CN113814961B - Three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive - Google Patents

Abstract

The invention discloses a three-degree-of-freedom parallel micro-movement platform driven by helical IPMC, comprising a base assembly, a driving assembly and a moving platform. The base assembly includes a base and a matching base cover, the base is provided with three Fixed support, the fixed support is milled with an oblique groove running through the base, and the inner wall of the oblique groove is affixed with copper foil; the driving component is three spiral IPMCs, and one end of the three spiral IPMCs is clamped In the oblique groove, it is in contact with the copper foil, and the other end is connected to the moving platform. After receiving the signal, the helical IPMC will produce three kinds of motions: radial expansion, axial expansion and overall torsion, thereby pulling the top moving platform to pitch, roll and rotate. The three-degree-of-freedom parallel micro-motion platform based on the helical IPMC drive proposed by the invention has the advantages of simple structure, small size, good flexibility, low power consumption, etc.

Description

A three-degree-of-freedom parallel micro-motion platform based on helical IPMC drive

technical field

The invention relates to the technical field of three-degree-of-freedom platforms, in particular to a three-degree-of-freedom parallel micro-movement platform driven by a helical IPMC.

Background technique

The multi-DOF motion platform can simulate a variety of spatial motion postures. Common multi-DOF motion platforms include three-DOF motion platforms and six-DOF motion platforms. Compared with the six-DOF motion platform, the three-DOF motion platform is simple in structure, low in cost, easy to decouple, and easy to control (Wu Jinbo, Guo Ruiwen, Yu Wenchao. A three-degree-of-freedom motion platform with two rotations and one translation. Invention in China Patent, 201810897153.9), so it is widely used in aviation, aerospace, shipbuilding, electronics, entertainment equipment, optical devices, precision manufacturing, robotic systems and other fields.

According to the structural form, the three-degree-of-freedom motion platform can be divided into series type and parallel type. Compared with the series type, the parallel type three-degree-of-freedom motion platform has the advantages of small inertia, good rigidity, and fast response speed (Sun Mengxin. Research on non-resonant piezoelectric linear motors and their application in multi-degree-of-freedom platforms, [Ph.D. Dissertation]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018.). The traditional three-degree-of-freedom parallel motion platform uses servo system and servo electric cylinder as driving components, which is difficult to achieve miniaturization and is not suitable for working under the condition of limited working space. Therefore, the invention of a three-degree-of-freedom parallel micro-motion platform driven by smart materials can not only meet the operation requirements of small size, micro-stroke and high precision, but also help to promote the development of new materials to more application fields.

The present invention uses a new type of intelligent material IPMC to replace the traditional servo drive components. Ionic Polymer Metal Composite (IPMC) is an ionic electroactive polymer material composed of an ion exchange membrane in the middle and metal electrode layers on both sides. It has the advantages of fast speed, high energy density, no noise and good flexibility, and has a wide range of application prospects as a driver (Mohsen Shahinpoor and KwangJ Kim. Ionic polymer–metal composites: I. Fundamentals. Smart Material and Structures, 2001, 10: 819-833. ).

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems, the present invention provides a three-degree-of-freedom parallel micro-movement platform driven by a helical IPMC, using a helical IPMC capable of three-dimensional motion under the action of an electric field to replace the traditional servo system and servo electric cylinder, avoiding complicated The mechanical transmission structure can realize the pitch, roll, rotation and other actions of the three-degree-of-freedom motion platform in a small space.

A three-degree-of-freedom parallel micro-movement platform based on helical IPMC drive includes a base assembly, a drive assembly and a moving platform. The base assembly includes a base and a matching base cover, and the base is provided with three fixed supports, The fixed support is milled with an oblique groove running through the base, and the inner wall of the oblique groove is affixed with copper foil; the driving component is a spiral IPMC, including a first spiral IPMC, a second spiral IPMC and a third spiral One end of the three spiral IPMCs is clamped in the oblique groove, in contact with the copper foil, and the other end is connected to the moving platform.

Preferably, the three fixed supports are distributed in an equiangular circular array with the center of the base as the center of the circle. This layout is beneficial to improve the stability of the three-degree-of-freedom parallel micro-movement platform.

