CN102540398A - Full-compliant two-spindle rotating and reflecting mirror with low cross coupling - Google Patents
Full-compliant two-spindle rotating and reflecting mirror with low cross coupling Download PDFInfo
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- CN102540398A CN102540398A CN201210042256XA CN201210042256A CN102540398A CN 102540398 A CN102540398 A CN 102540398A CN 201210042256X A CN201210042256X A CN 201210042256XA CN 201210042256 A CN201210042256 A CN 201210042256A CN 102540398 A CN102540398 A CN 102540398A
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Abstract
The invention belongs to the field of compliant mechanisms, relates to a compliant device which can be applied to the fields such as laser imaging, laser radar, imbalance light beam correction, space optical communication light beam alignment and the like, and in particular relates to a full-compliant two-spindle rotating and reflecting mirror with low cross coupling (a flexible reflecting mirror device which can rotate around two spindles at will). The full-compliant two-spindle rotating and reflecting mirror with low cross coupling is characterized by at least comprising a movable platform and a reflecting mirror, four square-shaped flexible beams 3 which are connected to the periphery of a moving platform implement friction-free and gapless rotation of the reflecting mirror, the outer side of each square-shaped flexible beam is connected with a cross-shaped torsional flexibility hinge to reduce kinematic coupling of the two spindles, the outer end of each cross-shaped torsional flexibility hinge is uniformly connected to the periphery of a frame, and when the square-shaped flexible beams are driven to deform, accurate, rapid and low-cross-coupling two-spindle rotational motion of the reflecting mirror is realized. The compliant device provided by the invention has the advantages of simple structure, low manufacturing cost, no friction, no lubrication, low energy consumption and good processing manufacturability.
Description
Technical field
The invention belongs to the compliant mechanism field, relate to a kind of low cross-linked complete submissive diaxon rotation catoptron that has, realize that catoptron rotates arbitrarily around two axles, be used for fields such as laser imaging, laser radar, the correction of imbalance light beam, space optical communication beam alignment.
Background technology
Diaxon rotation catoptron need be realized accurately and fast, low cross-linked diaxon rotatablely moves.Existing partial design is based on rigid mechanism, in the rigid mechanism hinge intrinsic friction and the gap precision that can have a strong impact on rotation, owing to need lubricatedly, can't in some extreme environment (like space), use simultaneously; Some designs are also arranged in addition based on compliant mechanism, but diaxon rotates the bigger cross-couplings of existence, has increased the control difficulty, reduced the accuracy of rotating simultaneously.
Therefore, design is a kind of has low cross-linked complete submissive diaxon and rotates catoptron and have great significance.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, cost is low, processing technology good and low cross-linkedly have low cross-linked complete submissive diaxon and rotate catoptron.
The technical scheme that the present invention adopted is: a kind of low cross-linked complete submissive diaxon rotates reflector apparatus, and it is characterized in that: comprise that framework, cruciform reverse flexible hinge and be connected moving platform with the square shape flexible beam, catoptron is installed on the moving platform; Be symmetrically connected with four square shape flexible beams around the moving platform; The outside of four square shape flexible beams connects the inner that a cruciform reverses flexible hinge respectively; Cruciform reverses flexible hinge outer end connecting frame; Framework rises and supports and fixation, and moving platform can be realized any rotation around two axles under extraneous driving action.
Said cruciform reverse flexible hinge respectively with right cruciform reverse flexible hinge, down cruciform reverses flexible hinge, left cruciform and reverses flexible hinge, goes up cruciform and reverse four cruciforms of flexible hinge and reverse flexible hinge and provide; Right cruciform reverses flexible hinge and left cruciform, and to reverse flexible hinge be one group; Following cruciform reverses flexible hinge and last cruciform, and to reverse flexible hinge be one group; Every group of cruciform flexible hinge is the axis extension line and overlaps in framework; Two groups of axis extension line quadratures, two rotation axiss of formation catoptron, cruciform reverses flexible hinge can provide the rotational freedom around its axis.
Described right cruciform reverses flexible hinge and is connected with the middle-end openend of right square shape flexible beam; Following cruciform reverses flexible hinge and is connected with the middle-end openend of following square shape flexible beam; Left side cruciform reverses flexible hinge and is connected with the middle-end openend of left square shape flexible beam; Last cruciform reverses flexible hinge and is connected with the middle-end openend of last square shape flexible beam, and four cruciforms reverse flexible hinge and are connected with the square shape flexible beam with framework with the mode of similar rotating shaft respectively; When moving platform rotated under the external world drives, the square shape flexible beam deformed, to provide moving platform corresponding rotational freedom.
Described moving platform can be an arbitrary shape.
Described catoptron is installed in the optional position on the moving platform.
