CN111085970B - Rigid-flexible coupling platform driven by ball screw and capable of externally adjusting rigidity - Google Patents
Rigid-flexible coupling platform driven by ball screw and capable of externally adjusting rigidity Download PDFInfo
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- CN111085970B CN111085970B CN201911275942.XA CN201911275942A CN111085970B CN 111085970 B CN111085970 B CN 111085970B CN 201911275942 A CN201911275942 A CN 201911275942A CN 111085970 B CN111085970 B CN 111085970B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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Abstract
The invention discloses a rigid-flexible coupling platform driven by a ball screw and capable of externally adjusting rigidity, which comprises a frame, a working platform and at least two groups of flexible hinges, wherein each group of flexible hinges is respectively arranged on two opposite end surfaces of a frame guide rail direction; the working platform is sleeved in the groove of the frame and is not contacted with the frame; the two end surfaces of the working platform are fixedly connected with the flexible hinge, and the main working direction of the flexible hinge is the displacement direction of the frame. The invention has the advantages that: 1. when the flexible hinge is replaced, a group of flexible hinges are replaced, so that the original assembly relationship can be ensured. 2. Each group can respectively adopt flexible hinges with different thicknesses, and the flexible hinges with different thicknesses can be arranged and combined to adapt to various working occasions. 3. When the flexible hinges with different thicknesses are adopted as the flexible hinges, the distribution of spring force can be changed according to the requirement, and the optimal working assembly condition is realized.
Description
Technical Field
The invention relates to a motion platform, in particular to a rigid-flexible coupling platform driven by a ball screw and externally adjusting rigidity.
Background
Most of the existing ball screw driving platforms are high-rigidity platforms, and the precision of the existing ball screw driving platforms is limited due to the existence of friction dead zones in final positioning. However, with the development of technology, the precision requirements of platform equipment are higher and higher, and the requirements of submicron or even nanometer are met, so that the traditional high-rigidity platform driven by a ball screw is difficult to realize.
FIG. 1 is a prior art rigid-flexible coupled platform with adjustable stiffness. As shown in fig. 1, A1 is a platform main body, A2 is a rigidity adjusting mechanism, and the rigidity adjusting mechanisms are symmetrically arranged at the front end and the rear end of the platform. The rigidity adjusting mechanism A2 is composed of an adjusting bracket A201, an adjusting bracket pressing block A202, a high-elasticity flexible hinge A203 and a flexible hinge pressing block A204 in FIG. 3. By changing the position of the adjusting bracket A201 in the rigidity adjusting mechanism A2, the effective length of the high-elasticity flexible hinge A203 is changed, namely the rigidity of the main flexible hinge is changed
Fig. 2 is a schematic diagram of another stiffness-adjustable rigid-flexible coupled platform. As shown in fig. 4 and 5, A1 is a rigidity adjusting mechanism, symmetrically arranged at the front end and the rear end of the platform, A2 is a working platform, A3 is a flexible hinge integrally processed, and A4 is a rigid frame. The rigidity adjusting mechanism A1 is composed of a high-elasticity flexible hinge A101, a flexible hinge pressing block A102, a fixing block A103 and a fixing block A104 in FIG. 6. The effective acting length of the high-elasticity flexible hinge A101 can be adjusted by changing the width of the front flexible hinge pressing block A102 and the rear flexible hinge pressing block A102 of the high-elasticity flexible hinge A101, namely the rigidity of the flexible hinge is adjusted. The rigidity-adjustable rigid-flexible coupling platform has the following defects: 1. the flexible hinge is arranged at the gap between the working platform and the rigid frame, and in actual processing operation, if the rigidity of the flexible hinge needs to be adjusted, the flexible hinge needs to be adjusted from the internal gap, which is very complicated and is not beneficial to improving the efficiency of industrial production; 2. the rigid-flexible coupling platform adopts a composite flexible hinge structure, the working area of the working platform is very small, and the actual industrial production requirement is difficult to meet.
Disclosure of Invention
The present invention is directed to overcoming at least one of the above-mentioned drawbacks of the prior art by providing a ball screw driven externally adjustable stiffness rigid-flexible coupled platform and method of controlling the same. The flexible hinge adopts an external combined structure, is divided into at least three groups and is respectively arranged outside two ends of the rigid-flexible coupling platform, and when the rigidity of the flexible hinge needs to be regulated, the external flexible hinge only needs to be replaced by different thicknesses so as to adapt to various working conditions.