Preferably, the three fixed supports are symmetrically machined with wire holes along the diameter direction of the base.

Preferably, the base is provided with an annular groove matched with the base cover, and the base cover can rotate freely in the annular groove.

Preferably, the base is milled with wire grooves. The wire extends into the wire groove, passes through the wire hole, and is welded to the copper foil on the oblique groove wall as the carrier of the input signal. After receiving the signal, the helical IPMC will produce three kinds of motions: radial expansion, axial expansion and contraction, and overall torsion, thereby pulling the top moving platform to pitch, roll and rotate.

Preferably, the base is provided with an annular groove matched with the base cover, and the base cover can rotate freely in the annular groove.

Preferably, the base cover is machined with three base cover through holes, and the three base cover through holes take the center of the base cover as the center of the circle and are distributed in a circular array, and the base cover is rotated so that the three base cover through holes are located in the three fixed supports. Directly above.

Preferably, the voltage applied to the first helical IPMC, the second helical IPMC and the third helical IPMC is 1-3V. A voltage that is too low cannot make the IPMC drive effectively, and a voltage that is too high will shorten the life of the IPMC.

The invention also discloses a working method of a three-degree-of-freedom parallel micro-movement platform driven by a helical IPMC. At the same time, a forward or reverse voltage is independently applied to the helical IPMC, so that the helical IPMC is elongated, shortened and inwardly extended in the axial direction. The contraction is clockwise and the outward expansion is counter-clockwise to realize the three-degree-of-freedom compound motion of pitch, roll and rotation of the top moving platform.

Preferably, a forward/reverse voltage is applied to the first helical IPMC and the second helical IPMC, and an opposite voltage is applied to the third helical IPMC to realize the forward pitch/backward pitch of the top moving platform; The forward/reverse voltage is applied to the first spiral IPMC, and the opposite voltage is applied to the second spiral IPMC and the third spiral IPMC to realize the right/left inclination of the top moving platform; The second helix IPMC and the third helix IPMC apply forward/reverse voltages to achieve counterclockwise/clockwise rotation of the top moving platform.

Compared with the prior art, the present invention has the following beneficial effects:

The invention innovatively proposes to use the intelligent material IPMC as the driving component, and designs a three-degree-of-freedom parallel micro-movement platform driven by the helical IPMC, which can not only realize the three-degree-of-freedom composite motion of pitch, roll and rotation, but also structurally Simple, small size, easy disassembly, good flexibility, low power consumption, low manufacturing cost, easy to achieve miniaturization, can meet the requirements of small size, micro-stroke, high-precision operation, such as micro-assembly, optical devices, micro-electromechanical systems. It has good application prospects in other fields.

Description of drawings

1 is a schematic structural diagram of a three-degree-of-freedom parallel micro-movement platform according to an embodiment of the present invention;

2 is a top view of a three-degree-of-freedom parallel micro-movement platform according to an embodiment of the present invention;

3 is a schematic structural diagram of a base according to an embodiment of the present invention;

Fig. 4 is the bottom view of the base of one embodiment of the present invention;

5 is a schematic structural diagram of a base cover according to an embodiment of the present invention;

FIG. 6 is a front view of a spiral IPMC according to an embodiment of the present invention.

Reference numerals: 1 base, 1-1 fixed support, 1-2 inclined groove, 1-3 wire hole, 1-4 annular groove, 1-5 wire groove, 2 base cover, 2-1 base cover through Hole, 3 first spiral IPMC, 4 moving platform, 5 second spiral IPMC, 6 third spiral IPMC.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The invention discloses a three-degree-of-freedom parallel micro-movement platform driven by a helical IPMC. The helical IPMC capable of three-dimensional motion under the action of an electric field is used to replace the traditional servo system and servo electric cylinder, and the complex mechanical transmission structure is avoided. The pitch, roll, rotation and other actions of the three-degree-of-freedom motion platform can be realized in a small space.

With reference to FIGS. 1 to 6 , a three-degree-of-freedom parallel micro-movement platform based on helical IPMC drive includes a base assembly, a drive assembly and a moving platform 4 .

