CN111326208A - Flexible moving device - Google Patents
Flexible moving device Download PDFInfo
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- CN111326208A CN111326208A CN201811526575.1A CN201811526575A CN111326208A CN 111326208 A CN111326208 A CN 111326208A CN 201811526575 A CN201811526575 A CN 201811526575A CN 111326208 A CN111326208 A CN 111326208A
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Abstract
An embodiment of the present invention provides a flexible mobile device, including: the device comprises a fixed seat, N middle rigid bodies, a mobile platform and N groups of elastic components; wherein N is greater than or equal to 2, and one group of elastic pieces comprises four elastic pieces; the N intermediate rigid bodies are arranged in the fixed seat; the mobile platform is positioned below the N middle rigid bodies; the N middle rigid bodies are respectively and elastically connected with the mobile platform through the N groups of elastic pieces; the middle rigid body is also elastically connected with the fixed seat through the N groups of elastic pieces. The flexible moving device provided by the embodiment of the invention has a simple structure and can be realized in an integrated processing mode; the number of the connecting points is reduced, so that the influence of gaps and friction at the connecting points on the moving direction and the moving distance of the moving platform is reduced, and the offset of the moving platform in the moving process is reduced; the high-precision small-stroke movement and the high-precision positioning can be realized on the premise of a unique component.
Description
Technical Field
The embodiment of the invention relates to a flexible mechanical structure technology, in particular to a flexible mobile device.
Background
With the development of science and technology, the precision requirement on precision machinery is higher and higher, wherein in the design of a precision machinery structure, gaps and friction among parts are main factors influencing the precision of the precision machinery. When the precision machine works, the force or the movement is transmitted by the mutually connected rigid components, so that the precision machine finishes the work.
Because the connection relationship between the rigid components is complex, when the precision machinery works, the problems of hinge clearance and friction inevitably exist between the rigid components which are connected with each other, so that the motion error generated in the motion process of the precision machinery is large, for example, the motion direction is deviated, and the motion distance is inaccurate.
Disclosure of Invention
Embodiments of the present invention provide a flexible moving apparatus to solve the problem of a large error caused by a complicated connection relationship between rigid members in a precision machine and a hinge gap and friction between the rigid members connected to each other due to the complicated connection relationship.
In a first aspect, an embodiment of the present invention provides a flexible mobile device, including:
the device comprises a fixed seat, N middle rigid bodies, a mobile platform and N groups of elastic components; wherein N is greater than or equal to 2; the group of elastic pieces comprises four elastic pieces;
the N intermediate rigid bodies are arranged in the fixed seat; the mobile platform is positioned below the N middle rigid bodies;
the N middle rigid bodies are respectively and elastically connected with the mobile platform through the N groups of elastic pieces;
the middle rigid body is also elastically connected with the fixed seat through the N groups of elastic parts respectively.
In a possible embodiment, N grooves are arranged in the fixing seat, and two adjacent grooves are separated by a groove wall;
each groove is internally provided with one middle rigid body.
In a possible embodiment, N is equal to 2.
In a possible embodiment, the upper parts of the two ends of the moving platform are respectively located at the openings of the two grooves of the fixed seat.
In a possible implementation mode, a concave part is arranged between two ends of the moving platform; the groove wall is embedded in the recess.
In a possible embodiment, the length of the two ends of the moving platform is smaller than the length of the opening of the groove; the thickness of the groove wall is smaller than the length of the opening of the concave part.
In a possible implementation manner, one end of each of the four elastic pieces is connected with the middle rigid body, and the other ends of the two outermost elastic pieces between the middle rigid body and the mobile platform are connected with the fixed seat; the other ends of the two innermost elastic sheets between the middle rigid body and the mobile platform are connected with the mobile platform, so that the mobile platform can perform translational motion between the side walls at the two ends of the fixed seat along the length direction of the flexible mobile device.
In a possible embodiment, the included angle between the elastic sheet and the vertical direction is equal; wherein the included angle is greater than or equal to 0 degree and less than 90 degrees.
In one possible embodiment, the elastic pieces are arranged symmetrically.
In a possible embodiment, the elastic piece is angled at 10 ° to the vertical.
