CN209919325U - Rigid-flexible coupling platform with rigidity adjusted in middle and motion platform - Google Patents
Rigid-flexible coupling platform with rigidity adjusted in middle and motion platform Download PDFInfo
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- CN209919325U CN209919325U CN201822092326.8U CN201822092326U CN209919325U CN 209919325 U CN209919325 U CN 209919325U CN 201822092326 U CN201822092326 U CN 201822092326U CN 209919325 U CN209919325 U CN 209919325U
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Abstract
The utility model discloses a middle rigid-flexible coupling platform of adjusting rigidity, rigid-flexible coupling platform includes: the system comprises a rigidity supporting platform, a core motion platform and a connecting flexible hinge group; the rigidity support platform is connected with the core motion platform through the connecting flexible hinge group; the rigid-flexible coupling motion platform further comprises a rigidity adjusting mechanism; the rigidity adjusting mechanism comprises an upper fixing block, a lower fixing block, a spring piece and a rigidity adjusting piece; the upper fixing block and the lower fixing block are fixed on the rigidity supporting platform; the upper fixing block and the lower fixing block clamp the spring piece and keep the spring piece in a gap between the rigidity supporting platform and the core motion platform in the motion direction of the core motion platform; the rigidity adjusting piece is arranged in the middle of the spring piece; the rigidity adjusting piece is used for changing the rigidity of the spring piece. The utility model discloses rigidity that can flexible hinge has realized adopting a platform can adapt to different work condition.
Description
Technical Field
The utility model relates to a motor drive technique, more specifically relate to a middle rigid-flexible coupling platform and motion platform who adjusts rigidity that relates to.
Background
The problem of friction dead zones can be effectively solved based on the flexible hinge, and the positioning precision is greatly improved on the premise of not increasing the cost, so that the flexible hinge is more and more widely applied to the design of a precision motion platform. Flexible hinges are mentioned in documents of a single-drive rigid-flexible coupling precision motion platform, an implementation method and application thereof (CN201610508540.X), a linear motor common-stator dual-drive macro-micro integrated high-speed precision motion one-dimensional platform (CN201410696217.0), and the like. However, the two ends of the flexible hinge platform are suspended, and the flexible hinge platform only depends on the flexible hinges at the two sides of the platform, so that the load borne by the flexible hinge platform is generally smaller, and the flexible hinge platform cannot be applied to occasions with larger loads. A further improvement to the conventional flexible hinge is provided in the patent "a large load bearing flexible hinge guide mechanism" (CN20170883865.0), which proposes a primary flexible hinge set and a secondary flexible hinge set. The flexible hinge array is processed integrally or the high-elasticity spring piece is adopted as the flexible hinge body, and the flexible hinge is assembled to achieve the effect of the flexible hinge. This approach greatly increases the load strength that the flexible hinge platform can carry, but its disadvantages are also apparent. Firstly, through the integrally processed primary and secondary flexible hinge groups, the flexible hinge parts and the platform are made of the same material, generally aluminum alloy or other stainless steel materials, and due to the defects of the material characteristics, no matter how the stress concentration is reduced, fatigue fracture can be generated during high-frequency work. Secondly, if a high-elasticity spring piece is used as the flexible hinge main body and the core platform is connected with the rigid supporting platform in an assembling mode, although the problem of fatigue fracture is solved, the overall precision of the platform is reduced due to inevitable assembly errors. Moreover, the rigidity of the flexible hinge cannot be adjusted no matter the flexible hinge group is integrally processed or the flexible hinge body is assembled by the high-elasticity spring piece, so that the application of one platform to adapt to different working conditions cannot be realized, and the cost is increased invisibly.
Disclosure of Invention
The utility model provides a flexible hinge in adjustable space of long-life no assembly error rigidity, to the easy fatigue fracture of the flexible hinge of integration processing who exists among the flexible hinge in the present precision motion platform, adopt high elasticity spring leaf to assemble into flexible hinge main part and have assembly error and can not adjust the problem of flexible hinge rigidity and all carried out effectual solution.
The utility model discloses combine the integration processing to exempt from to assemble error and the long characteristics of shell fragment formula flexible hinge fatigue life, connect flexible hinge group flexible hinge adoption integration processing method promptly, guarantee not have the assembly error between rigid support platform and the core motion platform. The end parts are assembled by adopting high-elasticity spring pieces, so that the rigidity of the flexible hinge and the capacity of resisting deformation in the non-working direction are improved. In order to meet the requirements of different working platforms on the rigidity of the flexible hinge, the movable support is adopted to adjust the effective length of the spring piece, so that the rigidity of the flexible hinge is changed. The specific technical scheme is as follows.