The invention has the beneficial effects as follows: realized that successfully a kind of low cross-linked complete submissive diaxon rotates reflector apparatus.It is characterized in that: the moving platform outside that catoptron is housed connects four square shape flexible beams symmetrically; The other end of four square shape flexible beams connects the inner that four cruciforms reverse flexible hinge respectively; Four cruciforms reverse the outer end connecting frame of flexible hinge, and four cruciforms reverse flexible hinge and are divided into two groups, and each group is the axis extension line and overlaps; Two groups of axis extension line quadratures, two rotation axiss of formation catoptron; Make catoptron when an axle rotates when driving moving platform; Two of the rotation axis orthogonal directions square shape flexible beams deform therewith; And will rotate along with moving platform with the coaxial square shape flexible beam of this rotation axis, the square shape flexible beam drives the cruciform that is attached thereto and reverses the torsional deflection of flexible hinge generation around its axis.The rotation flexibility that cruciform reverses flexible hinge is the degree of freedom that moving platform provides axial rotation; The torsional deflection of the feasible square shape flexible beam that is attached thereto reduces largely; Influence along another axial rotation just greatly reduces to moving platform like this; The cross-couplings that also is diaxon reduces, and makes moving platform along two axial rotation linearities better (separate, do not disturb mutually), and it is more easy that control is got up.
Description of drawings
Below in conjunction with the embodiment accompanying drawing the present invention is further specified.
Fig. 1 is the synoptic diagram that complete submissive diaxon rotates catoptron;
Fig. 2 is the synoptic diagram that cruciform reverses flexible hinge;
Fig. 3 is the synoptic diagram of square shape flexible beam;
Fig. 4 is the distortion synoptic diagram of square shape flexible beam;
Fig. 5 is that the catoptron when driving one group of square shape flexible beam distortion rotates synoptic diagram, and catoptron rotates around an axle;
Fig. 6 is the synoptic diagram that drives four square shape flexible beams simultaneously, and catoptron all has rotation around two rotation axiss.
Among the figure: 1, framework; 2, cruciform reverses flexible hinge; 3, square shape flexible beam; 21, right cruciform reverses flexible hinge; 22, cruciform reverses flexible hinge down; 23, left cruciform reverses flexible hinge; 24, go up cruciform and reverse flexible hinge; 31, right square shape flexible beam; 32, following square shape flexible beam; 33, left square shape flexible beam; 34, go up the square shape flexible beam; 4, moving platform; 5, catoptron.
Embodiment
Realization is rotated reflector apparatus around the complete submissive diaxon that two axles rotate arbitrarily, comprises that framework 1, cruciform reverse flexible hinge 2 and be connected moving platform 4 with square shape flexible beam 3, and catoptron 5 is installed on the moving platform 4.The outside that is symmetrically connected with 3, four square shape flexible beams 3 of four square shape flexible beams around the moving platform 4 connects the inner that a cruciform reverses flexible hinge 2 respectively, and cruciform reverses flexible hinge 2 outer end connecting frames 1.
Complete submissive diaxon rotation reflector apparatus is as shown in Figure 1, and it is as shown in Figure 2 that cruciform reverses flexible hinge 2, and square shape flexible beam 3 is as shown in Figure 3.Be convenient explanation; Four cruciforms reverse flexible hinge 2 respectively with right cruciform reverse flexible hinge 21, cruciform reverses flexible hinge 22, left cruciform and reverses flexible hinge 23, goes up cruciform and reverse flexible hinge 24 and provide down; Be divided into two groups; Right cruciform reverses flexible hinge 21, and to reverse flexible hinge 23 with left cruciform be one group, and following cruciform reverses flexible hinge 22, and to reverse flexible hinge 24 with last cruciform be one group, and every group of cruciform flexible hinge is the axis extension line and overlaps in framework 1; Two groups of axis extension line quadratures, two rotation axiss of formation catoptron.
Be similarly convenient explanation; Four square shape flexible beams 3 respectively with right square shape flexible beam 31, down square shape flexible beam 32, left square shape flexible beam 33, go up square shape flexible beam 34 and provide; Right cruciform reverses flexible hinge 21 and is connected with the middle-end openend of right square shape flexible beam 31; Following cruciform reverses flexible hinge 22 and is connected with the middle-end openend of following square shape flexible beam 32; Left side cruciform reverses flexible hinge 23 and is connected with the middle-end openend of left square shape flexible beam 33; Last cruciform reverses flexible hinge 24 and is connected with the middle-end openend of last square shape flexible beam 34, and four cruciforms reverse flexible hinge 2 and are connected with square shape flexible beam 3 with framework 1 with the mode of similar rotating shaft respectively.When driving moving platform 4 rotates along a certain axle, with the square shape flexible beam generation distortion as shown in Figure 4 of this orthogonal directions.