The embodiment of the invention provides a flexible moving device, wherein an intermediate rigid body is respectively and elastically connected with a fixed seat and a moving platform through an elastic piece, the whole flexible moving device is a unique part, namely, no complex assembly relation exists, the flexible moving device can be manufactured in a one-step processing mode, the number of connecting points is reduced, and therefore the influence of gaps and friction at the connecting points on the moving direction and the moving distance of the moving platform is reduced. When the flexible moving device is used, the fixed seat is fixed, the pushing device is used for pushing the moving platform, the stress action of the elastic sheet is utilized to enable the moving platform to move, the moving platform can realize linear movement in the stroke, and the moving platform is enabled to abut against the pushing device through the stress action of the elastic sheet, so that no gap exists. And the offset of the direction of the mobile platform in the moving process is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic overall structure of a flexible mobile device according to an embodiment of the present invention;
FIG. 2 is a front view of a flexible mobile device according to another embodiment of the present invention;
fig. 3 is a front view of a flexible moving device according to an embodiment of the present invention, wherein an included angle between an elastic member and a vertical direction is 0 °;
FIG. 4 is a schematic view of a flexible ladder assembly of the flexible mobile device of FIG. 2 in a normal state;
FIG. 5 is a schematic view of the embodiment of FIG. 2 of the present invention when the flexible displacement device is pushed to the right;
FIG. 6 is a schematic diagram illustrating rotation of an intermediate rigid body and a mobile platform in the flexible mobile device provided in the embodiment of FIG. 5;
fig. 7 is a front view of a flexible moving device according to another embodiment of the present invention, wherein an included angle between an elastic member and a vertical direction is 5 °;
fig. 8 is a front view of a flexible moving device according to another embodiment of the present invention, wherein an included angle between the elastic member and the vertical direction is 15 °;
fig. 9 is a front view of a flexible moving device according to another embodiment of the present invention, wherein an included angle between an elastic member and a vertical direction is 20 °;
fig. 10 is a front view of a flexible moving device according to another embodiment of the present invention, wherein an angle between an elastic member and a vertical direction is 25 °.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiments of the present invention, the term "at least one" means one or more, and the term "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple. In addition, the orientations described in the embodiments of the present invention are only the positional relationships shown in the drawings, and the positional relationships are not limited.
The flexible mechanism is a member which transmits a certain specific force or motion by utilizing the motion of the flexible hinge and the motion generated by the elastic deformation of the flexible member to finally complete a given function, and has the advantages of high precision, light weight, low cost, easy miniaturization and the like. Therefore, the application range of the flexible mechanism is continuously expanded, and the flexible mechanism is widely applied to many advanced fields such as precision machinery and precision instruments. The embodiment of the invention designs the flexible moving device by utilizing the characteristics of the flexible mechanism.
Fig. 1 is a schematic overall structure of a flexible mobile device according to an embodiment of the present invention. As shown in fig. 1, the flexible moving apparatus includes: the fixing base 10, N groups of elastic members 20, N intermediate rigid bodies 30, and the moving platform 40. Wherein N is greater than or equal to 2, and the group of elastic members 20 includes four elastic pieces.
The N intermediate rigid bodies 30 are arranged in the fixed seat 10; the mobile platform 40 is located below the intermediate rigid body 30;
the N intermediate rigid bodies 30 are elastically connected to the moving platform 40 through N sets of elastic members 20, respectively;
the N intermediate rigid bodies 30 are also elastically connected to the fixing base 10 through N sets of elastic members 20.
In this embodiment, the number of the intermediate rigid bodies 30 is at least two, and each intermediate rigid body 30 corresponds to one set of the elastic members 20. Each intermediate rigid body 30 may be elastically connected to the movable platform 40 through a set of elastic members 20, and may also be elastically connected to the fixed base 10 through the set of elastic members 20. In the present embodiment shown in fig. 1, the flexible moving device is provided with two intermediate rigid bodies 30, wherein each intermediate rigid body 30 is elastically connected to the moving platform 40 and the fixed seat 10 through a set of elastic members 20, it should be noted that each set of elastic members in the present embodiment is composed of at least two connecting components with elastic performance, wherein fig. 1 shows a case that each set of elastic members includes four connecting components with elastic performance.
