CN205704162U - A kind of two-freedom compliant parallel mechanism of mobile decoupling - Google Patents
A kind of two-freedom compliant parallel mechanism of mobile decoupling Download PDFInfo
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- CN205704162U CN205704162U CN201620611213.2U CN201620611213U CN205704162U CN 205704162 U CN205704162 U CN 205704162U CN 201620611213 U CN201620611213 U CN 201620611213U CN 205704162 U CN205704162 U CN 205704162U
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- parallel
- connecting rod
- guiding mechanism
- bar guiding
- bar
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Abstract
The utility model discloses the two-freedom compliant parallel mechanism of a kind of mobile decoupling, including pedestal, moving platform, X-axis side chain and Y-axis side chain, described pedestal and described moving platform pass through X-axis side chain and Y-axis side chain connects；Described X-axis side chain and Y-axis side chain are orthogonal distribution, structure is identical, all include the first parallel four-bar guiding mechanism, the second parallel four-bar guiding mechanism and displacement amplifying mechanism, described first parallel four-bar guiding mechanism connects described pedestal, described second parallel four-bar guiding mechanism connects described moving platform, and described displacement amplifying mechanism is connected between described first parallel four-bar guiding mechanism and described second parallel four-bar guiding mechanism.The utility model have employed parallel-connection structure, compact conformation, each side chain comprises two parallel four-bar guiding mechanisms and a displacement amplifying mechanism, can be by the input displacement equations of piezoelectric ceramic actuator, obtain bigger impulse stroke, avoid the coupling between X-axis and Y-axis motion simultaneously.
Description
Technical field
The utility model relates to precision positioning, accurate operation field, and the two-freedom particularly to a kind of mobile decoupling is soft
Along parallel institution.
Background technology
Precisely locating platform is widely used in some needs the submicron order even workplace of nano grade positioning precision, than
As the field such as Ultra-precision Turning, microelectronic engineering, bioengineering, nanometer technology, is the core of precision positioning technology.
Compliant mechanism is the novel mechanism that a kind of elastic deformation by mechanism body realizes motion, can avoid tradition just
The problem such as the hinge gap in property mechanism and rigging error so that the kinematic accuracy of this kind of mechanism is up to submicron order even nanometer
Level, is therefore widely used as the body of precisely locating platform, particularly compliant parallel mechanism.Under normal circumstances, precisely locating platform
Being driven by piezoelectric ceramic actuator, this quasi-driver has precision height, response compared to conventional ADS driving mode, and soon and driving force is big
Etc. advantage, but stroke is less.To this end, displacement equations will be inputted frequently with enlarger, to realize bigger impulse stroke.Amplify
Mechanism includes lever amplifying mechanism and bridge-type enlarger, and for example, two-freedom disclosed in patent CN201210518329.8 is fixed
Bit platform have employed lever amplifying mechanism.The number of degrees of freedom, of compliant parallel mechanism, typically in two or more, holds between each free degree
It is easily generated coupled motions, so can increase precisely locating platform control and the difficulty of precision raising, so, actual application is tended to
Use the precisely locating platform of mobile decoupling.For promoting the development of precision positioning technology, the Novel soft of exploitation mobile decoupling is along simultaneously
Online structure is significant.
Utility model content
The purpose of this utility model is to solve the problems referred to above, provides the submissive parallel machine of two-freedom of a kind of mobile decoupling
Structure, can realize the translational motion on X and Y direction in plane.
The purpose of this utility model is realized by following technical scheme:
A kind of two-freedom compliant parallel mechanism of mobile decoupling, including pedestal, moving platform, X-axis side chain and Y-axis side chain,
Described pedestal and described moving platform pass through X-axis side chain and Y-axis side chain connects；
Described X-axis side chain and Y-axis side chain are orthogonal distribution, and structure is identical, all includes the first parallel four-bar Guiding machine
Structure, the second parallel four-bar guiding mechanism and displacement amplifying mechanism, the first described parallel four-bar guiding mechanism connects described base
Seat, the second described parallel four-bar guiding mechanism connects described moving platform, and described displacement amplifying mechanism is connected to described
Between first parallel four-bar guiding mechanism and the second described parallel four-bar guiding mechanism.
