TW201739563A - Compliant mechanism and gantry with the compliant mechanism - Google Patents

Abstract

This present invention provides a compliant mechanism and a gantry with the compliant mechanism. The compliant mechanism can provide compensation to spatial position errors resulted from motion error or deformation of the gantry beam and the compliant component can enhance the rigidity to where opposite to the motion axis of the gantry beam applied by an external force. Therefore, the compliant mechanism of this present invention can prevent the gantry beam from delaying while working.

Description

Flexible mechanism and gantry device including the same

The present invention relates to a sports pedestal, and more particularly to a flexible mechanism and a gantry device incorporating the same.

Due to structural rigidity, manufacturing, assembly, and control technology limitations, geometric errors or spatial surface errors caused by motion pedestals during movement are difficult to avoid, and in order to reduce the impact of positional errors on movement, it has been known in the prior art. There are mechanisms for achieving error compensation by different technical means. In addition to the calibration of the motion path by techniques such as laser interferometer, the degree of error is reduced or eliminated, and there is also a technique of buffering or deformation. Avoid improper torque or eliminate stress on the moving pedestal when motion errors occur.

Specifically, the gantry device (1) provided by the prior art shown in the first figure is provided with a flexible mechanism (4) for allowing deformation to be placed on the side of the beam (3) of the pedestal (2). According to this, when the relative movement between the two ends of the beam (3) and the pedestal (2) causes an error, the flexible mechanism (4) can allow the change of the position angle of the beam (3) caused by the co-moving error, avoiding The beam (3) causes undue stress; these deformation tolerances achieved by the technical means of reducing the rigidity of the flexible mechanism (4) can achieve its intended purpose, but also due to the flexible mechanism (4) The low rigidity causes the hysteresis of the beam (3) during movement, which is not a good design.

Accordingly, the main object of the present invention is to provide a high axial rigidity flexible mechanism and a gantry device including the same, wherein the flexible mechanism compensates for the error of the position of the gantry beam and makes the The mechanism has a high rigidity in the axial direction corresponding to one of the beam movements, avoiding the lack of motion hysteresis or the recurring error due to insufficient rigidity of the flexible mechanism.

The reason is that, in order to achieve the above object, the flexible mechanism provided by the present invention provides deformation by a plurality of flexible members and makes the flexible members have higher rigidity in the axial direction corresponding to the movement.

The higher rigidity of the flexible members in the axial direction of the movement refers to the rigidity of the flexible member corresponding to the movement axis, and the rigidity of the flexible member other than the movement axis.

Wherein, the technical means for improving the rigidity of the flexible member located in the axial direction of the movement can change the flexible members having the same rigidity through different density or angles to make them in different directions. Different rigidity, or different flexible members with different rigidity can be separately set to improve the rigidity in a specific direction.

In a specific technical content, the flexible mechanism includes a first coupling member; a second coupling member is spaced apart from the first coupling member and is relatively displaceable relative to each other in a first axial direction. a first flexible member, located in the first axial direction and bridged between the first coupling member and the second coupling member, and capable of being displaced relative to each other between the first coupling member and the second coupling member And deforming; and a second flexible member disposed between the first coupling member and the second coupling member in the first axial direction. By the combination of the above components, the rigidity of the first flexible member is greater than the rigidity of the second flexible member for improving the deformation resistance of the first flexible member in the first axial direction.

The first coupling member has an open end, and the second coupling member is located in the open end of the first coupling member, and the first and second flexible members are interposed between the openings of the first coupling member. Between the end and the second coupling member.

The setting density of the first flexible member is greater than the setting density of the second flexible member.

Wherein, the first and second flexible members are respectively plate-shaped reeds.

The first coupling member and the second coupling member are relatively displaceable relative to each other in a second axial direction, and the rigidity of the corresponding second flexible member located in the second axial direction is greater than that of the second coupling member. The axial direction corresponds to the rigidity of the second flexible member.

Wherein, the first and second flexible members respectively have different thicknesses.

Further, the flexible mechanism disclosed in the present invention can be combined with a gantry device. Specifically, the gantry device includes a first flexible mechanism, and the first flexible mechanism is configured to displace the first coupling member and the second coupling member relative to each other in one of the gantry devices. The beam is deformed such that the first coupling member and the second coupling member are moved by the beam to cause relative movement.