The base assembly includes a disc-shaped base 1 and a base cover 2. As shown in FIG. 3, the base 1 is disc-shaped. In this embodiment, the diameter of the base 1 is 50 mm, and three fixed supports 1 are arranged on the base 1. -1, the fixed support 1-1 is distributed in an equiangular circular array with the center of the base 1 as the center of the circle. The fixed support 1-1 is milled with an oblique groove 1-2 running through the base 1, and the inner wall surface of the oblique groove 1-2 is affixed with copper foil. The inclination angle of the oblique groove determines the overall height of the three-degree-of-freedom parallel micro-movement platform, and the inclination angle is taken as 60° in this embodiment. The three fixed supports 1-1 are symmetrically machined with wire holes 1-3 along the diameter direction of the base 1, and the diameter of the wire holes 1-3 in this embodiment is 1.5 mm. The base 1 is also milled with wire grooves 1-5, and the groove depth is 1 mm in this embodiment. The wire extends into the wire groove 1-5, passes through the wire hole 1-3, and is welded to the copper foil on the wall surface of the inclined groove 1-2, as the carrier of the input signal.

The base 1 is provided with an annular groove 1-4 matched with the base cover 2, the groove depth is 1 mm, and the base cover 2 can freely rotate in the annular groove 1-4. As shown in FIG. 5 , the base cover 2 is machined with three base cover through holes 2-1 to correspond to the three fixed supports 1-1. In this embodiment, the diameter of the base cover through holes is 16 mm, and the three base cover through holes 2 -1 With the center of the base cover 2 as the center of the circle, it is distributed in a circular array, and the base cover 2 is rotated so that the three base cover through holes 2-1 are located directly above the three fixed supports 1-1.

The driving assembly is a helical IPMC, including a first helical IPMC 3 , a second helical IPMC 5 and a third helical IPMC 6 . As shown in Figure 6, the helical IPMC is obtained by helical shaping of the sheet IPMC under the condition of heating in a water bath at 90 °C. In this embodiment, its structural parameters are as follows: the diameter is 5.00 mm, the length is 20.09 mm, and the pitch is 6.47mm with a width of 1.49mm. One end of the spiral IPMC is clamped in the inclined groove 1-2 and has good contact with the copper foil. A voltage of 1˜3V is applied to the first helical IPMC 3 , the second helical IPMC 5 and the third helical IPMC 6 . Both DC and AC signals can be used as input signals. The mass of the moving platform 4 is 0-50 mg, and the mass of the moving platform in this embodiment is 40 mg. The maximum pitch angle is 30°, the maximum roll angle is 30°, and the maximum rotation angle is 45°.

Under the action of the electric field, the hydrated cations inside the ion-exchange membrane migrate to the cathode, resulting in changes in stress and strain on the inner and outer surfaces of the IPMC. Based on this actuation mechanism, the helical IPMC can simultaneously generate three spatial motion forms: radial expansion motion, axial telescopic motion and torsional motion. Send electrical signals to the first helical IPMC 3, the second helical IPMC 5 and the third helical IPMC 6 respectively, and the movements of the three helical IPMCs can be independently controlled, so that the top moving platform 4 can achieve pitch, roll and Rotational three-degree-of-freedom compound motion. A forward 3V voltage is applied to the first spiral IPMC 3 and the second spiral IPMC 5 to elongate in the axial direction, while a reverse 3V voltage is applied to the third spiral IPMC 6 to shorten the axial direction, which can drive The top moving platform 4 is bent forward; the reverse 3V voltage is applied to the first helical IPMC 3 and the second helical IPMC 5 to shorten the axial direction, and the forward 3V voltage is applied to the third helical IPMC 6 to make it axially shorten. To elongate, the top moving platform 4 can be driven to lean back; apply a reverse 3V voltage to the first spiral IPMC 3 to shorten it in the axial direction, and at the same time apply a forward direction to the second spiral IPMC5 and the third spiral IPMC 6 The 3V voltage makes it elongate in the axial direction, which can drive the top moving platform 4 to tilt to the left; apply a forward 3V voltage to the first spiral IPMC 3 to elongate it in the axial direction, and simultaneously apply a forward 3V voltage to the first spiral IPMC 5 and the third spiral IPMC 5. The spiral IPMC 6 applies a reverse 3V voltage to shorten it in the axial direction, which can drive the top moving platform 4 to tilt to the right; apply a reverse 3V to the first spiral IPMC3, the second spiral IPMC 5, and the third spiral IPMC 6 at the same time The voltage makes it shrink inward and twist clockwise, which can drive the top moving platform 4 to rotate clockwise; apply forward 3V voltage to the first spiral IPMC 3, the second spiral IPMC 5, and the third spiral IPMC 6 at the same time to make it Expanding outward and twisting counterclockwise can drive the top moving platform 4 to rotate counterclockwise.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the The technical solutions described in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1. A three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive is characterized in that: comprises a base component, a driving component and a movable platform (4),