A rigid-flexible coupling platform with intermediate adjustment of stiffness, the rigid-flexible coupling platform comprising: the system comprises a rigidity supporting platform, a core motion platform and a connecting flexible hinge group; the rigidity support platform is connected with the core motion platform through the connecting flexible hinge group; the rigid-flexible coupling motion platform further comprises a rigidity adjusting mechanism; the rigidity adjusting mechanism comprises an upper fixing block, a lower fixing block, a spring piece and a rigidity adjusting piece; the upper fixing block and the lower fixing block are fixed on the rigidity supporting platform; the upper fixing block and the lower fixing block clamp the spring piece and keep the spring piece in a gap between the rigidity supporting platform and the core motion platform in the motion direction of the core motion platform; the rigidity adjusting piece is arranged in the middle of the spring piece; the rigidity adjusting piece is used for changing the rigidity of the spring piece.
Further, the rigidity adjusting member includes: the screw and the plurality of groups of pressing plate groups; each group of pressing plate groups comprises a front pressing plate and a rear pressing plate; the front pressing plate and the rear pressing plate clamp the spring piece front and back; pairing the front pressing plate and the rear pressing plate with the same clamping area into a group of pressing plate groups; the rigidity of the spring piece can be changed by replacing the pressing plate groups with different sizes; the screws rigidly connect the front and rear pressure plates with the core motion platform.
Further, the rigidity adjusting member includes: four "L" shaped compacts and screws; the upright L-shaped pressing block and the inverted L-shaped pressing block are placed in a matched mode to form a combined pressing block; the two combined pressing blocks clamp the spring piece front and back; the rigidity of the spring piece can be changed by simultaneously moving the two upright L-shaped pressing blocks and/or the inverted L-shaped pressing blocks.
Further, the rigidity adjusting member further includes: a screw; the four L-shaped pressing blocks are all provided with long holes for the screws to pass through; the screw rigidly connects the L-shaped press block with the core motion platform.
Further, the rigidity adjusting member further includes: pressing a plate; the screw penetrates through the pressing plate to press the L-shaped pressing block on the core motion platform.
Further, the upper fixing block and the lower fixing block respectively comprise a front fixing block and a rear fixing block; the spring is clamped between the front fixing block and the rear fixing block.
Further, the upper fixing block and the lower fixing block are fixed on the rigidity supporting platform through screws.
Further, the rigidity adjusting mechanisms are symmetrically arranged at the front end and the rear end of the rigid-flexible coupling motion platform.
A precision motion platform is characterized by comprising a base, a linear guide rail fixed on the base, a guide rail sliding block, the rigid-flexible coupling motion platform, a linear driver and a displacement sensor, wherein the linear guide rail is fixed on the base; a core motion platform in the rigid-flexible coupling motion platform is connected with the linear driver, and the rigid frame is connected with the linear guide rail through the guide rail sliding block; the displacement sensor is connected with the core motion platform and used for measuring the displacement of the core motion platform in the motion direction.
Compared with the prior art, the beneficial effects are:
1. the flexible hinge I adopting integrated processing plays a role in connecting the micro platform and the macro platform, so that no assembly error exists between the micro platform and the macro platform, and the installation accuracy of the flexible hinge II installed between the micro platform and the macro platform is ensured.
2. The rigidity of the flexible hinge I is smaller than that of the flexible hinge II, so that when the single-drive rigid-flexible coupling macro-micro composite motion platform based on the composite flexible hinge moves, the flexible hinge II consisting of the spring pieces firstly bears the deformation from the micro-motion platform. The fatigue life of the spring piece is far longer than that of an aluminum alloy material used for processing the platform, so that the service life of the platform is ensured, and fatigue fracture of the flexible hinge I of the platform in a short time due to the fatigue life problem is avoided.
3. The flexible hinge II is composed of a spring piece, a pressing plate fixed in the middle of the spring piece and fixing blocks at two ends. Therefore, the pressing plates in the middle of the spring pieces can be replaced or adjusted, the pressing plates with different widths are used or the pressing plates have different widths, so that the effective acting length of the spring pieces is changed, the rigidity of the flexible hinge II is further changed, and the rigidity of the single-drive rigid-flexible coupling macro-micro composite motion platform based on the composite flexible hinge is changed.
Drawings
Fig. 1 is an overall schematic view of a rigid-flexible coupling platform according to a first embodiment.
