CN207757577U - A kind of intersection curved beam six-freedom parallel compliant mechanism - Google Patents
A kind of intersection curved beam six-freedom parallel compliant mechanism Download PDFInfo
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- CN207757577U CN207757577U CN201721879620.2U CN201721879620U CN207757577U CN 207757577 U CN207757577 U CN 207757577U CN 201721879620 U CN201721879620 U CN 201721879620U CN 207757577 U CN207757577 U CN 207757577U
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- piezoelectric ceramic
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- 230000007246 mechanism Effects 0.000 title claims abstract description 13
- 239000000919 ceramic Substances 0.000 claims abstract description 151
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 210000000078 claw Anatomy 0.000 claims abstract description 9
- 229910052573 porcelain Inorganic materials 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses a kind of intersection curved beam six-freedom parallel compliant mechanisms, including pedestal and workbench；Compliant component A is located at below workbench, and compliant component B is located on the left of workbench, and compliant component C is located on the right side of workbench；Piezoelectric ceramic actuator A, piezoelectric ceramic actuator E and piezoelectric ceramic actuator I are located on workbench or so median plane, piezoelectric ceramic actuator C and piezoelectric ceramic actuator J is located on workbench front-rear center face, and piezoelectric ceramic actuator B, piezoelectric ceramic actuator D, piezoelectric ceramic actuator F, piezoelectric ceramic actuator G and piezoelectric ceramic actuator H are located on the median plane up and down of workbench.The utility model is connected to using claw type curved beam compliant component between workbench and pedestal, and simple and compact structure makes stress in stress evenly, effectively avoids stress concentration, and can realize that large deformation meets the requirement of big stroke.The utility model compliant component uses rectangle, stronger to the bearing capacity of dynamic force.
Description
Technical field
The utility model is related to precision positioning technology fields, the especially a kind of submissive machine of intersection curved beam six-freedom parallel
Structure.
Background technology
Compliant mechanism is impacted and is fitted because of its simple and compact structure, from fretting wear, convenient for energy storage conversion, resistance
The advantages that answering adverse circumstances is widely used in the scientific researches such as precision engineering, bionic mechanical, biologic medical and aerospace forward position neck
Domain.As precise motion locating platform, novel soft along joint and driver, disappear tremble Microsurgical lancet, plastic deformation wing with
And the optical device pose adjustment etc. in satellite.New application field refers to the working space and multiple performance of space compliant mechanism
Mark proposes new requirement, and mostly using straight beam as compliance unit, straight beam will appear in large deformation answers existing compliant mechanism
Power is concentrated, and causes deformation range relatively small, it is difficult to meet requirement of some fields to big stroke；According to straight beam connection in series-parallel group
Conjunction obtains space compliant mechanism, and structure is excessively too fat to move, and excessive combination link leads to the reduction of the performance indicators such as intrinsic frequency.
Also there is the compliance unit that straight beam is replaced using herringbone beam in the prior art, but the not enough intensity of herringbone beam and just
Degree, causes workbench load-bearing limited.
Utility model content
To solve the above problem of the existing technology, the utility model will design one kind and both be avoided that stress concentration, reality
The requirement of existing large deformation, and the intersection curved beam six-freedom parallel compliant mechanism of supporting power can be improved.
