A parallel soft-drive end-compliant passive constant-force adjustable mechanism

Abstract

The present invention relates to a parallel soft-drive terminal compliant passive constant force adjustable mechanism. The mechanism comprises a parallel soft-drive mechanism, the top surface of which is provided with a compliant constant force mechanism capable of achieving terminal passive constant force characteristics. Driven by the parallel soft-drive mechanism, the compliant constant force mechanism operates a workpiece placed thereon by generating a terminal passive constant force. By operating the workpiece through the terminal passive constant force generated by the parallel soft-drive mechanism and the compliant constant force mechanism, the present invention can increase the constant force range of the entire mechanism, thereby meeting the constant force requirements of a large travel range.

Description

Technical Field

[0001] The present invention belongs to the technical field of terminal compliance passive constant force, and in particular relates to a parallel soft-drive terminal compliance passive constant force adjustable mechanism. Background Art

[0002] A constant force mechanism is a type of transmission device that can provide a stable, nearly constant output force. It has a zero stiffness characteristic within the constant force range. Constant force mechanisms are divided into active constant force mechanisms and passive constant force mechanisms. Compared with the two, passive constant force mechanisms are simpler to design and implement, and their performance is more reliable. In recent years, researchers have conducted a lot of research on constant force mechanisms, but there are also limitations: the constant force range of constant force mechanisms is small, making it difficult to meet the constant force requirements of large strokes; corresponding technical solutions need to be designed to address this issue. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the present invention provides a parallel soft drive terminal flexible passive constant force adjustable mechanism, the specific technical solution is as follows:

[0004] The present invention provides a parallel soft-drive terminal compliant passive constant force adjustable mechanism, which includes a parallel soft-drive mechanism. The top surface of the parallel drive mechanism is provided with a compliant constant force mechanism that can realize the terminal passive constant force characteristics. Driven by the parallel soft-drive mechanism, the compliant constant force mechanism operates the workpiece placed thereon by generating the terminal passive constant force.

[0005] As a preferred technical solution of the present invention, the parallel soft drive mechanism includes a lower platform and an upper platform that are arranged in parallel laterally. The upper platform and the lower platform are longitudinally supported by three soft drives arranged in a triangular shape. The upper and lower ends of the soft drive are respectively axially fixedly sleeved with an upper connecting ring and a lower connecting ring. The upper connecting ring is integrally fixedly connected to the bottom surface of the upper platform, and the lower connecting ring is integrally fixedly connected to the top surface of the lower platform. The bottom surface of the lower connecting ring is penetrated by three inflation holes arranged in a triangular shape; three chambers are evenly spaced circumferentially inside the soft drive, and each of the chambers is connected to the corresponding inflation hole.

[0006] As a preferred technical solution of the present invention, the upper platform and the lower platform are both equilateral triangle structures, and the upper connecting ring and the lower connecting ring are respectively arranged at the inner corner ends of the upper platform and the lower platform.

[0007] As a preferred technical solution of the present invention, the flexible constant force mechanism includes at least three composite flexible mechanisms distributed circumferentially around the central axis of the top surface of the upper platform. The tops of multiple composite flexible mechanisms jointly horizontally support an end top moving platform for carrying the operated workpiece. Under the motion control of the parallel soft drive mechanism, the end top moving platform can realize rotation around the X-axis and Y-axis directions and movement along the Z-axis direction.

[0008] As a preferred technical solution of the present invention, the composite compliant mechanism includes side support columns vertically arranged on the top surface of the upper platform, a middle support column is vertically suspended between the two side support columns, and the top surface of the middle support column is higher than the top surface of the side support columns; the upper side surfaces of the middle support columns are symmetrically fixedly connected with two negative stiffness beams that are parallel to each other and inclined downward, and the outer ends of the negative stiffness beams are limitedly slidably connected to the corresponding inclined sliders passing through the side support columns; the bottom side surfaces of the middle support columns are symmetrically fixedly connected with two positive stiffness beams that are parallel to each other and horizontally arranged, and the outer ends of the positive stiffness beams are limitedly slidably connected to the corresponding flat sliders passing through the side support columns.

[0009] As a preferred technical solution of the present invention, the inclined slider is limited in its sliding direction by an inclined fixing block fixedly attached to the side surface of the corresponding side support column, and the sliding direction of the inclined slider is the same as the moving direction of the negative stiffness beam; an inclined adjustment screw is passed through the vertical gap in the middle of the inclined fixing block, and the inclined adjustment screw is screwed into the threaded hole corresponding to the end surface of the inclined slider;

[0010] The sliding direction of the flat slider is limited by a flat fixing block fixedly attached to the side surface of the corresponding side support column, and the sliding direction of the flat slider is the same as the moving direction of the positive stiffness beam; a flat adjustment screw is passed through the vertical gap in the middle of the flat fixing block, and the flat adjustment screw is screwed into the threaded hole corresponding to the end surface of the flat slider.