Further, the first described parallel four-bar guiding mechanism is symmetrical structure, including T-shaped first connecting rod, mutually
The parallel second connecting rod being vertically set on described first connecting rod two ends, described first connecting rod be provided with for placing piezoelectricity between two parties
The U-shaped groove of ceramic driver, the symmetrical center line of described piezoelectric ceramic actuator the first parallel four-bar guiding mechanism is pointed to
Moving platform, described second connecting rod one end connects pedestal by flexible hinge, and the other end connects first connecting rod by flexible hinge.
Further, the second described parallel four-bar guiding mechanism is for regard to the first parallel four-bar guiding mechanism symmetrical centre
The symmetrical structure of line, including third connecting rod and two fourth link be arrangeding in parallel, one end of two fourth link is by flexibility
Chain connection moving platform, the other end connects third connecting rod by flexible hinge.
Further, described displacement amplifying mechanism is the symmetry with regard to the first parallel four-bar guiding mechanism symmetrical center line
Structure, including the first side link, the second side link, drive rod, the 5th connecting rod, six-bar linkage and V-type flexible unit；
One end of the first described side link and the second described side link is connected to described by flexible hinge respectively
On the first connecting rod of one parallel four-bar guiding mechanism, the other end is connected the 5th described connecting rod and described respectively by flexible hinge
Six-bar linkage, the 5th described connecting rod and described six-bar linkage are in T shape；
Described drive rod is mutually perpendicular to described piezoelectric ceramic actuator, the side intermediate point of its relative first connecting rod
For the driving point of described piezoelectric ceramic actuator, two ends connect the 5th described connecting rod and described by flexible hinge respectively
Six-bar linkage；
Described V-type flexible unit is the symmetrical structure with regard to the first parallel four-bar guiding mechanism symmetrical center line, wherein
Portion is connected with the second parallel four-bar guiding mechanism, and both sides respectively connect the 5th connecting rod and described the by flexible thin structure
Six-bar linkage.
Further, each described flexible thin structure all includes that one piece or more than one piece is parallel to each other and consistent size
Flexible thin.
The utility model compared with prior art, has the advantage that and beneficial effect:
Compliant parallel mechanism compared to serial mechanism, have high rigidity, in high precision, compact conformation and error free accumulative etc. excellent
Point；Have employed the displacement amplifying mechanism of special construction and compound parallel four-bar guiding mechanism, the motion of X and Y-direction can have
Effect decoupling, it is simple to the control of follow-up Mechanism Modeling and precisely locating platform；Designed compliant parallel mechanism may utilize line and cuts
Cut technology integration to process, decrease assembly process, it is to avoid hinge gap, lubrication and friction, be beneficial to realize sub-micron
Level or nano level hi-Fix.
Brief description
Fig. 1 is the floor map of the utility model embodiment；
Fig. 2 is the schematic diagram of the X-axis side chain of the utility model embodiment；
Fig. 3 is the schematic perspective view of the utility model embodiment.
It shown in figure is: 1-pedestal；2-moving platform；3-X axle side chain；4-Y axle side chain；5-the first parallel four-bar Guiding machine
Structure；501-first connecting rod；502-U type groove；503-second connecting rod；504-the first flexible hinge；505-the second flexible hinge；6-
Second parallel four-bar guiding mechanism；601-third connecting rod；602-fourth link；7-displacement amplifying mechanism；701-the first side link；
702-the second side link；703-drive rod；704-the 5th connecting rod；705-six-bar linkage；706-the 3rd flexible hinge；707-the 4th
Flexible hinge；708-the 5th flexible hinge；709-the 6th flexible hinge；710-the 7th flexible hinge；711-the 8th flexible hinge；
712-the first flexible thin；713-the second flexible thin；714-the 3rd flexible thin；715-the 4th flexible thin；8-piezoelectricity is made pottery
Porcelain driver.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but enforcement of the present utility model
Mode is not limited to this.
Referring to figs. 1 through Fig. 3, the two-freedom compliant parallel mechanism of a kind of mobile decoupling, including pedestal the 1st, moving platform the 2nd, X-axis
Side chain 3 and Y-axis side chain 4, described pedestal 1 and described moving platform 2 are connected by X-axis side chain 3 and Y-axis side chain 4；Described X
Axle side chain 3 and Y-axis side chain 4 are orthogonal distribution, and structure is identical, all includes the first parallel four-bar guiding mechanism the 5th, second parallel four
Bar guiding mechanism 6 and displacement amplifying mechanism 7.The first described parallel four-bar guiding mechanism 5 connects described pedestal 1, described
Second parallel four-bar guiding mechanism 6 connects described moving platform 2, and it is flat that described displacement amplifying mechanism 7 is connected to described first
Between row four bar guiding mechanism 5 and the second described parallel four-bar guiding mechanism 6.