Moving platform 4 is squares among the embodiment 1; Its four angles respectively with right square shape flexible beam 31, down square shape flexible beam 32, left square shape flexible beam 33, go up square shape flexible beam 34 and be connected; Right square shape flexible beam 31 connects the inner that right cruciform reverses flexible hinge 21; Cruciform reversed the inner of flexible hinge 22 under following square shape flexible beam 32 connected; Left side square shape flexible beam 33 connects the inner that left cruciform reverses flexible hinge 23, and last square shape flexible beam 34 connects goes up the inner that cruciform reverses flexible hinge 24, the outer end connecting frame 1 of four cruciform flexible hinges.Its duty can combine Fig. 1, Fig. 4, Fig. 5 and Fig. 6 to explain together.
In driving Fig. 1 along a pair of square shape flexible beam 31 of X-direction and 33 near an end of moving platform 4 respectively when the positive and negative direction of Z axle is moved; Distortion as shown in Figure 4 takes place in square shape flexible beam 31 and 33; Drive moving platform 4 and catoptron 5 around the rotation of Y axle, as shown in Figure 5.Simultaneously, follow moving platform 4 rotation, reverse flexible hinge 22 and 24 along the cruciform of Y direction and also reverse thereupon along a pair of square shape flexible beam 32 and 34 of Y direction.The rotation flexibility that cruciform reverses flexible hinge 22 and 24 is that moving platform provides the rotational freedom around the Y axle, makes that coupled a pair of square shape flexible beam 32 and 34 distortion are very little, has realized the pure rotation of catoptron 5 around the Y axle like this; The a pair of cruciform of X-direction reverses flexible hinge 21 and 23 and is not out of shape, thereby catoptron 5 is small to the driver influence of X-direction around the rotation of Y axle.
A pair of square shape flexible beam 31 and 33 ends near moving platform 4 along X-direction in driving Fig. 1 move along the positive and negative direction of Z axle respectively; Drive simultaneously along a pair of square shape flexible beam 32 of Y direction and 34 near an end of moving platform 4 respectively when the positive and negative direction of Z axle is moved; Four square shape flexible beams 31,32,33 and 34 deform (as shown in Figure 4); Drive moving platform 4 and catoptron 5 around X axle and the rotation of Y axle, as shown in Figure 6.Simultaneously; The square shape flexible beam also can be followed moving platform 4 rotations; Cruciform reverses flexible hinge 21,22,23,24 also thereupon around the axis torsional deflection; For moving platform provides the degree of freedom of axial rotation, make moving platform greatly reduce along the influence of an axial rotation to another axial rotation, also be that the cross-couplings of diaxon reduces.
Can find out that from embodiment 1 moving platform 4 and catoptron 5 can be realized rotating at any angle.
The present invention is owing to used cruciform to reverse flexible hinge provides when rotation as moving platform degree of freedom; The torsional deflection of the feasible square shape flexible beam that is attached thereto reduces largely; Influence along another axial rotation just greatly reduces to moving platform like this; The cross-couplings that also is diaxon reduces, and makes moving platform along two axial rotation linearities better (separate, do not disturb mutually), and it is more easy that control is got up.
Because this complete submissive diaxon rotates the simple in structure of reflector apparatus; Center of rotation is stable; Can realize the no friction of catoptron, the rotation of no gap; Each square shape flexible beam outside is connected with cruciform and reverses the motion coupling that flexible hinge can effectively reduce by two between centers, can realize catoptron accurately and fast, low cross-linked diaxon rotatablely moves, so can be applied in the fields such as laser imaging, laser radar, the correction of imbalance light beam, space optical communication beam alignment.
Claims (5)
1. one kind low cross-linked complete submissive diaxon rotates reflector apparatus, and it is characterized in that: comprise that framework, cruciform reverse flexible hinge and be connected moving platform with the square shape flexible beam, catoptron is installed on the moving platform; Be symmetrically connected with four square shape flexible beams around the moving platform; The outside of four square shape flexible beams connects the inner that a cruciform reverses flexible hinge respectively; Cruciform reverses flexible hinge outer end connecting frame; Framework rises and supports and fixation, and moving platform can be realized any rotation around two axles under extraneous driving action.
2. a kind of low cross-linked complete submissive diaxon according to claim 1 rotates reflector apparatus; It is characterized in that: said cruciform reverse flexible hinge respectively with right cruciform reverse flexible hinge, down cruciform reverses flexible hinge, left cruciform and reverses flexible hinge, goes up cruciform and reverse four cruciforms of flexible hinge and reverse flexible hinge and provide; Right cruciform reverses flexible hinge and left cruciform, and to reverse flexible hinge be one group; Following cruciform reverses flexible hinge and last cruciform, and to reverse flexible hinge be one group; Every group of cruciform flexible hinge is the axis extension line and overlaps in framework; Two groups of axis extension line quadratures, two rotation axiss of formation catoptron, cruciform reverses flexible hinge can provide the rotational freedom around its axis.