The intermediate rigid body 30 is parallel to the mobile platform 40, and the intermediate rigid body 30 is located right above the mobile platform 40, and the mobile platform 40 moves in a direction parallel to the flexible mobile device. When the moving platform 40 receives an urging force in the same direction as the direction parallel to the intermediate rigid body 30, the elastic member 20 is elastically deformed, so that the moving platform 40 is translated in the direction parallel to the intermediate rigid body 30.
In the embodiment, the middle rigid body is respectively and elastically connected with the fixed seat and the mobile platform through the elastic piece, the whole flexible mobile device is a unique part, namely, no complex assembly relation exists, the flexible mobile device can be manufactured in a one-step processing mode, the number of connection points is reduced, and therefore the influence of the gap and the friction at the connection points on the moving direction and the moving distance of the mobile platform is reduced. When the flexible moving device is used, the fixed seat is fixed, the pushing device is used for pushing the moving platform, the stress action of the elastic sheet is utilized to enable the moving platform to move, the moving platform can realize linear movement in the stroke, and the moving platform is enabled to abut against the pushing device through the stress action of the elastic sheet, so that no gap exists. And the offset of the direction of the mobile platform in the moving process is reduced.
Optionally, N grooves are formed in the fixing seat 10, and two adjacent grooves are separated by a groove wall;
one intermediate rigid body 30 is disposed in each groove.
Optionally, N is equal to 2.
Fig. 2 is a front view of a flexible mobile device according to another embodiment of the present invention. Optionally, as shown in fig. 2, on the basis of the embodiment shown in fig. 1, two grooves 11 and 12 are provided in the fixing base 10, and the two grooves are separated by a groove wall 13;
an intermediate rigid body 30 is disposed in each of the two grooves 11, 12.
The intermediate rigid body 30 includes an intermediate rigid body 3A and an intermediate rigid body 3B, the intermediate rigid body 3A is located in the groove 11, and the intermediate rigid body 3B is located in the groove 12.
The intermediate rigid body 30 is disposed in the two grooves 11, 12 of the fixing base 10, so that other components can be prevented from touching the intermediate rigid body 30, and the problem of direction deviation or inaccurate moving distance when the moving platform 40 moves due to the position change of the intermediate rigid body 30 can be avoided.
Alternatively, still referring to fig. 2, the upper parts of the two ends of the movable platform 40 are respectively located at the openings of the two grooves 11, 12 of the fixed seat 10.
Optionally, still referring to fig. 2, a concave portion 41 is disposed between two ends of the moving platform 40; the groove wall 13 is fitted into the recess 41.
Optionally, the length of the two ends of the moving platform 40 is smaller than the length of the opening of the groove 11 and the groove 12, and the thickness of the groove wall 13 is smaller than the length of the opening of the recess 41.
Optionally, the elastic member 20 includes four elastic pieces, one end of each of the four elastic pieces is connected to the middle rigid body 30, and the other ends of the two outermost elastic pieces located between the middle rigid body 30 and the moving platform 40 are connected to the fixed seat 10; the other ends of the two innermost elastic members 20 between the middle rigid body 30 and the moving platform 40 are connected to the moving platform 40, so that the moving platform 40 performs a translational motion between the two end sidewalls of the fixed seat 10 along the length direction of the flexible moving device. Preferably, the resilient tab may be a flexible spring, for example.
Specifically, as shown in fig. 2, the elastic element 20 connected to the intermediate rigid body 3A includes an elastic piece 2A, an elastic piece 2B, an elastic piece 2C, and an elastic piece 2D, and the elastic element 20 connected to the intermediate rigid body 3B includes an elastic piece 2E, an elastic piece 2F, an elastic piece 2G, and an elastic piece 2H. Taking the intermediate rigid body 3A as an example, the intermediate rigid body 3A is elastically connected to the fixed base 10 through the elastic pieces 2A and 2D, and is elastically connected to the moving platform 40 through the elastic pieces 2B and 2C, so that the moving platform 40 performs a translational motion between the side walls of the two ends of the fixed base 10 along the length direction of the flexible moving device (i.e., the direction parallel to the intermediate rigid body 3A).