In order to change the spatial position of the beam, the gantry device further includes a second flexible mechanism, and the first flexible mechanism is disposed on the beam. The second flexible mechanism has a third coupling member; a fourth coupling member is spaced apart from the third coupling member and is relatively displaceable relative to each other in a first axial direction; the third flexible member, Located in the first axial direction and bridged between the third joint member and the fourth joint member, and deformable according to relative displacement between the third joint member and the fourth joint member; and a fourth The flexible member is disposed between the third coupling member and the fourth coupling member instead of the first axial direction. And by the combination of the above components, the third flexible member is The rigidity is greater than the rigidity of the fourth flexible member for improving the deformation resistance of the third flexible member in the first axial direction.

The first joint member and the third joint member are respectively fixed on the two ends of the beam body, and the second joint member and the fourth joint member are respectively attached to the sliding joint members.

The first coupling member and the second coupling member of the first flexible mechanism are relatively displaceable relative to each other in a second axial direction, and the third coupling member and the fourth coupling member of the second flexible mechanism The coupling members are further displaceable relative to each other in a second axial direction, and the first flexible mechanism is located on the second axis in the second axial direction corresponding to the second flexible member and the second flexible mechanism The upper corresponding fourth flexible members are not equal in rigidity to each other. Thereby, the first and second flexible mechanisms have different rigidity in different directions, so as to appropriately change the position error of the beam in different directions, specifically because the beam moves in a plane due to the same motion The positional change caused by the rotation and expansion of the error, or the deformation caused by thermal expansion and contraction.

The third coupling member has an open end, and the fourth coupling member is located in the open end of the third coupling member, and the third and fourth flexible members are interposed between the openings of the third coupling member. Between the end and the fourth coupling member.

(1)‧‧‧Longmen

(2) ‧ ‧ pedestal

(3)‧‧‧ beams

(4) ‧‧‧Flexible institutions

(10)‧‧‧Longmen installation

(20) ‧‧‧

(21) ‧ ‧ ‧ body

(22)‧‧‧ Column

(23) ‧ ‧ guide slots

(24)‧‧‧ Drives

(30) ‧‧ ‧ beams

(31)‧‧‧First sliding joint

(32)‧‧‧Second sliding parts

(33) ‧‧‧ beam body

(331) (332) ‧‧‧

(40) (40a) ‧‧‧First flexible mechanism

(41) (41a) ‧ ‧ first joint

(42) (42a) ‧ ‧ second joint

(43) ‧‧‧First flexible parts

(44a)‧‧‧Second flexible parts

(50) (50a) ‧‧‧Second flexible mechanism

(51)‧‧‧ Third joint

(52) ‧ ‧ fourth joint

(53) ‧‧‧ Third flexible parts

(54) (54a) ‧‧‧Fourth flexible parts

(x)‧‧‧first axial

(y) ‧‧‧second axial

The first figure is a perspective view of a conventional gantry device.

The second drawing is a perspective view of the gantry device of the embodiment of the present invention.

The third figure is a front view of the gantry apparatus of the embodiment of the present invention.

The fourth figure is a schematic view of the first flexible mechanism of the embodiment of the present invention.

The fifth drawing is a schematic view of a second flexible mechanism of an embodiment of the present invention.

Figure 6 is a top plan view of the gantry apparatus of the embodiment of the present invention.

Figure 7 is a plan view of a second flexible mechanism in accordance with another embodiment of the present invention.

Figure 8 is a plan view of a first flexible mechanism of another embodiment of the present invention.

First, please refer to the second and third figures. In the embodiment of the present invention, the gantry device (10) is mainly provided with a (20), a beam (30), and a first flexible mechanism. (40) and a second flexible mechanism (50).

The seat (20) has a seat body (21), and the two upright columns (22) are respectively fixed on the two ends of the side seat surface of the seat body, and the two spaced guide grooves (23) are respectively arranged on the seat body ( 21) The upper side seating surface, and extending parallel to each other along a straight line, and a driving member (24) composed of a linear motor is respectively disposed at the top end of the vertical column (22).

The beam (30) has first and second sliding members (31) (32) which are respectively connected to the driving members (24) and are slidably disposed in the guiding grooves (23) and can be guided by the guiding grooves (23) 23) guiding, reciprocating linearly along a virtual first axial direction (x), a beam body (33), located above the seat body (21), and between the first and second slides Between the connectors (31) and (32), and the two ends (331) (332) are indirectly bridged between the first and the second by the overlapping of the first and second flexible mechanisms (40) (50) Between the two sliding members (31) (32), the beam (30) is slidably disposed on the seat (20) so as to be linearly reciprocally displaced along the first axial direction (x).