3. a kind of low cross-linked complete flexible diaxon according to claim 2 rotates reflector apparatus; It is characterized in that: described right cruciform reverses flexible hinge and is connected with the middle-end openend of right square shape flexible beam; Following cruciform reverses flexible hinge and is connected with the middle-end openend of following square shape flexible beam; Left side cruciform reverses flexible hinge and is connected with the middle-end openend of left square shape flexible beam; Last cruciform reverses flexible hinge and is connected with the middle-end openend of last square shape flexible beam, and four cruciforms reverse flexible hinge and are connected with the square shape flexible beam with framework with the mode of similar rotating shaft respectively; When moving platform rotated under the external world drives, the square shape flexible beam deformed, to provide moving platform corresponding rotational freedom.
4. a kind of low cross-linked complete flexible diaxon according to claim 1 rotates reflector apparatus, and it is characterized in that: described moving platform can be an arbitrary shape.
5. a kind of low cross-linked complete flexible diaxon according to claim 1 rotates reflector apparatus, and it is characterized in that: described catoptron is installed in the optional position on the moving platform.
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| CN201210042256.XA CN102540398B (en) | 2012-02-23 | 2012-02-23 | Full-compliant two-spindle rotating and reflecting mirror with low cross coupling |
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| CN201210042256.XA CN102540398B (en) | 2012-02-23 | 2012-02-23 | Full-compliant two-spindle rotating and reflecting mirror with low cross coupling |
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| CN102540398B CN102540398B (en) | 2013-08-21 |
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Cited By (8)
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| CN103137216A (en) * | 2013-01-30 | 2013-06-05 | 西安交通大学 | Double-axis flexible binding structure for micro-angle displacement platform |
| CN103448056A (en) * | 2013-08-26 | 2013-12-18 | 江西理工大学 | Plane integrated full-smooth parallel microoperation mechanism |
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN104375258A (en) * | 2014-11-14 | 2015-02-25 | 中国工程物理研究院总体工程研究所 | Reflecting mirror back support two-freedom-degree rotation flexible hinge |
| CN104360455B (en) * | 2014-10-16 | 2016-08-24 | 中国科学院上海技术物理研究所 | A kind of space remote sensing camera speculum flexibility Hooke's hinge supporting mechanism |
| CN108448809A (en) * | 2018-04-26 | 2018-08-24 | 长春萨米特光电科技有限公司 | It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms |
| CN109388907A (en) * | 2018-10-31 | 2019-02-26 | 中船动力研究院有限公司 | A kind of design method of the shafting with default extensional vibration dynamic flexibility |
| CN110361827A (en) * | 2019-06-14 | 2019-10-22 | 中国科学院西安光学精密机械研究所 | A kind of control method reducing X-axis and Y-axis coupling in two axis fast mirrors |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103137216A (en) * | 2013-01-30 | 2013-06-05 | 西安交通大学 | Double-axis flexible binding structure for micro-angle displacement platform |
| CN103137216B (en) * | 2013-01-30 | 2014-07-02 | 西安交通大学 | Double-axis flexible binding structure for micro-angle displacement platform |
| CN103448056A (en) * | 2013-08-26 | 2013-12-18 | 江西理工大学 | Plane integrated full-smooth parallel microoperation mechanism |
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103671462B (en) * | 2013-12-19 | 2015-10-14 | 上海交通大学 | Based on the piezoelectricity valve free pump sucker of parallel connection compliant mechanism |
| CN104360455B (en) * | 2014-10-16 | 2016-08-24 | 中国科学院上海技术物理研究所 | A kind of space remote sensing camera speculum flexibility Hooke's hinge supporting mechanism |
| CN104375258A (en) * | 2014-11-14 | 2015-02-25 | 中国工程物理研究院总体工程研究所 | Reflecting mirror back support two-freedom-degree rotation flexible hinge |
| CN108448809A (en) * | 2018-04-26 | 2018-08-24 | 长春萨米特光电科技有限公司 | It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms |
| CN109388907A (en) * | 2018-10-31 | 2019-02-26 | 中船动力研究院有限公司 | A kind of design method of the shafting with default extensional vibration dynamic flexibility |
| CN109388907B (en) * | 2018-10-31 | 2022-10-14 | 中船动力研究院有限公司 | Design method of shafting with preset longitudinal vibration dynamic flexibility |
| CN110361827A (en) * | 2019-06-14 | 2019-10-22 | 中国科学院西安光学精密机械研究所 | A kind of control method reducing X-axis and Y-axis coupling in two axis fast mirrors |
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