In this embodiment, through two elastic component respectively with middle rigid body and moving platform, fixing base elastic connection, increased flexible mobile device's stability to direction offset and improvement translation distance's accuracy when can reduce the moving platform translation.
Alternatively, still referring to fig. 2, the elastic member 20 is angled equally from the vertical; wherein the included angle is greater than or equal to 0 degree and less than 90 degrees.
Specifically, the included angles of the elastic sheet 2A, the elastic sheet 2B, the elastic sheet 2C, the elastic sheet 2D, the elastic sheet 2E, the elastic sheet 2F, the elastic sheet 2G and the elastic sheet 2H with the vertical direction are equal, and the included angles can be changed within 0-90 degrees. Fig. 2 shows a case where the included angle between the elastic piece 2A, the elastic piece 2B, the elastic piece 2C, the elastic piece 2D, the elastic piece 2E, the elastic piece 2F, the elastic piece 2G, and the elastic piece 2H and the vertical direction is an acute angle, and fig. 3 shows a case where the included angle between the elastic piece 2A, the elastic piece 2B, the elastic piece 2C, the elastic piece 2D, the elastic piece 2E, the elastic piece 2F, the elastic piece 2G, and the elastic piece 2H and the vertical direction is 0 °.
In the embodiment, the moving distance of the moving platform can be changed by changing the included angle between the elastic sheet and the vertical direction, so that different requirements can be met.
Alternatively, still referring to fig. 2, and based on the above embodiments shown in fig. 2, the elastic members 20 are arranged symmetrically.
Specifically, the symmetrical arrangement will be described by taking as an example the elastic piece 2A, the elastic piece 2B, the elastic piece 2C, and the elastic piece 2D elastically connected to the intermediate rigid body 3A. As shown in fig. 2, the elastic piece 2A is symmetrical to the elastic piece 2D, and the elastic piece 2B is symmetrical to the elastic piece 2C. As shown in fig. 4, the elastic sheet 2A, the elastic sheet 2D, the fixed base 10, the intermediate rigid body 3A and the movable platform 40 are combined to form a flexible trapezoid ABCD, and the elastic sheet 2B, the elastic sheet 2C, the intermediate rigid body 3A and the movable platform 40 are combined to form a flexible trapezoid EFGH.
Fig. 5 is a schematic diagram of the embodiment of fig. 2 of the present invention when the flexible moving device is pushed to the right. As shown in fig. 5, when the moving platform 40 is pushed to the right, the elastic pieces 2A, 2B, 2C, and 2D are elastically deformed, so that the intermediate rigid body 3A rotates counterclockwise, and the moving platform 40 moves to the right end of the flexible moving apparatus. If there are no other devices under the mobile platform 40, for example, a flexible mobile device is suspended, the mobile platform 40 will be parallel to the intermediate rigid body 3A when the mobile platform 40 is pushed to the right. However, in practice, because there is a support device under the mobile platform 40, for example, the mobile platform 40 is located on the ground, the mobile platform 40 can be considered to rotate clockwise relative to the position of the mobile platform 40 when there is no other device under the mobile platform 40. In particular, the method comprises the following steps of,
fig. 6 is a schematic diagram illustrating rotation of the intermediate rigid body and the mobile platform in the flexible mobile device according to the embodiment shown in fig. 5. As shown in fig. 6, when the moving platform 40 is pushed to the right, the sides AC (elastic piece 2A) and BD (elastic piece 2D) of the flexible trapezoid ABCD are elastically deformed, and the side AB (intermediate rigid body 3A) is elastically deformed by O1Rotate counterclockwise by a rotation angle theta1. Similarly, the sides EG (elastic sheet 2B) and FH (elastic sheet 2C) of the flexible trapezoidal EFGH are elastically deformed, and the side EF (intermediate rigid body 3A) is O2Rotate counterclockwise by a rotation angle theta1If there are no other devices under the moving platform 40, the GH (moving platform 40) is just in timeThe needle is rotated by an angle theta2. At this time, since the elastic pieces 2A, 2B, 2C, and 2D are four-bar mechanisms symmetrically arranged, the angle of rotation of the intermediate rigid body 3A is equal to the angle of rotation of the moving platform 40, that is, θ1＝θ2So that the moving platform 40 makes a straight line motion to the right, thereby realizing a one-dimensional moving function, reducing the offset of the flexible moving device during moving, reducing the moving error and enabling the moving distance to be more accurate.