The aim of the invention can be achieved by adopting the following technical scheme:
a rigid-flexible coupling platform driven by a ball screw and capable of externally adjusting rigidity comprises a frame, a working platform and at least two groups of flexible hinges, wherein each group of flexible hinges are respectively arranged on two opposite end surfaces of a frame guide rail in the direction; the working platform is sleeved in the groove of the frame and is not contacted with the frame; the two end faces of the working platform are fixedly connected with the flexible hinge, the working platform is connected with the power output end of the driving device, and the main working direction of the flexible hinge is the displacement direction of the frame.
As a preferable scheme, the side face of the frame is provided with a notch, the flexible hinge is covered and fixed on the notch, the side face of the working platform is provided with a protrusion, and the protrusion extends into the notch and is fixedly connected with the flexible hinge.
As a preferable scheme, the upper surface of the flexible hinge is connected to the frame through an upper pressing block and a lower pressing block, the working platform is connected to the flexible hinge through a middle pressing block, and the middle pressing block is arranged between the upper pressing block and the lower pressing block.
As a preferable scheme, the upper end of the notch is fixedly provided with a blank holder plate, the upper part of the flexible hinge is fixedly connected with the blank holder plate through an upper pressing block, the lower part of the flexible hinge is fixedly connected with the frame through a lower pressing block, and the middle part of the flexible hinge is fixedly connected with the bulge of the working platform through a middle pressing block.
Further, an opening is formed in the inner bottom surface of the frame, and a power output end of the driving device is fixedly connected with the bottom surface of the working platform through the opening.
Further, the driving device comprises a base, a ball screw, a nut and a servo motor fixedly installed on the base, wherein the ball screw is rotatably installed on the base, the nut is in transmission connection with the ball screw, and a rotating shaft of the servo motor is fixedly connected with the ball screw.
Further, the bottom end of the frame is fixedly provided with a sliding block, the base is provided with a linear guide rail, and the sliding block can be slidably arranged on the linear guide rail.
Further, the rotating shaft of the servo motor is fixedly connected with the ball screw through a coupler.
The implementation of the invention has the following beneficial effects:
1. the flexible hinges are arranged in a plurality of groups and are arranged on the side surfaces of the frame, and the side surfaces of the working platform are connected with the flexible hinges, so that the working platform is sleeved in the frame in a suspended manner, and the frame and the working platform are assembled. When the rigidity of the flexible hinge needs to be regulated, the flexible hinge arranged outside the frame only needs to be replaced by different thicknesses, the whole platform does not need to be disassembled, and the rigidity regulating device is simple, convenient, quick and flexible to replace, and skillfully solves the problem of relatively complicated rigidity regulating.
2. The invention sets the flexible hinges into a plurality of groups and is arranged outside the frame, and the structure has the following 3 advantages: 1. when the flexible hinge is replaced, a group of flexible hinges are replaced, so that the original assembly relationship can be ensured. If there is only one set, the original assembly relationship is destroyed at the time of replacement. 2. The three groups can respectively adopt flexible hinges with different thicknesses, and can adapt to various working occasions through the arrangement and combination of the flexible hinges with different thicknesses. If there is only one group, a large number of flexible hinges with different thicknesses are needed, so that the cost is increased, and the flexible hinges are difficult to adapt to various working conditions. 3. In addition, when the flexible hinges with different thicknesses are respectively adopted by the plurality of groups of flexible hinges, the distribution of the spring force can be changed according to the requirement so as to realize the optimal working assembly condition. If there is only one group, this cannot be achieved.
3. The frame and the working platform are respectively processed without adopting an integrally processed flexible hinge structure. Thus, the fatigue life of the flexible hinge is ensured, and the workable area of the working platform is increased. And the rigidity of the flexible hinges at the two ends can be adjusted by changing the external flexible hinges with different thicknesses, so that the application range of the platform is enlarged, the adjustment is very convenient, and the industrial production efficiency is improved.