[0011] As a preferred technical solution of the present invention, the ends of the inclined fixing block are respectively fixed to the side surfaces of the corresponding side support columns by fixing screws passed through vertical gaps; the ends of the horizontal fixing block are also respectively fixed to the side surfaces of the corresponding side support columns by fixing screws passed through vertical gaps.

[0012] As a preferred technical solution of the present invention, a first reserved threaded hole is opened on the upper platform along the position of the side support column, and a second reserved threaded hole is opened vertically inward on the bottom surface of the side support column. The second reserved threaded hole is fixed to the first reserved threaded hole by means of threaded bolts.

[0013] As a preferred technical solution of the present invention, the end top moving platform is a regular polygonal plate structure, the number of its sides is the same as the number of the composite flexible mechanism, and the corners of the end top moving platform are vertically fixedly connected to the top of the corresponding middle support column.

[0014] As a preferred technical solution of the present invention, the end top moving platform is an equilateral triangle plate, a regular quadrilateral plate, or a regular pentagonal plate.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention operates the workpiece by using the passive constant force generated by the parallel soft drive mechanism and the flexible constant force mechanism, which can increase the constant force range of the entire mechanism, thereby meeting the constant force requirements of a large stroke.

[0017] 2. The present invention can realize the movement of the top dynamic platform of the end through the combination of the soft driver with three chambers, the upper platform and the lower platform; the stiffness combination of the inclined slider, the flat slider and the negative stiffness beam and the positive stiffness beam can realize the passive constant force characteristic of the end, and the entire mechanism can operate the workpiece through the passive constant force of the end. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shows a schematic diagram of the overall three-dimensional structure of the present invention;

[0019] Figure 2 It shows a schematic diagram of the three-dimensional structure of the parallel soft drive mechanism of the present invention;

[0020] Figure 3 It shows a schematic diagram of the three-dimensional structure of the compliant constant force mechanism of the present invention;

[0021] Figure 4 A top view of the structure of the compliant constant force mechanism of the present invention is shown;

[0022] Figure 5 Shown Figure 4 Structural cross-sectional view of the middle AA part;

[0023] Figure 6 It shows a schematic diagram of the three-dimensional structure of the lower platform of the parallel soft drive mechanism of the present invention;

[0024] Figure 7 The figure shows a three-dimensional structural diagram of the soft drive of the parallel soft drive mechanism in the present invention.

[0025] As shown in the figure: 1. Parallel soft drive mechanism; 11. Lower platform; 111. Lower connecting ring; 112. Inflation hole; 12. Soft drive; 121. Chamber; 13. Upper platform; 131. Upper connecting ring; 132. First reserved threaded hole; 2. Compliant constant force mechanism; 21. Composite compliance mechanism; 211. Side support column; 212. Middle support column; 213. Inclined fixed block; 214. Inclined slider; 215. Negative stiffness beam; 216. Inclined adjustment screw; 217. Horizontal fixed block; 218. Horizontal slider; 219. Positive stiffness beam; 2110. Horizontal adjustment screw; 2111. Fixing screw; 2112. Second reserved threaded hole; 22. End top moving platform. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] Example 1

[0028] In order to solve the technical problems in the background technology, the following parallel soft-drive terminal compliant passive constant force adjustable mechanism is provided:

[0029] Combine Figure 1 As shown, a parallel soft-drive terminal compliant passive constant force adjustable mechanism includes a parallel soft-drive mechanism 1, and the top surface of the parallel drive mechanism is provided with a compliant constant force mechanism 2 that can realize the terminal passive constant force characteristics. Driven by the parallel soft-drive mechanism 1, the compliant constant force mechanism 2 operates the workpiece placed thereon by generating the terminal passive constant force.

[0030] By adopting the above technical solution, the mechanism operates the workpiece through the end passive constant force generated by the cooperation of the parallel soft drive mechanism 1 and the flexible constant force mechanism 2, which can increase the constant force range of the entire mechanism, thereby meeting the constant force requirements of a large stroke.

[0031] Example 2

[0032] like Figure 2 、 6 As shown in FIG7 , based on the above embodiment, this embodiment further provides the following content:

[0033] In this embodiment, the parallel soft drive mechanism 1 includes a lower platform 11 and an upper platform 13 which are arranged in parallel laterally. The upper platform 13 and the lower platform 11 are longitudinally supported by three soft drives 12 arranged in a triangular shape. The upper and lower ends of the soft drive 12 are respectively axially fixedly sleeved with an upper connecting ring 131 and a lower connecting ring 111. The upper connecting ring 131 is integrally fixedly connected to the bottom surface of the upper platform 13, and the lower connecting ring 111 is integrally fixedly connected to the top surface of the lower platform 11. The bottom surface of the lower connecting ring 111 is penetrated by three inflation holes 112 arranged in a triangular shape; three chambers 121 are evenly spaced circumferentially inside the soft drive 12, and each of the chambers 121 is connected to the corresponding inflation hole 112.