the base component comprises a base (1) and a base cover (2) matched with the base, wherein three fixed supports (1-1) are arranged on the base (1), inclined grooves (1-2) penetrating through the base (1) are milled in the fixed supports (1-1), and copper foils are attached to the inner wall surfaces of the inclined grooves (1-2);

the driving assembly is a spiral IPMC and comprises a first spiral IPMC (3), a second spiral IPMC (5) and a third spiral IPMC (6), one end of the first spiral IPMC (3), one end of the second spiral IPMC (5) and one end of the third spiral IPMC (6) are respectively clamped in the inclined grooves (1-2) and are in contact with the copper foil, and the other end of the first spiral IPMC, one end of the second spiral IPMC and one end of the third spiral IPMC are respectively connected with the movable platform (4);

and simultaneously, forward or reverse voltage is independently applied to the first spiral IPMC (3), the second spiral IPMC (5) and the third spiral IPMC (6), so that the first spiral IPMC, the second spiral IPMC and the third spiral IPMC extend, shorten, contract inwards, twist clockwise or expand outwards and twist anticlockwise along the axial direction, and three-degree-of-freedom compound motion of pitching, tilting and rotating of the top movable platform (4) is realized.

2. The three-degree-of-freedom parallel micro-motion platform based on the spiral IPMC drive of claim 1, wherein: the three fixed supports (1-1) are distributed in an equiangular circumferential array by taking the center of the base (1) as a circle center.

3. The spiral IPMC driven three-degree-of-freedom parallel micro-motion platform as claimed in claim 2, wherein: the three fixed supports (1-1) are symmetrically processed with wire holes (1-3) along the diameter direction of the base (1).

4. The three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive of claim 3, wherein: and a lead groove (1-5) is milled on the base (1), a lead extends into the lead groove (1-5), passes through the lead hole (1-3), and is welded on the copper foil on the wall surface of the inclined groove (1-2) to be used as a carrier of an input signal.

5. The three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive of claim 1 or 4, wherein: the base (1) is provided with an annular groove (1-4) matched with the base cover (2), and the base cover (2) can freely rotate in the annular groove (1-4).

6. The spiral IPMC driven three-degree-of-freedom parallel micro-motion platform as claimed in claim 5, wherein: the base cover (2) is provided with three base cover through holes (2-1), the three base cover through holes (2-1) are distributed in a circumferential array mode by taking the center of the base cover (2) as the circle center, and the base cover (2) is rotated to enable the three base cover through holes (2-1) to be located right above the three fixed supports (1-1).

7. The three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive of claim 1 or 6, wherein: and the voltage applied to the first spiral IPMC (3), the second spiral IPMC (5) and the third spiral IPMC (6) is 1-3V.

8. The spiral IPMC driven three-degree-of-freedom parallel micro-motion platform as claimed in claim 7, wherein: the mass of the movable platform (4) is 0-50 mg.

9. The working method of the three-degree-of-freedom parallel micro-motion platform based on the spiral IPMC drive as claimed in claim 8, wherein: forward/reverse voltage is applied to the first spiral IPMC (3) and the second spiral IPMC (5), and meanwhile, opposite voltage is applied to the third spiral IPMC (6) so as to realize forward/backward pitching of the top movable platform (4); applying a forward/reverse voltage to the first spiral IPMC (3) and simultaneously applying a reverse voltage to the second spiral IPMC (5) and the third spiral IPMC (6) so as to realize the right/left inclination of the top movable platform (4); simultaneously applying a forward/reverse voltage to said first, second and third spiral IPMC (3, 5, 6) to effect counter clockwise/clockwise rotation of the top moving platform (4).

Images