Y-axis direction and the linear motion along the Z-axis direction are limited by a motion transmission unit of the X-axis, the rotary motion of the output module 1 around the X-axis direction and the linear motion along the Z-axis direction are limited by a motion transmission unit of the Y-axis, the motion transmission unit of the Z axis limits the rotation motion of the output module 1 around the X axis direction and the rotation motion around the Y axis, so that the three motion transmission units jointly complete the motion limitation of the output module 1 in three non-freedom directions.

In one embodiment of the present invention, preferably, as shown in fig. 1, 2, 3 and 5, the connection unit includes: first support module 51, second support module 52 and landing leg module 53, first support module 51 and second support module 52 are rigid block, landing leg module 53 is rigid cube structure, and landing leg module 53's up end is connected with first support module, and the terminal surface is connected with second support module 52 down.

In one embodiment of the present invention, preferably, as shown in fig. 1 to 9, the X-axis flexible branch comprises: an X-axis motion input unit and an X-axis motion transfer unit 21, the X-axis motion transfer unit 21 being in a thin and long sheet shape, the X-axis motion input unit being in a parallelogram structure, comprising: the X-axis motion input module 221, the first elongated sheet 222 and the second elongated sheet 223, wherein the X-axis motion input module 221 is a rigid block, the first elongated sheet 222 and the second elongated sheet 223 are arranged in parallel and have the same length, one end of each of the first elongated sheet 222 and the second elongated sheet 223 is connected with the X-axis motion input module 221, and the other end of each of the first elongated sheet 222 and the second elongated sheet 223 is connected with the first support module 51; the Y-axis flexible branch chain comprises: a Y-axis motion input unit and a Y-axis motion transfer unit 31, wherein the Y-axis motion transfer unit 31 is in a thin and long sheet shape, and the Y-axis motion input unit is in a parallelogram structure, and comprises: the Y-axis motion input module 321 is a rigid block, the third elongated sheet 322 and the fourth elongated sheet 323 are arranged in parallel and have the same length, one end of each of the third elongated sheet 322 and the fourth elongated sheet 323 is connected with the Y-axis motion input module 321, and the other end of each of the third elongated sheet 322 and the fourth elongated sheet 323 is connected with the first support module 51; the output module 1 is vertically connected with one end of an X-axis motion transfer unit 21 and one end of a Y-axis motion transfer unit 31, the other end of the X-axis motion transfer unit 21 is vertically connected with an X-axis motion input unit, the other end of the Y-axis motion transfer unit 31 is vertically connected with a Y-axis motion input unit, the X-axis motion input unit and the Y-axis motion input unit are mutually vertical and are connected with a first support module 51, the X-axis motion input unit and the Y-axis motion input unit share the first support module 51, and the output module 1, the X-axis flexible branched chain, the Y-axis flexible branched chain and the first support module 51 are in a closed square structure; the Z-axis flexible branch chain comprises: a Z-axis motion input unit and a Z-axis motion transmission unit 41, the Z-axis motion transmission unit 41 including: a fifth elongated sheet 411, a sixth elongated sheet 412, a seventh elongated sheet 413, an eighth elongated sheet 414, a first long rigid block 415, a second long rigid block 416, a first short rigid block 417 and a second short rigid block 418, said fifth elongated sheet 411 being perpendicular to the sixth elongated sheet 412, the seventh elongated sheet 413 being perpendicular to the eighth elongated sheet 414, so that the four elongated sheets are in two L-shaped configurations, the two L-shaped configurations being arranged parallel to each other, the first long rigid block 415 being located in the parallel spacing between the fifth elongated sheet 411 and the seventh elongated sheet 413, and the first long rigid block 415 being connected at its upper surface to the fifth elongated sheet 411, at its lower surface to the seventh elongated sheet 413, the second long rigid block 416416 being located in the parallel spacing between the sixth elongated sheet 412 and the eighth elongated sheet 414, and the second long rigid block 416 being connected at its upper surface to the sixth elongated sheet 412, at its lower surface to the eighth elongated sheet 414, a first long rigid block 415 is parallel to a second long rigid block 416, the first long rigid block 415 and the second long rigid block 416 are the same in length, a first short rigid block 417 is located at the vertical intersection of the fifth elongated sheet 411 and the sixth elongated sheet 412, a second short rigid block 418 is located at the vertical intersection of the seventh elongated sheet 413 and the eighth elongated sheet 414, the first short rigid block 417 and the second short rigid block 418 are parallel, the first short rigid block 417 is connected to the output module 1, and the second short rigid block 418 is connected to the Z-axis motion input unit; the Z-axis motion input unit includes a Z-axis motion input module 421, a ninth elongated sheet 422, a tenth elongated sheet 423, a first rigid leg 424, and a second rigid leg 425, the Z-axis motion input module 421 is a rigid block, and is connected with the second short rigid block 418 of the Z-axis motion transfer unit 41, one end of the ninth elongated thin sheet 422 and one end of the tenth elongated thin sheet 423 are vertically connected with the Z-axis motion input module 421, the other end of the ninth elongated thin sheet 422 is vertically connected with one end of the first rigid leg 424, the other end of the tenth elongated thin sheet 423 is vertically connected with one end of the second rigid leg 425, the first rigid leg 424 is perpendicular to the second rigid leg 425, the other end of the first rigid leg 424 and the other end of the second rigid leg 425 are connected with the second support module 52, and the second support module 52 is provided with an opening 522, wherein the opening 522 is used for connecting with external driving.