Specifically, in an embodiment of the present utility model, the first described parallel four-bar guiding mechanism 5 is symmetry
Structure, including the second connecting rod being vertically set on described first connecting rod 501 two ends that the 501st, T-shaped first connecting rod is parallel to each other
503, the centre of described first connecting rod 501 is provided with the U-shaped groove 502 for placing piezoelectric ceramic actuator 8, described piezoelectricity pottery
Porcelain driver 8 is arranged along X-axis line, and described second connecting rod 503 one end connects pedestal 1, the other end by the first flexible hinge 504
Connect first connecting rod 501 by the second flexible hinge 505.
Specifically, in an embodiment of the present utility model, described second parallel four-bar guiding mechanism 6 for regard to
The symmetrical structure of the first parallel four-bar guiding mechanism 5 symmetrical center line, including third connecting rod 601 and two four be arrangeding in parallel
Connecting rod 602, one end of two fourth link 602 connects moving platform 2 by flexible hinge, and the other end connects the by flexible hinge
Three connecting rods 601.
Specifically, in an embodiment of the present utility model, the structure of described displacement amplifying mechanism 7 is for regard to the
The symmetrical structure of one parallel four-bar guiding mechanism 5 symmetrical center line, including the 702nd, the first side link the 701st, the second side link drives
Bar the 703rd, the 5th connecting rod the 704th, six-bar linkage 705 and V-type flexible unit；The first described side link 701 and described second is even
One end of hack lever 702 is connected to described first parallel four-bar by the 3rd flexible hinge 706 and the 4th flexible hinge 707 respectively and leads
On the first connecting rod 501 of mechanism 5, the other end passes through the 5th flexible hinge 708 and the 6th flexible hinge 709 connects described respectively
The 5th connecting rod 704 and described second connecting rod 705, the 5th described connecting rod 704 and described six-bar linkage 705 are in T shape
Shape；Described drive rod 703 is mutually perpendicular to described piezoelectric ceramic actuator 8, in the middle of the side of its relative first connecting rod 501
Point is the driving point of described piezoelectric ceramic actuator 8, and two ends pass through the 7th flexible hinge 710 and the 8th flexible hinge respectively
711 connect the 5th described connecting rod 704 and described six-bar linkage 705.Described V-type flexible unit is for regard to first parallel four
The symmetrical structure of bar guiding mechanism symmetrical center line, is connected with the second parallel four-bar guiding mechanism 6 in the middle part of it, and both sides are respectively passed through
One flexible thin structure connects the 5th connecting rod 704 and described six-bar linkage 705.
Specifically, in an embodiment of the present utility model, each described flexible thin structure all includes two pieces
Being parallel to each other and the flexible thin of consistent size, the side of described V-type flexible unit includes the first soft of parallel and consistent size
Property thin plate 712 and the second flexible thin 713, the first described flexible thin 712 and the second described flexible thin 713 are connected to
Between the third connecting rod 601 of the 5th described connecting rod 704 and the second described parallel four-bar guiding mechanism 6, described V-type is flexible single
The opposite side of unit comprises the 3rd flexible thin 714 and the 4th flexible thin 715 of parallel and consistent size, and described the 3rd is flexible
Thin plate 714 and the 4th described flexible thin 715 are connected to described six-bar linkage 705 and the second described parallel four-bar guides
Between the third connecting rod 601 of mechanism 6.
Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, other any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace
Generation, combination, simplification, all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (5)
1. the two-freedom compliant parallel mechanism of a mobile decoupling, it is characterised in that: include pedestal (1), moving platform (2), X-axis
Side chain (3) and Y-axis side chain (4), described pedestal (1) and described moving platform (2) pass through X-axis side chain (3) and Y-axis side chain (4)
Connect；
Described X-axis side chain (3) and Y-axis side chain (4) are orthogonal distribution, and structure is identical, all include the first parallel four-bar and guide
Mechanism (5), the second parallel four-bar guiding mechanism (6) and displacement amplifying mechanism (7), the first described parallel four-bar guiding mechanism
(5) connecting described pedestal (1), the second described parallel four-bar guiding mechanism (6) connects described moving platform (2), described
Displacement amplifying mechanism (7) is connected to the first described parallel four-bar guiding mechanism (5) and the second described parallel four-bar Guiding machine
Between structure (6).