Optionally, the included angle between the elastic piece 2A, the elastic piece 2B, the elastic piece 2C, the elastic piece 2D, the elastic piece 2E, the elastic piece 2F, the elastic piece 2G, and the elastic piece 2H and the vertical direction is 10 °.
When the distance between the intermediate rigid body 30 and the moving platform 40 is constant, the flexible moving device has different performances due to different included angles between the elastic pieces 2A, 2B, 2C, 2D, 2E, 2F, 2G, 2H and the vertical direction. The performance of the flexible mobile device is comprehensively evaluated through three indexes of motion rigidity, the maximum moving distance of the mobile platform 40 and dynamic performance.
The motion stiffness is defined as a ratio of stress to deformation, and the motion stiffness of the flexible mobile device in the embodiment of the present invention can be represented by formula 1:
k denotes the kinematic stiffness of the flexible moving means, K1Represents the kinematic stiffness, K, of the intermediate rigid body 20 after being stressed2Representing the stiffness of the motion of the mobile platform 40 after being stressed, wherein,
e, I are related to the properties of the material of the elastic member 20. As shown in fig. 4, H1 represents the distance between the moving platform 40 and the center O1 of the rotation of the intermediate rigid body 20, H2 represents the distance between the intermediate rigid body 20 and the center O2 of the rotation of the moving platform 40, and the included angles between H1 and H2 and the elastic element 20 and the vertical direction
Or
It is related. ht denotes the distance between the intermediate rigid body 30 and the moving platform 40.
The maximum moving distance of the moving platform 40 is the maximum distance that the moving platform 40 can move in a translational manner between the two side walls of the fixed seat 10, wherein in some embodiments, if the lengths of the two ends of the moving platform 40 are less than the length of the opening of the grooves 11 and 12, the difference between the lengths of the two ends of the moving platform 40 and the length of the opening of the groove 11 or the groove 12 is greater than or equal to the maximum moving distance of the moving platform 40. The thickness of the groove wall 13 is smaller than the length of the opening of the recess 41, and the difference between the thickness of the groove wall 13 and the length of the opening of the recess 41 is greater than or equal to the maximum moving distance of the moving platform 40.
In the embodiment of the present invention, the maximum moving distance of the moving platform 40 in the flexible moving device may be calculated by formula 2, and the expression of formula 2 may be:
where S represents the maximum travel distance of the moving platform 40 and E is the Young' S modulus of the material, [ sigma ] S]T represents the thickness of the elastic member 20 as the allowable stress of the material. As shown in fig. 4, H1 represents the distance between the moving platform 40 and the center O1 of the rotation of the intermediate rigid body 20, H2 represents the distance between the intermediate rigid body 20 and the center O2 of the rotation of the moving platform 40, and the included angles between H1 and H2 and the elastic element 20 and the vertical direction
Or
It is related. h istRepresenting the distance between the intermediate rigid body 30 and the mobile platform 40.
In the embodiment of the present invention, the dynamic performance of the flexible moving device is that the moving platform 40 performs a translational motion between the sidewalls of the two ends of the fixed seat 10 along the length direction of the flexible moving device, and the direction of the moving platform 40 does not deviate when the moving platform translates. In the embodiment of the present invention, when the moving platform 40 performs a translational motion between the two end sidewalls of the fixed base 10 along the length direction of the flexible moving device, since the larger the second order and the above natural frequencies of the moving platform 40 having the multi-order vibration modes except the first order natural frequency are, the less obvious the motions in other directions are when the moving platform 40 of the flexible moving device performs a translational motion between the two end sidewalls of the fixed base 10, that is, the better the dynamic performance of the flexible moving device is. The invention can effectively reduce the second-order and above natural frequency except the first-order natural frequency, and particularly, the second-order mode is rotation and not movement. Through a simulation system, as shown in fig. 7-10, the distance between the intermediate rigid body 30 and the mobile platform 40 is kept fixed, and the included angle between the elastic member 20 and the vertical direction is changed, so that the dynamic performance of the flexible mobile device is obtained. Wherein the dynamic performance is represented by a second order natural frequency of the flexible mobile device. According to simulation, the vibration mode corresponding to the second-order natural frequency of the flexible mobile device is rotation, and the value of the second-order natural frequency is increased along with the increase of the angle.