To achieve the goals above, the technical solution of the utility model is as follows：A kind of intersection curved beam six-freedom parallel is soft
Along mechanism, including pedestal, compliant component, piezoelectric ceramic actuator, L-type bogie and workbench；The compliant component includes
Compliant component A, compliant component B and compliant component C；The piezoelectric ceramic actuator includes piezoelectric ceramic actuator A, piezoelectricity pottery
Porcelain driver B, piezoelectric ceramic actuator C, piezoelectric ceramic actuator D, piezoelectric ceramic actuator E, piezoelectric ceramic actuator F, pressure
Electroceramics driver G, piezoelectric ceramic actuator H, piezoelectric ceramic actuator I and piezoelectric ceramic actuator J；The L-type driving
Frame includes L-type bogie A, L-type bogie B and L-type bogie C；Left socle and after-poppet are set on the pedestal, it is described
Left socle and after-poppet form right angle holder；
The upper ends compliant component A are fixed on workbench bottom surface, lower end is fixed on pedestal；The compliant component B
Left end be fixed on left socle, right end is fixed on the left side of workbench；After the rear end of the compliant component C is fixed on
On holder, front end is fixed on the trailing flank of workbench；
The L-type bogie A is fixed on left socle, and the long side of L-type bogie A is located at the top of workbench；It is described
L-type bogie B be fixed on after-poppet, the long side of L-type bogie B is located at the top of workbench；The L-type bogie C
On the right pedestal of workbench, the long side of L-type bogie C is located at the right of workbench；
Piezoelectric ceramic actuator A, piezoelectric ceramic actuator J and the piezoelectric ceramic actuator I is separately mounted to work
On pedestal below platform, it is located at the front side, right side and rear side of base central, piezoelectric ceramic actuator H is mounted on workbench
On the L-type bogie C of right, piezoelectric ceramic actuator F and piezoelectric ceramic actuator G are separately mounted to the rear side at workbench rear
On wall, piezoelectric ceramic actuator E is mounted on the L-type bogie B above workbench, piezoelectric ceramic actuator B and piezoelectric ceramics
Driver D is separately mounted on the left side wall of workbench left, and piezoelectric ceramic actuator C is mounted on the L-type above workbench and drives
On moving frame A；
The piezoelectric ceramic actuator A, piezoelectric ceramic actuator B, piezoelectric ceramic actuator C, piezoelectric ceramic actuator
D, piezoelectric ceramic actuator E, piezoelectric ceramic actuator F, piezoelectric ceramic actuator G, piezoelectric ceramic actuator H, piezoelectric ceramics drive
Face corresponding with workbench is vertical respectively for the axis of dynamic device I and piezoelectric ceramic actuator J, and driving end connects with corresponding face
It touches；
Piezoelectric ceramic actuator A, piezoelectric ceramic actuator E and the piezoelectric ceramic actuator I is respectively positioned on a workbench left side
It is on right median plane, i.e., coplanar with X-axis and Z axis；Piezoelectric ceramic actuator C and piezoelectric ceramic actuator J are respectively positioned on before and after workbench
It is on median plane, i.e., coplanar with Y-axis and Z axis；Piezoelectric ceramic actuator B, piezoelectric ceramic actuator D, piezoelectric ceramic actuator F, pressure
Electroceramics driver G and piezoelectric ceramic actuator H are respectively positioned on the median plane up and down of workbench, i.e., coplanar with X-axis and Y-axis；
Compliant component A, the compliant component B is identical with compliant component C-structure；The compliant component is identical by two
" claw type " Curved Beam Structure form back-to-back, wherein " claw type " Curved Beam Structure is by two sections of semi arch curved beams with the side of cross
Formula forms；Four pawls at the compliant component both ends are fixed respectively in corresponding plane；
The cross section of semi arch curved beam is rectangle；
Further, the center of the compliant component A, compliant component B and compliant component C respectively with the bottom of workbench
The center in face, left side and trailing flank corresponds to.
Further, the length-width ratio of the rectangle is 2-3.
Compared with prior art, the utility model has the advantages that：
1, the utility model is connected to using compliant component between workbench and holder or pedestal, simple in structure and tight
It gathers, stress is made in stress evenly, effectively avoid stress concentration, and can realize that large deformation meets big stroke
It is required that.
2, the utility model compliant component uses rectangle, when the timing of the cross section of semi arch curved beam one, using when rectangle because
The longer contact perimeter of compliant component can be formed for its long side, therefore relative to square or the compliance unit of circular cross-section,
Rectangular section bearing capacity is stronger and more stablizes.
3, compared with existing lambdoid curved beam compliant component, the claw type curved beam compliant component that the utility model uses is
No matter one centrosymmetric unitary elements puts the central position whether workpiece or weight on the table is placed on workbench
Set, compliant mechanism can make itself uniform force to greatest extent, and workbench left and rear have compliant component with
Holder is connected, therefore even if when workpiece is placed on forefront or this extreme case in the rightmost side of workbench, left and rear
Compliant component can help the compliant component on ground to share a part of power, play booster action, and then improve bearing capacity.