FIG. 2 is a schematic cross-sectional view of the installation position of the intermediate pressure plate of the flexible hinge II in the first embodiment.
FIG. 3 is a partial enlarged view of the installation manner of the intermediate pressure plate of the flexible hinge II in the first embodiment.
FIG. 4 is a schematic cross-sectional view of the mounting positions of the fixing blocks at two ends of the flexible hinge II in the first embodiment.
FIG. 5 is a partial enlarged view of the installation manner of the intermediate pressing plate of the flexible hinge II in the first embodiment.
FIG. 6 is a comparison of the width of the intermediate platen of flexible hinge II as modified in the first embodiment.
Fig. 7 is an overall schematic view of a single-drive macro-micro composite motion platform based on a composite flexible hinge according to the first embodiment.
FIG. 8 is a partial enlarged view of the mounting manner of the intermediate pressing plate of the flexible hinge II according to the second embodiment.
FIG. 9 is a front view of an intermediate pressing plate of the second embodiment of the flexible hinge II.
FIG. 10 is a left side view of the intermediate pressing plate of the flexible hinge II of the second embodiment.
FIG. 11 is a perspective view of the intermediate platen of the second embodiment of the flexible hinge II.
FIG. 12 is a schematic diagram showing the adjustment of the position of the intermediate pressing plate of the flexible hinge II according to the second embodiment.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
Example one
As shown in fig. 1, in the rigid-flexible coupled motion platform, a4 is a rigid support platform, a2 is a core motion platform, A3 is a connection flexible hinge group, and a1 is a rigidity adjusting mechanism. The rigid support platform a4 is connected to the core motion platform a2 by a connecting flexible hinge set A3. The rigidity adjustment mechanism a1 is disposed in the front and rear gaps between the rigidity support platform a4 and the core motion platform a2, and is symmetrically disposed at the front and rear ends of the platform. Wherein, the rigid-flexible coupling motion platform is processed as an integral type. The flexible hinge group A3 is a flexible hinge I, and the rigidity adjusting mechanism A1 is a flexible hinge II.
Rigidity adjusting mechanism A1 as shown in fig. 3 and 4, rigidity adjusting mechanism A1 includes a spring plate a101, two fixing blocks a103 and a104 arranged at the upper and lower parts and in the front and rear direction, two front and rear pressing plates a102 fixed in the middle of spring plate a101 and clamping spring a101 in the front and rear direction, and a screw. Screws rigidly connect the platen a102 to the core motion platform a 2. Two anchor blocks a103 and a104 are connected to a rigid support platform a 4.
The effective acting length of the spring piece A101, namely the rigidity of the flexible hinge II can be adjusted by changing the width of the pressing piece A102 in front of and behind the spring piece A101 in figure 5. A102-2 in FIG. 6 is a comparison diagram of the rigidity of the flexible hinge II increased after the pressing block is replaced.
As shown in fig. 7, the rigid-flexible coupling motion platform may be disposed on a precision motion platform, where the precision motion platform includes a base 1, a linear guide rail 2 fixed on the base 1, a guide rail slider, a linear driver 5, and a displacement sensor 6; the core motion platform in the rigid-flexible coupling motion platform 3 is connected with a linear driver 5, and the rigid support platform is connected with the linear guide rail 2 through a guide rail sliding block; the displacement sensor 6 is connected with the core motion platform and is used for measuring the displacement of the core motion platform in the motion direction.
Example two
In the second embodiment, the overall structure of the single-drive macro-micro composite motion platform based on the composite flexible hinge is the same as that of the first embodiment, and the description is not repeated here. The difference lies in the structural form of the middle part of the spring piece of the composite flexible hinge II and the mode of adjusting the rigidity. In the first embodiment, different pressing blocks need to be replaced to change the effective acting length of the spring piece, namely the rigidity of the composite flexible hinge II. In the second embodiment, only one group of pressing blocks is needed, and the effective acting length of the spring piece, namely the rigidity of the composite flexible hinge II, is changed by adjusting the relative positions of two pressing blocks in the group of pressing blocks.
As shown in fig. 8-12, the press plate B105 serves to press the press block B102. As shown in fig. 9-11, the compact B102 is 4 "L" shaped compacts. 1 upright L-shaped pressing block and an inverted L-shaped pressing block form a group of combined pressing blocks. The spring piece B101 is clamped between the two sets of combined pressing blocks.