Considering the above three indexes in combination, as can be seen from analyzing the motion stiffness calculation formula (for example, formula 1) of the flexible mobile device, the motion stiffness of the flexible mobile device depends on the sum of the distance between the mobile platform 40 and the rotation center O1 of the intermediate rigid body 20 and the distance between the intermediate rigid body 20 and the rotation center O2 of the mobile platform 40, and if the angle between the elastic member 20 and the vertical direction is increased when the distance between the intermediate rigid body 30 and the mobile platform 40 is fixed, the sum of the distance between the mobile platform 40 and the rotation center O1 of the intermediate rigid body 20 and the distance between the intermediate rigid body 20 and the rotation center O2 of the mobile platform 40 is decreased, and at this time, the motion stiffness of the flexible mobile device is increased. Meanwhile, as can be seen from the calculation formula (formula 2) for analyzing the maximum moving distance of the moving platform 40 in the flexible moving device, the maximum moving distance of the moving platform 40 is decreased when the included angle between the elastic member 20 and the vertical direction is increased.
Therefore, when the included angle between the elastic element 20 and the vertical direction is larger, the motion rigidity of the flexible moving device is better, and the dynamic performance is better, but the maximum moving distance of the moving platform 40 is reduced when the included angle is too large, and the included angle between the reed of the flexible moving unit with high dynamic performance and the vertical direction is 10 degrees by comprehensively considering the performance of the flexible moving unit.
It should be noted that the overall size of the flexible mobile device shown in the embodiments of the present invention can be scaled according to actual requirements.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A flexible mobile device, comprising:
the device comprises a fixed seat, N middle rigid bodies, a mobile platform and N groups of elastic components; wherein N is greater than or equal to 2; the group of elastic pieces comprises four elastic pieces;
the N intermediate rigid bodies are arranged in the fixed seat; the mobile platform is positioned below the N middle rigid bodies;
the N middle rigid bodies are respectively and elastically connected with the mobile platform through the N groups of elastic pieces;
the N middle rigid bodies are also respectively elastically connected with the fixed seat through the N groups of elastic pieces.
2. The flexible mobile device according to claim 1, wherein the fixing base is provided with N grooves, and two adjacent grooves are separated by a groove wall;
each groove is internally provided with one middle rigid body.
3. The flexible mobility device of claim 2, wherein N is equal to 2.
4. The flexible moving device of claim 3, wherein the upper portions of the two ends of the moving platform are respectively located at the openings of the two grooves of the fixed base.
5. The flexible mobile device according to claim 4, wherein a recess is provided between two ends of the mobile platform; the groove wall is embedded in the recess.
6. The flexible mobile device of claim 5, wherein the length of the two ends of the mobile platform is less than the length of the opening of the groove; the thickness of the groove wall is smaller than the length of the opening of the concave part.
7. The flexible mobile device according to claim 6, wherein one end of each of the four elastic pieces is connected to the middle rigid body, and the other ends of the two outermost elastic pieces between the middle rigid body and the mobile platform are connected to the fixed base; the other ends of the two innermost elastic sheets between the middle rigid body and the mobile platform are connected with the mobile platform, so that the mobile platform can perform translational motion between the side walls at the two ends of the fixed seat along the length direction of the flexible mobile device.
8. The flexible motion device of claim 7, wherein the elastic pieces are angled at the same angle to the vertical; wherein the included angle is greater than or equal to 0 degree and less than 90 degrees.
9. The flexible motion device of claim 8, wherein the four resilient tabs are arranged symmetrically.
10. The flexible movement apparatus of claim 8, wherein the elastic piece is at an angle of 10 ° to the vertical.
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