In this embodiment, by providing the X-axis motion transfer unit 21, the Y-axis motion transfer unit 31, and the Z-axis motion transfer unit 41 as an elongated sheet and its deformation, and moving the output module 1 in three degrees of freedom directions, i.e., a linear motion in the X-axis and Y-axis directions and a rotational motion around the Z-axis direction, the motions in the three degrees of freedom directions of the output module 1 at the moment of start of the motion have no influence on each other, and mutual decoupling of the motions in the three degrees of freedom directions of the output module 1 is achieved, two linear motions and one rotational motion in the directions of the degrees of freedom of the motion of the output module 1 are controlled by two linear motion input units and one rotational motion input unit, respectively, and the motions of the three motion input units have no influence on each other at the moment of the initial motion, and mutual decoupling of the motions is achieved.

In one embodiment of the present invention, preferably, as shown in fig. 2, the output module 1, the X-axis flexible branch chain, the Y-axis flexible branch chain and the first support module 51 are disposed as a coplanar whole.

In this embodiment, the output module 1, the X-axis flexible branched chain, the Y-axis flexible branched chain, and the first support module 51 are provided as a coplanar comprehensive module, and are integrally formed on the material.

In one embodiment of the present invention, preferably, as shown in fig. 5, the Z-axis motion input unit and the second support module 52 are provided as a coplanar whole.

In this embodiment, the Z-axis motion input unit and the second support module 52 are provided as a coplanar integrated module, integrally machined in the material.

In an embodiment of the present invention, preferably, as shown in fig. 1 to 5, the planar three-degree-of-freedom motion decoupling compliant mechanism further includes: a first screw 6, a second screw 7, a third screw 8 and a fourth screw 9; the first support module 51 is provided with a first bolt hole 511, the second support module 52 is further provided with a second bolt hole 521, the leg module 53 is provided at an upper end surface with a third bolt hole 531 and at a lower end surface with a fourth bolt hole, the output module 1 is provided with a fifth bolt hole 11, the first short rigid block 417 is provided with a sixth bolt hole 4171, the second short rigid block 418 is provided with a seventh bolt hole 4181, the Z-axis motion input module 421 is provided with an eighth bolt hole 4212, a first screw 6 is inserted into the first bolt hole 511 of the first support module 51 and the third bolt hole 531 of the upper end surface of the leg module 53 to connect the first support module 51 with the leg module 53, a second screw 7 is inserted into the fourth bolt hole 521 of the lower end surface of the leg module 53 and the second bolt hole 521 of the second support module 52 to connect the Z-axis motion input unit with the leg module 53, a third screw 8 is inserted into the fifth bolt hole 11 of the output module 1 and the sixth bolt hole 4171 of the first short rigid block 417, the output module 1 is connected to the Z-axis motion transmission unit 41, and the fourth screw 9 is inserted into the seventh bolt hole 4181 of the second short rigid block 418 and the eighth bolt hole 4212 of the Z-axis motion input module 421, so that the Z-axis motion transmission unit 41 is connected to the Z-axis motion input unit.