Because the L-shaped pressing blocks are all provided with the strip holes for the screws to pass through, and the L-shaped pressing blocks and the pressing plate B105 are rigidly connected with the core motion platform by the screws, the adjusting range of the combined pressing block is the length of the strip holes. Fig. 12 is a schematic diagram showing that the rigidity of the flexible hinge ii is increased by adjusting the relative position of the pressing block B102.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A rigid-flexible coupling platform with intermediate adjustment of stiffness, the rigid-flexible coupling platform comprising: the system comprises a rigidity supporting platform, a core motion platform and a connecting flexible hinge group;
the rigidity support platform is connected with the core motion platform through the connecting flexible hinge group;
the rigid-flexible coupling platform is characterized by further comprising a rigidity adjusting mechanism;
the rigidity adjusting mechanism comprises an upper fixing block, a lower fixing block, a spring piece and a rigidity adjusting piece;
the upper fixing block and the lower fixing block are fixed on the rigidity supporting platform;
the upper fixing block and the lower fixing block clamp the spring piece and keep the spring piece in a gap between the rigidity supporting platform and the core motion platform in the motion direction of the core motion platform;
the rigidity adjusting piece is arranged in the middle of the spring piece;
the rigidity adjusting piece is used for changing the rigidity of the spring piece.
2. The rigid-flexible coupling platform of claim 1, wherein the stiffness adjustment member comprises: the screw and the plurality of groups of pressing plate groups;
each group of pressing plate groups comprises a front pressing plate and a rear pressing plate;
the front pressing plate and the rear pressing plate clamp the spring piece front and back;
pairing the front pressing plate and the rear pressing plate with the same clamping area into a group of pressing plate groups;
the rigidity of the spring piece can be changed by replacing the pressing plate groups with different sizes;
the screws rigidly connect the front and rear pressure plates with the core motion platform.
3. The rigid-flexible coupling platform of claim 1, wherein the stiffness adjustment member comprises: four "L" shaped compacts and screws;
the upright L-shaped pressing block and the inverted L-shaped pressing block are placed in a matched mode to form a combined pressing block;
the two combined pressing blocks clamp the spring piece front and back;
the rigidity of the spring piece can be changed by simultaneously moving the two upright L-shaped pressing blocks and/or the inverted L-shaped pressing blocks.
4. The rigid-flexible coupling platform of claim 3, wherein the stiffness adjustment member further comprises: a screw;
the four L-shaped pressing blocks are all provided with long holes for the screws to pass through;
the screw rigidly connects the L-shaped press block with the core motion platform.
5. The rigid-flexible coupling platform of claim 4, wherein the stiffness adjustment member further comprises: pressing a plate;
the screw penetrates through the pressing plate to press the L-shaped pressing block on the core motion platform.
6. The rigid-flexible coupling platform according to any one of claims 1 to 5, wherein the upper fixing block and the lower fixing block each comprise a front fixing block and a rear fixing block;
the spring is clamped between the front fixing block and the rear fixing block.
7. The rigid-flexible coupling platform of any one of claims 1-5, wherein the upper fixing block and the lower fixing block are fixed on the rigid support platform by screws.
8. The rigid-flexible coupling platform of any one of claims 1-5, wherein the stiffness adjustment mechanisms are symmetrically arranged at front and rear ends of the rigid-flexible coupling platform.
9. A motion platform, characterized in that the motion platform comprises a base, a linear guide rail fixed on the base, a guide rail slide block, a rigid-flexible coupling platform as claimed in any one of claims 1 to 8, a linear driver and a displacement sensor;
a core motion platform in the rigid-flexible coupling platform is connected with the linear driver, and the rigid support platform is connected with the linear guide rail through the guide rail sliding block;
the displacement sensor is connected with the core motion platform and used for measuring the displacement of the core motion platform in the motion direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822092326.8U CN209919325U (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform with rigidity adjusted in middle and motion platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822092326.8U CN209919325U (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform with rigidity adjusted in middle and motion platform |
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| CN209919325U true CN209919325U (en) | 2020-01-10 |
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| CN201822092326.8U Withdrawn - After Issue CN209919325U (en) | 2018-12-13 | 2018-12-13 | Rigid-flexible coupling platform with rigidity adjusted in middle and motion platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648354A (en) * | 2018-12-13 | 2019-04-19 | 广东工业大学 | A kind of the Coupled Rigid-flexible platform and motion platform of intermediate regulations rigidity |
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2018
- 2018-12-13 CN CN201822092326.8U patent/CN209919325U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648354A (en) * | 2018-12-13 | 2019-04-19 | 广东工业大学 | A kind of the Coupled Rigid-flexible platform and motion platform of intermediate regulations rigidity |
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Granted publication date: 20200110 Effective date of abandoning: 20230725 |