Referring to the second and fourth figures, the first flexible mechanism (40) has a first coupling member (41), a second coupling member (42) and a first flexible member (43). The first coupling member (41) has an open end and is fixedly attached to one end (331) of the beam body (33) with the open end facing the first sliding member (31). The second coupling member (42) is fixedly attached to the first sliding member (31) and located in the open end of the first coupling member (41). The first flexible member (43) is respectively a plate-shaped reed having elasticity, and the first After the long axial extension of the flexures (43), they will intersect each other at the center of rotation of the first flexible mechanism (40). The first flexible member (43) is bridged between the inner side wall surface of the open end of the first joint member (41) and the second joint member (42), and increases the first flexible member (43) in the first axial direction ( The density is set on x) to increase the rigidity of the first flexible member (43) in the first axial direction (x). Thereby, when the beam (30) is linearly reciprocally displaced along the first axial direction (x), the relatively large number of first flexible members (43) are provided to provide higher rigidity to avoid the conventional missing It happened.

Referring to the second and fifth figures, the second coupling member (51) and the fourth coupling member (52) of the second flexible mechanism (50) are the same as the third flexible member (53). The fourth flexible member (54) is further added to the second flexible mechanism (40) in addition to the first flexible mechanism (40), which is located in the other virtual second axial direction ( y). The rigidity of the fourth flexible member (54) in the second axial direction (y) can be increased by increasing the density of the fourth flexible member (54).

By means of the above-mentioned components, the gantry device (10) can be used by the first and third flexible members (43) (53) of the first and second flexible mechanisms (40) (50). Increasing the rigidity of the flexible member in the first axial direction (x), so that the beam (30) is improved in the linear motion of the reciprocating motion in the first axial direction (x) by an external force, and at the same time, the phenomenon of hysteresis is improved. Through the elasticity of the first and second flexible members (43) (53) themselves to weaken their rigidity in the non-moving axial direction, as shown in the sixth figure, when the beam (30) is at both ends When the same motion in the slot (23) causes an error, the first and second flexible mechanisms (40) (50) are allowed to generate a positional change of the beam (30) under rotational deformation, so as to avoid the beam (30) The co-rotation error of the end generates an improper stress, and the beam (30) can also be rotated and controlled by an external control system.

In addition, when the beam (30) is subjected to the dimensional change of the thermal expansion and contraction due to the temperature, the dimensional change of the beam is similar to the second axial direction (y), and the second flexible mechanism can be used. a fourth flexible member (54) of (40) providing a deformation corresponding to the second axial direction (y) to compensate the beam (30) The size changes.

In addition to the specific effects described above, the first and second flexible mechanisms (40) (50) have a smaller volume than the prior art, and in addition to occupying no space, it is also possible to avoid increasing the height, and The motion center is on the same level as the external drive components used to provide displacement power to reduce the generation of excess torque.

Furthermore, the technical means for increasing the rigidity of the flexible member in the axial direction of the movement is not limited to the above-mentioned embodiments, that is, the density of the setting can be increased by the concentration or dispersion of the flexible member to increase the specific direction. In addition to the rigidity, the dissimilar flexible members having different rigidity may be combined to achieve the same. For example, the second flexible mechanism (50a) shown in FIG. 7 has the fourth non-second axial direction. The flexible member (54a) has a lower density than the fourth flexible member (54a) located in the second axial direction; and another embodiment of the first flexible mechanism (40a) as shown in the eighth embodiment, the first The flexible mechanism (40a) further includes a second flexible member (44a) disposed in the non-first axial direction and bridged between the first coupling member (41a) and the second coupling member (42a). In other words, regardless of the change in quantity, the shape or the structural change of the article, any increase in the rigidity of the flexible member in the axial direction of the motion is a form of protection of the present invention.