4. When in installation, the flexible hinges are divided into a left group, a middle group and a right group by the upper group, the middle group and the lower group of flexible hinge pressing blocks, and the flexible hinges are arranged on two opposite sides of the frame and connected with the working platform. The upper and lower groups of flexible hinge press blocks fix the flexible hinges outside the two ends of the frame, and the middle group of flexible hinge press blocks connect the flexible hinges, the working platform and the frame together, so that the assembly relationship is realized, and the installation, the replacement and the adjustment of the flexible hinges are convenient.
5. The bulge of the invention can pass through the notch and then be connected with the flexible hinge, so that the working platform is connected with the flexible hinge, the working platform is suspended and sleeved in the frame, and meanwhile, the flexible hinge can be mounted on the frame, thereby facilitating the replacement of the flexible hinge, and the whole platform is not required to be disassembled, and the replacement is simple, convenient, quick and flexible.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a diagram of a rigid-flexible coupled platform with adjustable rigidity in the prior art.
Fig. 2 is an isometric view of a rigidity adjusting mechanism of a rigidity-adjustable rigid-flexible coupling platform in the prior art.
Fig. 3 is a partial enlarged view of the installation position of the rigidity adjusting mechanism of the rigidity-adjustable rigid-flexible coupling platform in the prior art.
Fig. 4 is a schematic diagram of another stiffness-adjustable rigid-flexible coupled platform.
Fig. 5 is an isometric view of a mounting position of a rigidity adjusting mechanism of another rigidity-adjustable rigid-flexible coupling platform in the prior art.
Fig. 6 is a partial enlarged view of a mounting location of a stiffness adjustment mechanism of another stiffness-adjustable rigid-flexible coupled platform in the prior art.
Fig. 7 is an overall schematic diagram of a rigid-flexible coupled motion platform structure with externally adjusted stiffness.
FIG. 8 is an exploded view of a rigid-flexible coupled motion platform structure with externally tuned stiffness.
Fig. 9 is an axial cross-sectional view and a partial enlarged view of an externally stiffness-adjusted rigid-flexible coupled motion platform structure.
Fig. 10 is a front cross-sectional view of an assembly of an externally stiffness-tuned rigid-flexible coupled motion platform structure.
FIG. 11 is a schematic view of a ball screw driven externally tuned stiffness rigid-flexible coupled motion platform.
FIG. 12 is an exploded schematic view of a ball screw driven externally tuned stiffness rigid-flexible coupled motion platform.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 7 to 11, the present embodiment relates to a ball screw driven externally stiffness-adjusting rigid-flexible coupling platform, comprising a frame 1, a working platform 2 and at least two sets of flexible hinges 3, wherein each set of flexible hinges 3 is respectively arranged on two opposite end surfaces of the frame 1 in the direction of a guide rail; the working platform 2 is sleeved in the groove 11 of the frame 1, and the working platform 2 is not contacted with the frame 1; the two end faces of the working platform 2 are fixedly connected with the flexible hinge 3, the working platform 2 is fixedly connected with a nut 42 of the ball screw 41, and the main working direction of the flexible hinge 3 is the displacement direction of the working platform 2.
The flexible hinges 3 of the present embodiment are arranged in three groups. Three groups of flexible hinges 3 are respectively arranged on the side surfaces of the frame 1, and the side surfaces of the working platform 2 are connected with the flexible hinges 3, so that the working platform 2 is sleeved in the frame 1 in a suspended manner, and the assembly of the frame 1 and the working platform 2 is realized. When the rigidity of the flexible hinge is required to be regulated, the flexible hinge 3 arranged outside the frame 1 is only required to be replaced by different thicknesses, the whole platform is not required to be disassembled, and the rigidity regulating device is simple, convenient, quick and flexible to replace, and skillfully solves the problem of relatively complicated rigidity regulating. Furthermore, the flexible hinges 3 are provided in three groups and outside the frame 1, such a structure has the following 3 advantages:
1. when the flexible hinge is replaced, a group of flexible hinges are replaced, so that the original assembly relationship can be ensured. If there is only one set, the original assembly relationship is destroyed at the time of replacement.