4, the curved beam compliant component of the utility model is made of back-to-back two identical " claw type " Curved Beam Structures, by
To power effect when, compared to herringbone structure, this element has certain cushioning effect, more to the bearing capacity of dynamic force
By force.
Description of the drawings
Fig. 1 is the utility model structural front view；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is the stereogram of Fig. 1；
Fig. 5 is compliant component stereogram.
In figure：1, pedestal, 2, piezoelectric ceramic actuator A, 3, compliant component A, 4, workbench, 5, compliant component B, 6, piezoelectricity
Ceramic driver B, 7, L-type bogie A, 8, piezoelectric ceramic actuator C, 9, piezoelectric ceramic actuator D, 10, L-type bogie B,
11, piezoelectric ceramic actuator E, 12, piezoelectric ceramic actuator F, 13, piezoelectric ceramic actuator G, 14, compliant component C, 15, piezoelectricity
Ceramic driver H, 16, L-type bogie C, 17, piezoelectric ceramic actuator I, 18, piezoelectric ceramic actuator J.
Specific implementation mode
The utility model is further described through below in conjunction with the accompanying drawings.As shown in Figs. 1-5, a kind of micro- positioning work
Platform, including pedestal 1, compliant component, piezoelectric ceramic actuator, L-type bogie and workbench 4；The compliant component includes soft
Along element A3, compliant component B5 and compliant component C14；The piezoelectric ceramic actuator includes piezoelectric ceramic actuator A2, pressure
Electroceramics driver B6, piezoelectric ceramic actuator C8, piezoelectric ceramic actuator D9, piezoelectric ceramic actuator E11, piezoelectric ceramics drive
Dynamic device F12, piezoelectric ceramic actuator G13, piezoelectric ceramic actuator H15, piezoelectric ceramic actuator I17 and piezoelectric ceramic actuator
J18；The L-type bogie includes L-type bogie A7, L-type bogie B10 and L-type bogie C16；It is set on the pedestal 1
Set left socle and after-poppet, the left socle and after-poppet form right angle holder；
The upper ends compliant component A3 are fixed on workbench bottom surface, lower end is fixed on pedestal；The compliant component
The left end of B5 is fixed on left socle, right end is fixed on the left side of workbench；The rear end of the compliant component C14 is fixed
On after-poppet, front end is fixed on the trailing flank of workbench；
The L-type bogie A7 is fixed on left socle, and the long side of L-type bogie A7 is located at the top of workbench 4；Institute
The L-type bogie B10 stated is fixed on after-poppet, and the long side of L-type bogie B10 is located at the top of workbench 4；The L-type
Bogie C16 is mounted on the right pedestal 1 of workbench 4, and the long side of L-type bogie C16 is located at the right of workbench 4；
Piezoelectric ceramic actuator A2, piezoelectric ceramic actuator J18 and the piezoelectric ceramic actuator I17 is separately mounted to
On the pedestal 1 of 18 lower section of workbench, it is located at the front side, right side and rear side at 1 center of pedestal, piezoelectric ceramic actuator H15 peaces
On the L-type bogie C16 of 4 right of workbench, piezoelectric ceramic actuator F12 and piezoelectric ceramic actuator G13 are installed respectively
On the rear wall at 4 rear of workbench, piezoelectric ceramic actuator E11 is mounted on the L-type bogie B10 of 4 top of workbench, pressure
Electroceramics driver B6 and piezoelectric ceramic actuator D9 are separately mounted on the left side wall of 4 left of workbench, Piezoelectric Ceramic
Device C8 is mounted on the L-type bogie A7 of 4 top of workbench；
The piezoelectric ceramic actuator A2, piezoelectric ceramic actuator B6, piezoelectric ceramic actuator C8, Piezoelectric Ceramic
Device D9, piezoelectric ceramic actuator E11, piezoelectric ceramic actuator F12, piezoelectric ceramic actuator G13, piezoelectric ceramic actuator H15,
Face corresponding with workbench 18 is vertical respectively for the axis of piezoelectric ceramic actuator I17 and piezoelectric ceramic actuator J18, drives end
Contacted with corresponding face；
Piezoelectric ceramic actuator A2, piezoelectric ceramic actuator E11 and the piezoelectric ceramic actuator I17 is located at workbench
It is on the median plane of left and right, i.e., coplanar with X-axis and Z axis；Piezoelectric ceramic actuator C8 and piezoelectric ceramic actuator J18 are respectively positioned on workbench
It is on front-rear center face, i.e., coplanar with Y-axis and Z axis；Piezoelectric ceramic actuator B6, piezoelectric ceramic actuator D9, Piezoelectric Ceramic
And X-axis device F12, piezoelectric ceramic actuator G13 and piezoelectric ceramic actuator H15 are respectively positioned on the median plane up and down of workbench, i.e.,
It is coplanar with Y-axis；
Compliant component A3, the compliant component B5 is identical with compliant component C14 structures；The compliant component is by two
Identical " claw type " Curved Beam Structure forms back-to-back, wherein " claw type " Curved Beam Structure is by two sections of semi arch curved beams with cross
Mode form；Four pawls at the compliant component both ends are fixed respectively in corresponding plane；
The cross section of semi arch curved beam is rectangle；
Further, the center of the compliant component A3, compliant component B5 and compliant component C14 respectively with workbench 4
Bottom surface, left side and trailing flank center correspond to.