(10)‧‧‧Longmen installation

(20) ‧‧‧

(21) ‧ ‧ ‧ body

(22)‧‧‧ Column

(23) ‧ ‧ guide slots

(24)‧‧‧ Drives

(30) ‧‧ ‧ beams

(31)‧‧‧First sliding joint

(32)‧‧‧Second sliding parts

(33) ‧‧‧ beam body

(331) (332) ‧‧‧

(40) ‧‧‧First flexible mechanism

(50) ‧‧‧Second flexible mechanism

(x)‧‧‧first axial

Claims (10)

A flexible mechanism includes: a first coupling member; a second coupling member spaced apart from the first coupling member, and mutually displaceable relative to each other in a first axial direction; a first flexible a member, located in the first axial direction and bridged between the first joint member and the second joint member, and deformable according to relative displacement between the first joint member and the second member; and The second flexible member is disposed between the first coupling member and the second coupling member instead of the first axial direction; and the first flexible member has a rigidity greater than the second flexible portion The rigidity of the piece is used to improve the deformation resistance of the first flexible member in the first axial direction. The flexible mechanism of claim 1, wherein the first coupling member has an open end, and the second coupling member is located in the open end of the first coupling member, and the first The second flexible member is interposed between the open end of the first coupling member and the second coupling member. The flexible mechanism of claim 1 or 2, wherein the first and second flexible members are respectively plate-shaped reeds. The flexible mechanism of claim 1, wherein the first coupling member and the second coupling member are relatively displaceable relative to each other in a second axial direction, and the corresponding position is located in the second axial direction. The rigidity of the second flexible member is greater than the rigidity of the corresponding second flexible member that is not located in the second axial direction. The flexible mechanism of claim 1, wherein the first and second flexible members each have a different thickness. A gantry device comprising: a body having two bodies, two columns, two guiding grooves and two driving members, wherein the two columns are respectively fixed on two ends of the side seat surface of the body; the two guiding channels are Separately disposed on the side surface of the seat body in parallel with each other; and the two driving members are respectively disposed at the top end of the column; a beam having two sliding members and a beam body, wherein each of the sliding members is respectively slid Provided in each of the guide grooves, and respectively connected to the driving members to reciprocately move along a first axial direction; the beam body is located above the seat body between the two sliding members; and a first a flexible mechanism having a first coupling member, a second coupling member, a first flexible member and a second flexible member, wherein the first coupling member and the second coupling member are displaceable relative to each other The ground is disposed on the beam; the first flexible member is located in the first axial direction and bridges between the first joint member and the second joint member; the second flexible member is located not on the first shaft Upwardly bridged between the first joint member and the second joint member, according to which, when the first joint member and the first joint member When the two coupling members are moved by the beam to cause relative movement, the first flexible member is deformed; and the first flexible member has a rigidity greater than a rigidity of the second flexible member for improving The first flexible member is resistant to deformation in the first axial direction. The gantry device according to claim 6, further comprising a second flexible mechanism, the first flexible mechanism being disposed at two ends of the beam, the second flexible mechanism having a third coupling member, a fourth coupling member, a third flexible member and a fourth flexible member, wherein the third coupling member and the fourth coupling member are detachably disposed on the beam relative to each other; the third The flexure is located at the first An axially bridged between the third coupling member and the fourth coupling member; the fourth flexible member is disposed between the third coupling member and the fourth coupling member. According to this, when the third coupling member and the fourth coupling member are relatively moved by the beam, the third flexible member is deformed; and the third flexible member has a rigidity greater than The rigidity of the fourth flexible member is used to improve the deformation resistance of the third flexible member in the first axial direction. The gantry device according to the seventh aspect of the invention, wherein the first joint member and the third joint member are respectively fixed at two ends of the beam body, and the second joint member and the fourth joint member are respectively They are respectively attached to the respective sliding members. The gantry device of claim 7, wherein the first coupling member and the second coupling member of the first flexible mechanism are relatively displaceable relative to each other in a second axial direction; the second flexibility The third coupling member and the fourth coupling member are more displaceable relative to each other in a second axial direction; and the first flexible mechanism is corresponding to the second flexible member in the second axial direction The second flexible mechanism is unequal in rigidity to each other in the corresponding fourth flexible member located in the second axial direction. The gantry device of claim 7, wherein the first coupling member has an open end, the second coupling member is located in the open end of the first coupling member, and the first and the first The second flexible member is disposed between the open end of the first joint member and the second joint member; and the third joint member has an open end, and the fourth joint member is located at the open end of the third joint member Middle, and the third and fourth flexible members are located in the open end of the third joint member and the fourth knot Joint room.