2. The three groups can respectively adopt flexible hinges with different thicknesses, and can adapt to various working occasions through the arrangement and combination of the flexible hinges with different thicknesses. If there is only one group, a large number of flexible hinges with different thicknesses are needed, so that the cost is increased, and the flexible hinges are difficult to adapt to various working conditions.
3. In addition, when the three groups of flexible hinges respectively adopt flexible hinges with different thicknesses, the distribution of spring force can be changed according to the requirement so as to realize the optimal working assembly condition. If there is only one group, this cannot be achieved.
The frame 1 and the working platform 2 of the invention are respectively processed without adopting an integrally processed flexible hinge structure. Thus, the fatigue life of the flexible hinge is ensured, and the workable area of the working platform 2 is increased. And the rigidity of the flexible hinges 3 at the two ends can be adjusted by changing the external flexible hinges with different thicknesses, so that the application range of the platform is enlarged, the adjustment is very convenient, and the industrial production efficiency is improved.
The side of the frame 1 is provided with a notch 12, the flexible hinge 3 is covered and fixed on the notch 12, the side of the working platform 2 is provided with a bulge 21, and the bulge 21 stretches into the notch 12 and is fixedly connected with the flexible hinge 3.
The protrusion 21 can penetrate through the notch 12 and then be connected with the flexible hinge 3, so that the connection between the working platform 2 and the flexible hinge 3 is realized, the working platform 2 is suspended and sleeved in the frame 1, meanwhile, the flexible hinge 3 can be mounted on the frame 1, the replacement of the flexible hinge 3 is convenient, the whole platform is not required to be dismounted, and the replacement is simple, convenient, quick and flexible.
The upper surface of the flexible hinge 3 is connected to the frame 1 through an upper pressing block 31 and a lower pressing block 33, the working platform 2 is connected to the flexible hinge 3 through a middle pressing block 32, and the middle pressing block 32 is arranged between the upper pressing block 31 and the lower pressing block 33.
At the time of installation, the flexible hinges 3 are divided into three groups of left, middle and right by upper, middle and lower three groups of flexible hinge press blocks (31, 32, 33) which are installed on two opposite sides of the frame 1 and connect the work platform 2. The upper and lower groups of flexible hinge press blocks fix the flexible hinges outside the two ends of the frame 1, and the middle group of flexible hinge press blocks connect the flexible hinges 3, the working platform 2 and the frame 1 together, so that the assembly relationship is realized, and the installation, the replacement and the adjustment of the flexible hinges 3 are convenient.
The upper end of the notch 12 is fixedly provided with a blank holder plate 5, the upper part of the flexible hinge 3 is fixedly connected with the blank holder plate 5 through an upper pressing block 31, the lower part of the flexible hinge 3 is fixedly connected with the frame 1 through a lower pressing block 33, and the middle part of the flexible hinge 3 is fixedly connected with the bulge 21 of the working platform 2 through a middle pressing block 32.
In order to facilitate the assembly between the frame 1 and the work platform 2, the tops of both ends of the groove 11 of the frame 1 are not integrally processed, but are assembled with the edge sealing press plate 5 by a connecting member such as a screw.
As shown in fig. 11 and 12, the inner bottom surface of the frame 1 is provided with an opening 10, and the ball screw 41 is fixedly connected with the bottom surface of the working platform 2 through the opening 10 by a nut 42. The ball screw 41 is rotatably installed on the base 6, and the servo motor 7 in transmission connection with the ball screw 41 is installed on the base 6. The bottom end of the frame 1 is fixedly provided with a sliding block 81, the base 6 is provided with a linear guide rail 82, and the sliding block 81 is slidably arranged on the linear guide rail 82. The rotating shaft of the servo motor 7 is fixedly connected with the ball screw 41 through a coupler 9.
The bottom end of the frame 1 is connected with the linear guide 82 through the sliding block 81 and forms a sliding pair connection with the base 6. The linear guide 82 and the base 6 are fixed to each other by a rigid connection such as a screw connection. The working platform 2 is connected to a nut 42 of a ball screw 41 through the opening 10. The nut 42 is driven by the servo motor to drive the ball screw 41, applies driving force to act on the working platform 2, drives the flexible hinge 3 to elastically deform, and realizes directional displacement of the frame 1 and the sliding block 81 on the linear guide rail 82. All the single-degree-of-freedom large-stroke high-precision motion platform components are manufactured in a general machining mode, special components such as air floatation and magnetic suspension are not adopted, and the cost is low.