Further, the length-width ratio of the rectangle is 2-3.
As shown in Figs. 1-5, the working method of the utility model is as follows：Piezoelectric ceramic actuator F12 and Piezoelectric Ceramic
Device G13 input displacements, workbench 4 are driven force effect, to generate moving along X-direction；Piezoelectric ceramic actuator J18
When inputting size same displacement with piezoelectric ceramic actuator C8, workbench 4 is equal in magnitude by two, direction is opposite driving force
Effect, to generate the rotation around X-direction；Piezoelectric ceramic actuator B6 and piezoelectric ceramic actuator D9 input displacements, work
Platform 4 is driven force effect, to generate moving along Y direction；Piezoelectric ceramic actuator A2 and piezoelectric ceramic actuator E11
When inputting size same displacement, the driving force effect that workbench 4 is equal in magnitude by two, direction is opposite, to generate around Y-axis
The rotation in direction；Piezoelectric ceramic actuator A2 and piezoelectric ceramic actuator J18 input displacements, workbench 4 are driven force effect,
To generate moving along Z-direction；Piezoelectric ceramic actuator B6 and piezoelectric ceramic actuator H15 input size same displacement
When, the driving force effect that workbench 4 is equal in magnitude by two, direction is opposite, to generate the rotation in direction about the z axis.
The utility model is not limited to the present embodiment, any equivalent concepts in the technical scope that the utility model discloses
Or change, it is classified as the scope of protection of the utility model.
Claims (3)
1. a kind of intersection curved beam six-freedom parallel compliant mechanism, it is characterised in that：Including pedestal (1), compliant component, piezoelectricity pottery
Porcelain driver, L-type bogie and workbench (4)；The compliant component includes compliant component A (3), compliant component B (5) and soft
Along element C (14)；The piezoelectric ceramic actuator includes piezoelectric ceramic actuator A (2), piezoelectric ceramic actuator B (6), pressure
Electroceramics driver C (8), piezoelectric ceramic actuator D (9), piezoelectric ceramic actuator E (11), piezoelectric ceramic actuator F (12),
Piezoelectric ceramic actuator G (13), piezoelectric ceramic actuator H (15), piezoelectric ceramic actuator I (17) and piezoelectric ceramic actuator J
(18)；The L-type bogie includes L-type bogie A (7), L-type bogie B (10) and L-type bogie C (16)；The base
Setting left socle and after-poppet, the left socle and after-poppet form right angle holder on seat (1)；
Described compliant component A (3) upper end is fixed on workbench (4) bottom surface, lower end is fixed on pedestal (1)；Described is submissive
The left end of element B (5) is fixed on left socle, right end is fixed on the left side of workbench (4)；The compliant component C
(14) rear end is fixed on after-poppet, front end is fixed on the trailing flank of workbench (4)；
The L-type bogie A (7) is fixed on left socle, and the long side of L-type bogie A (7) is located at the top of workbench (4)；
The L-type bogie B (10) is fixed on after-poppet, and the long side of L-type bogie B (10) is located at the top of workbench (4)；Institute
The L-type bogie C (16) stated is mounted on the right pedestal (1) of workbench (4), and the long side of L-type bogie C (16) is located at work
The right of platform (4)；
Piezoelectric ceramic actuator A (2), piezoelectric ceramic actuator J (18) and the piezoelectric ceramic actuator I (17) is installed respectively
On pedestal (1) below workbench (4), it is located at front side, right side and the rear side at pedestal (1) center, Piezoelectric Ceramic
Device H (15) is mounted on the L-type bogie C (16) of workbench (4) right, and piezoelectric ceramic actuator F (12) and piezoelectric ceramics drive
Dynamic device G (13) is separately mounted on the rear wall at workbench (4) rear, and piezoelectric ceramic actuator E (11) is mounted on workbench (4)