In an embodiment of the present invention, preferably, as shown in fig. 6 to 9, the planar three-degree-of-freedom motion decoupling compliant mechanism further includes: redundant flexible branches.

In one embodiment of the present invention, preferably, as shown in fig. 6 to 9, the redundant flexible branches are symmetrical structures of the respective flexible branches.

In this embodiment, the redundant flexible branches are symmetrical structures of the flexible branches, such as the X-axis flexible branches and the Y-axis flexible branches, which are merely preferred embodiments of the present invention and are not intended to limit the present invention, and it is obvious to those skilled in the art that various changes and modifications can be made, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be used in any one or more embodiments or examples.

Claims

1. A planar three-degree-of-freedom motion decoupling compliant mechanism is characterized by comprising: the device comprises an output module, a connecting unit and three flexible branched chains; the output module is a rigid block which is not easy to deform and has three directions of freedom of movement, and comprises: the degree of freedom makes linear motion along the directions of two mutually orthogonal axes X and Y in a plane and the degree of freedom makes rotary motion around the direction of a plane normal Z axis; the connecting unit is connected with an external foundation; the three flexible branched chains are mutually perpendicular and are respectively parallel or collinear with the three motion freedom directions of the output module, and the three flexible branched chains comprise: flexible branch chain of X axle, the flexible branch chain of Y axle and the flexible branch chain of Z axle, the one end and the output module of every flexible branch chain are connected, and the other end passes through the linkage unit and is connected with outside basis, and every flexible branch chain includes: the motion input unit and the motion transmission unit are sequentially connected; the motion input unit of the X-axis flexible branched chain only has the degree of freedom along the linear motion direction of the X-axis, the motion input unit of the Y-axis flexible branched chain only has the degree of freedom along the linear motion direction of the Y-axis, and the motion input unit of the Z-axis flexible branched chain only has the degree of freedom around the rotary motion direction of the Z-axis; the motion transmission unit of the X-axis flexible branched chain takes the linear motion direction along the Y-axis and the rotary motion direction around the Z-axis as the freedom degree direction, the motion transmission unit of the Y-axis flexible branched chain is in the direction of the degree of freedom in the linear motion direction along the X-axis and the rotary motion direction around the Z-axis, the motion transmission unit of the Z-axis flexible branched chain is in the direction of the degree of freedom in the linear motion direction along the X axis and the linear motion direction along the Y axis, the direction of the rotary motion around the Z axis is the direction of the limitation degree, so that the three flexible branched chains respectively drive and control the motion of the output module in the directions of three degrees of freedom, the motion of the output module in the three limiting system directions is limited together, and the motion decoupling of the output module in the three freedom degree directions is realized;

the Z-axis flexible branch chain comprises: a Z-axis motion input unit and a Z-axis motion transfer unit, the Z-axis motion transfer unit including a fifth elongated sheet, a sixth elongated sheet, a seventh elongated sheet, an eighth elongated sheet, a first long rigid block, a second long rigid block, a first short rigid block, and a second short rigid block, the fifth elongated sheet being perpendicular to the sixth elongated sheet, the seventh elongated sheet being perpendicular to the eighth elongated sheet such that the four elongated sheets are in two L-shaped configurations, the two L-shaped configurations being arranged parallel to each other, the first long rigid block being located at a parallel interval between the fifth elongated sheet and the seventh elongated sheet, and the first long rigid block having an upper surface connected to the fifth elongated sheet and a lower surface connected to the seventh elongated sheet, the second long rigid block being located at a parallel interval between the sixth elongated sheet and the eighth elongated sheet, and the second long rigid block having an upper surface connected to the sixth elongated sheet, the lower surface of the Z-axis motion input unit is connected with an eighth long thin sheet, a first long rigid block is parallel to a second long rigid block, the length of the first long rigid block is the same as that of the second long rigid block, a first short rigid block is located at the vertical intersection of a fifth long thin sheet and a sixth long thin sheet, a second short rigid block is located at the vertical intersection of a seventh long thin sheet and an eighth long thin sheet, the first short rigid block is parallel to the second short rigid block, the first short rigid block is connected with the output module, and the second short rigid block is connected with the Z-axis motion input unit.

2. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 1, wherein the connection unit comprises: the supporting leg module is of a rigid square structure, the upper end face of the supporting leg module is connected with the first supporting module, and the lower end face of the supporting leg module is connected with the second supporting module.

3. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 2, wherein the X-axis flexible branched chain comprises: the X-axis motion input unit and the X-axis motion transmission unit, the X-axis motion transmission unit is thin and thin slice-shaped, the X-axis motion input unit is of a parallelogram structure, and the X-axis motion input unit comprises: the X-axis motion input module is a rigid block, the first elongated sheet and the second elongated sheet are arranged in parallel and are equal in length, one ends of the first elongated sheet and the second elongated sheet are connected with the X-axis motion input module, and the other ends of the first elongated sheet and the second elongated sheet are connected with the first supporting module; the Y-axis flexible branch chain comprises: the Y-axis motion input unit and the Y-axis motion transfer unit are in a thin and long sheet shape, the Y-axis motion input unit is in a parallelogram structure and comprises: the Y-axis motion input module is a rigid block, the third elongated sheet and the fourth elongated sheet are arranged in parallel and are equal in length, one ends of the third elongated sheet and the fourth elongated sheet are connected with the Y-axis motion input module, and the other ends of the third elongated sheet and the fourth elongated sheet are connected with the first supporting module; the output module is vertically connected with one end of the X-axis motion transmission unit and one end of the Y-axis motion transmission unit, the other end of the X-axis motion transmission unit is vertically connected with the X-axis motion input unit, the other end of the Y-axis motion transmission unit is vertically connected with the Y-axis motion input unit, the X-axis motion input unit and the Y-axis motion input unit are mutually vertical and are connected with the first support module, the X-axis motion input unit and the Y-axis motion input unit share the first support module, and the output module, the X-axis flexible branched chain, the Y-axis flexible branched chain and the first support module are in a closed square structure; the Z-axis motion input unit comprises a Z-axis motion input module, a ninth elongated sheet, a tenth elongated sheet, a first rigid leg and a second rigid leg, the Z-axis motion input module is a rigid block and is connected with a second short rigid block of the Z-axis motion transmission unit, one end of the ninth elongated sheet and one end of the tenth elongated sheet are both vertically connected with the Z-axis motion input module, the other end of the ninth elongated sheet is vertically connected with one end of the first rigid leg, the other end of the tenth elongated sheet is vertically connected with one end of the second rigid leg, the first rigid leg and the second rigid leg are perpendicular to each other, the other end of the first rigid leg and the other end of the second rigid leg are both connected with the second support module, and an opening is formed in the second support module and used for connecting an external drive.

4. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 3, wherein the output module, the X-axis flexible branched chain, the Y-axis flexible branched chain and the first support module are arranged as a coplanar whole.

5. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 4, wherein the Z-axis motion input unit and the second support module are arranged as a coplanar whole.

6. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 5 further comprising a first screw, a second screw, a third screw and a fourth screw; the first support module is provided with a first bolt hole, the second support module is also provided with a second bolt hole, the upper end face of the landing leg module is provided with a third bolt hole, the lower end face of the landing leg module is provided with a fourth bolt hole, the output module is provided with a fifth bolt hole, the first short rigid block is provided with a sixth bolt hole, the second short rigid block is provided with a seventh bolt hole, the Z-axis motion input module is provided with an eighth bolt hole, a first screw is inserted into the first bolt hole on the first support module and the third bolt hole on the upper end face of the landing leg module to connect the first support module with the landing leg module, a second screw is inserted into the fourth bolt hole on the lower end face of the landing leg module and the second bolt hole on the second support module to connect the Z-axis motion input unit with the landing leg module, and the third screw is inserted into the fifth bolt hole on the output module and the sixth bolt hole on the first short rigid block, and connecting the output module with the Z-axis motion transmission unit, and inserting a fourth screw into a seventh bolt hole on the second short rigid block and an eighth bolt hole on the Z-axis motion input module to connect the Z-axis motion transmission unit with the Z-axis motion input unit.

7. The planar three-degree-of-freedom motion decoupling compliant mechanism of any one of claims 1-6, further comprising: redundant flexible branches.

8. The planar three-degree-of-freedom motion decoupling compliant mechanism of claim 7, wherein the redundant flexible branched chains are symmetrical structures of each flexible branched chain.