The above disclosure is only a preferred embodiment of the present invention, and it is needless to say that the scope of the invention is not limited thereto, and therefore, the equivalent changes according to the claims of the present invention still fall within the scope of the present invention.
Claims (7)
1. The rigid-flexible coupling platform is characterized by comprising a frame, a working platform and at least two groups of flexible hinges, wherein each group of flexible hinges are respectively arranged on two opposite end surfaces of a frame in the direction of a guide rail; the working platform is sleeved in the groove of the frame and is not contacted with the frame; the two end faces of the working platform are fixedly connected with the flexible hinge, the working platform is connected with the power output end of the driving device, and the main working direction of the flexible hinge is the displacement direction of the frame;
the upper surface of the flexible hinge is connected to the frame through an upper pressing block and a lower pressing block, the working platform is connected to the flexible hinge through a middle pressing block, and the middle pressing block is arranged between the upper pressing block and the lower pressing block;
the flexible hinges are arranged into three groups, the three groups of flexible hinges are respectively arranged on the side face of the frame, and the side face of the working platform is connected with the flexible hinges, so that the working platform is sleeved in the frame in a suspended manner.
2. The externally stiffness-adjustable rigid-flexible coupling platform driven by a ball screw according to claim 1, wherein the side surface of the frame is provided with a notch, the flexible hinge is covered and fixed on the notch, and the side surface of the working platform is provided with a protrusion, and the protrusion extends into the notch and is fixedly connected with the flexible hinge.
3. The ball screw driven rigid-flexible coupling platform for externally adjusting rigidity according to claim 2, wherein the upper end of the notch is fixedly provided with a blank holder plate, the upper part of the flexible hinge is fixedly connected with the blank holder plate through an upper pressing block, the lower part of the flexible hinge is fixedly connected with the frame through a lower pressing block, and the middle part of the flexible hinge is fixedly connected with the bulge of the working platform through a middle pressing block.
4. A ball screw driven externally adjustable stiffness rigid flexible coupling platform according to any of claims 1 to 3, wherein the inner bottom surface of the frame is open and the power take off of the drive means is fixedly connected to the bottom surface of the work platform through the opening.
5. The externally stiffness-adjustable rigid-flexible coupling platform driven by a ball screw according to claim 1, wherein the driving device comprises a base, the ball screw, a nut and a servo motor fixedly mounted on the base, the ball screw is rotatably mounted on the base, the nut is in transmission connection with the ball screw, and a rotating shaft of the servo motor is fixedly connected with the ball screw.
6. The externally stiffness-adjustable rigid-flexible coupling platform driven by a ball screw according to claim 5, wherein a sliding block is fixedly arranged at the bottom end of the frame, a linear guide rail is arranged on the base, and the sliding block is slidably arranged on the linear guide rail.
7. The externally adjustable stiffness rigid-flexible coupling platform of claim 5 wherein the shaft of the servo motor is fixedly coupled to the ball screw via a coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911275942.XA CN111085970B (en) | 2019-12-12 | 2019-12-12 | Rigid-flexible coupling platform driven by ball screw and capable of externally adjusting rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911275942.XA CN111085970B (en) | 2019-12-12 | 2019-12-12 | Rigid-flexible coupling platform driven by ball screw and capable of externally adjusting rigidity |
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| Publication Number | Publication Date |
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| CN111085970A CN111085970A (en) | 2020-05-01 |
| CN111085970B true CN111085970B (en) | 2023-06-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100497729B1 (en) * | 2003-02-21 | 2005-06-28 | 한국과학기술원 | 3 axes linear motion stage using flexure mechanism |
| CN105666225B (en) * | 2016-04-22 | 2018-02-16 | 清华大学 | A kind of ultraprecise low speed ball-screw straight-line feed device |
| CN109531184B (en) * | 2018-12-13 | 2023-10-03 | 广东工业大学 | Rigid-flexible coupling platform with rigidity adjusted on two sides and motion platform |
| CN110281033B (en) * | 2019-05-28 | 2022-02-25 | 广东工业大学 | Multi-axis rigid-flexible coupling motion platform |
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