On the L-type bogie B (10) of top, piezoelectric ceramic actuator B (6) and piezoelectric ceramic actuator D (9) are separately mounted to workbench
(4) on the left side wall of left, piezoelectric ceramic actuator C (8) is mounted on the L-type bogie A (7) above workbench (4)；
The piezoelectric ceramic actuator A (2), piezoelectric ceramic actuator B (6), piezoelectric ceramic actuator C (8), piezoelectric ceramics drive
Dynamic device D (9), piezoelectric ceramic actuator E (11), piezoelectric ceramic actuator F (12), piezoelectric ceramic actuator G (13), piezoelectric ceramics
The axis of driver H (15), piezoelectric ceramic actuator I (17) and piezoelectric ceramic actuator J (18) are corresponding with workbench (4) respectively
Face it is vertical, driving end contacted with corresponding face；
Piezoelectric ceramic actuator B (6), piezoelectric ceramic actuator D (9) and the piezoelectric ceramic actuator H (15) is located at work
It is on the median plane of platform (4) left and right, i.e., coplanar with X-axis and Z axis；Piezoelectric ceramic actuator F (12) and piezoelectric ceramic actuator G (13) is equal
It is on workbench (4) front-rear center face, i.e., coplanar with Y-axis and Z axis；Piezoelectric ceramic actuator A (2), piezoelectric ceramic actuator C
(8), piezoelectric ceramic actuator E (11), piezoelectric ceramic actuator I (17) and piezoelectric ceramic actuator J (18) are respectively positioned on workbench
(4) on median plane up and down, i.e., coplanar with X-axis and Y-axis；
Compliant component A (3), the compliant component B (5) is identical with compliant component C (14) structures；The compliant component is by two
A identical " claw type " Curved Beam Structure forms back-to-back, wherein " claw type " Curved Beam Structure is by two sections of semi arch curved beams with cross phase
The mode of friendship forms；Four pawls at the compliant component both ends are fixed respectively in corresponding plane；
The cross section of semi arch curved beam is rectangle.
2. a kind of intersection curved beam six-freedom parallel compliant mechanism according to claim 1, it is characterised in that：Described is soft
Along element A (3), compliant component B (5) and compliant component C (14) center respectively with the bottom surface of workbench (4), left side and after
The center of side corresponds to.
3. a kind of intersection curved beam six-freedom parallel compliant mechanism according to claim 1, it is characterised in that：The square
The length-width ratio of shape is 2-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721879620.2U CN207757577U (en) | 2017-12-28 | 2017-12-28 | A kind of intersection curved beam six-freedom parallel compliant mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721879620.2U CN207757577U (en) | 2017-12-28 | 2017-12-28 | A kind of intersection curved beam six-freedom parallel compliant mechanism |
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| Publication Number | Publication Date |
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| CN207757577U true CN207757577U (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721879620.2U Withdrawn - After Issue CN207757577U (en) | 2017-12-28 | 2017-12-28 | A kind of intersection curved beam six-freedom parallel compliant mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984443A (en) * | 2017-12-28 | 2018-05-04 | 大连交通大学 | One kind intersects curved beam six-freedom parallel compliant mechanism |
-
2017
- 2017-12-28 CN CN201721879620.2U patent/CN207757577U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984443A (en) * | 2017-12-28 | 2018-05-04 | 大连交通大学 | One kind intersects curved beam six-freedom parallel compliant mechanism |
| CN107984443B (en) * | 2017-12-28 | 2024-01-30 | 大连交通大学 | Six-degree-of-freedom parallel compliant mechanism with crossed curved beams |
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