2. the two-freedom compliant parallel mechanism of mobile decoupling according to claim 1, it is characterised in that:
The first described parallel four-bar guiding mechanism (5) is symmetrical structure, including T-shaped first connecting rod (501), be parallel to each other
Be vertically set on the second connecting rod (503) at described first connecting rod (501) two ends, described first connecting rod (501) be provided with use between two parties
In the U-shaped groove (502) placing piezoelectric ceramic actuator (8), described piezoelectric ceramic actuator (8) is led along the first parallel four-bar
Pointing to moving platform (2) to the symmetrical center line of mechanism (5), flexible hinge linker is passed through in described second connecting rod (503) one end
Seat (1), the other end connects first connecting rod (501) by flexible hinge.
3. the two-freedom compliant parallel mechanism of mobile decoupling according to claim 1, it is characterised in that:
Right for regard to the first parallel four-bar guiding mechanism (5) symmetrical center line of the second described parallel four-bar guiding mechanism (6)
Claim structure, including third connecting rod (601) and two fourth link be arrangeding in parallel (602), one end of two fourth link (602)
Connecting moving platform (2) by flexible hinge, the other end connects third connecting rod (601) by flexible hinge.
4. the two-freedom compliant parallel mechanism of mobile decoupling according to claim 2, it is characterised in that:
Described displacement amplifying mechanism (7) is the symmetrical structure with regard to the first parallel four-bar guiding mechanism (5) symmetrical center line, bag
Include the first side link (701), the second side link (702), drive rod (703), the 5th connecting rod (704), six-bar linkage (705) and V
Type flexible unit；
One end of described the first side link (701) and described the second side link (702) is connected to by flexible hinge respectively
On the first connecting rod (501) of described first parallel four-bar guiding mechanism (5), the other end is connected described respectively by flexible hinge
5th connecting rod (704) and described six-bar linkage (705), the 5th described connecting rod (704) and described six-bar linkage (705) in
T-shaped；
Described drive rod (703) is mutually perpendicular to described piezoelectric ceramic actuator (8), and its relative first connecting rod (501)
Side intermediate point be the driving point of described piezoelectric ceramic actuator (8), two ends are connected described respectively by flexible hinge
5th connecting rod (704) and described six-bar linkage (705)；
Described V-type flexible unit is the symmetrical structure with regard to the first parallel four-bar guiding mechanism (5) symmetrical center line, in the middle part of it
Be connected with the second parallel four-bar guiding mechanism (6), both sides respectively by flexible thin structure connect the 5th connecting rod (704) and
Described six-bar linkage (705).
5. the two-freedom compliant parallel mechanism of mobile decoupling according to claim 1, it is characterised in that:
Each described flexible thin structure all includes that one piece or more than one piece is parallel to each other and the flexible thin of consistent size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620611213.2U CN205704162U (en) | 2016-06-17 | 2016-06-17 | A kind of two-freedom compliant parallel mechanism of mobile decoupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620611213.2U CN205704162U (en) | 2016-06-17 | 2016-06-17 | A kind of two-freedom compliant parallel mechanism of mobile decoupling |
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| CN205704162U true CN205704162U (en) | 2016-11-23 |
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| CN201620611213.2U Expired - Fee Related CN205704162U (en) | 2016-06-17 | 2016-06-17 | A kind of two-freedom compliant parallel mechanism of mobile decoupling |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904443A (en) * | 2016-06-17 | 2016-08-31 | 华南理工大学 | Two-degree-of-freedom flexible parallel mechanism for motion decoupling |
| CN108240890A (en) * | 2017-12-14 | 2018-07-03 | 王洪福 | A kind of decoupling measures driving device |
-
2016
- 2016-06-17 CN CN201620611213.2U patent/CN205704162U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904443A (en) * | 2016-06-17 | 2016-08-31 | 华南理工大学 | Two-degree-of-freedom flexible parallel mechanism for motion decoupling |
| CN105904443B (en) * | 2016-06-17 | 2018-07-20 | 华南理工大学 | A kind of two-freedom compliant parallel mechanism of mobile decoupling |
| CN108240890A (en) * | 2017-12-14 | 2018-07-03 | 王洪福 | A kind of decoupling measures driving device |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20190617 |
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| CF01 | Termination of patent right due to non-payment of annual fee |