[0034] By adopting the above technical solution, the same amount of air pressure can be filled into each chamber 121 of the soft driver 12 through the air filling hole 112 in the parallel soft driver 12 to control the elongation of the soft driver 12; different amounts of air pressure can be filled into each chamber 121 of the soft driver 12 through the air filling hole 112 to control the bending of the soft driver 12, thereby controlling the movement of the parallel soft driver mechanism 1.

[0035] like Figure 2 As shown, the upper platform 13 and the lower platform 11 are both equilateral triangle structures, and the upper connecting ring 131 and the lower connecting ring 111 are respectively provided at the inner corner ends of the upper platform 13 and the lower platform 11 .

[0036] By adopting the above technical solution, the upper platform 13 and the lower platform 11 are both set to an equilateral triangle structure, which can improve the stability of the entire mechanism; the central axis of the upper platform 13 coincides with the central axis of the lower platform 11; the upper platform 13 is a movable platform, and the lower platform 11 is a fixed platform.

[0037] Example 3

[0038] like Figure 3 As shown, based on the above embodiment, this embodiment further provides the following content:

[0039] In this embodiment, the flexible constant force mechanism 2 includes at least three composite flexible mechanisms 21 distributed circumferentially around the central axis of the top surface of the upper platform 13. The tops of the multiple composite flexible mechanisms 21 jointly and horizontally support an end top moving platform 22 for carrying the operated workpiece. Under the motion control of the parallel soft drive mechanism 1, the end top moving platform 22 can realize rotation around the X-axis and Y-axis directions and movement along the Z-axis direction.

[0040] By adopting the above technical solution, the parallel soft drive mechanism 1 controls the movement of multiple compound flexible mechanisms 21, and the multiple compound flexible mechanisms 21 cooperate to control the movement of the end top moving platform 22, so that the end top moving platform 22 can rotate around the X-axis and Y-axis directions and move along the Z-axis direction.

[0041] like Figures 3-5 As shown, the composite compliant mechanism 21 includes side support columns 211 vertically arranged on the top surface of the upper platform 13, and a middle support column 212 is vertically suspended between the two side support columns 211, and the top surface of the middle support column 212 is higher than the top surface of the side support columns 211; the upper side surfaces of the middle support columns 212 are symmetrically fixedly connected to two negative stiffness beams 215 that are parallel to each other and inclined downward, and the outer ends of the negative stiffness beams 215 are limitedly slidably connected to the inclined sliders 214 correspondingly passed through the side support columns 211; the bottom side surfaces of the middle support columns 212 are symmetrically fixedly connected to two positive stiffness beams 219 that are parallel to each other and horizontally arranged, and the outer ends of the positive stiffness beams 219 are limitedly slidably connected to the flat sliders 218 correspondingly passed through the side support columns 211.

[0042] By adopting the above technical solution, the two side support columns 211 in the composite compliant mechanism 21 are symmetrically distributed around the middle support column 212; the top surface of the middle support column 212 is higher than the top surface of the side support column 211, which can facilitate the support of the terminal top moving platform 22 and facilitate the operation of the workpiece placed on the terminal top moving platform 22; through two parallel and inclined negative stiffness beams 215 and two parallel and horizontally arranged positive stiffness beams 219, the stability of the terminal top moving platform 22 during movement can be improved.

[0043] The movement of the top moving platform 22 at the end can be achieved through the combination of the soft driver 12 with three chambers 121, the upper platform 11 and the lower platform 13; the stiffness combination of the inclined slider 214, the flat slider 218 and the negative stiffness beam 215 and the positive stiffness beam 219 can achieve the passive constant force characteristics of the end, and the entire mechanism can operate the workpiece through the passive constant force of the end.

[0044] like Figure 5 As shown, the inclined slider 214 is restricted in its sliding direction by an inclined fixing block 213 fixedly attached to the side surface of the corresponding side support column 211, and the sliding direction of the inclined slider 214 is the same as the moving direction of the negative stiffness beam 215; an inclined adjustment screw 216 is passed through the vertical gap in the middle of the inclined fixing block 213, and the inclined adjustment screw 216 is screwed into the threaded hole corresponding to the end surface of the inclined slider 214;

[0045] The sliding direction of the flat slider 218 is limited by a flat fixing block 217 fixedly attached to the side of the corresponding side support column 211, and the sliding direction of the flat slider 218 is the same as the moving direction of the positive stiffness beam 219; a flat adjustment screw 2110 is passed through the middle vertical gap of the flat fixing block 217, and the flat adjustment screw 2110 is screwed into the threaded hole corresponding to the end face of the flat slider 218.

[0046] By adopting the above technical solution, the inclined fixed block 213 cooperates with the inclined adjustment screw 216 to control the sliding of the inclined slider 214, thereby adjusting the movement of the negative stiffness beam 216. The horizontal fixed block 217 cooperates with the horizontal adjustment screw 2110 to control the sliding of the horizontal slider 218, thereby adjusting the movement of the positive stiffness beam 219. Both the inclined adjustment screw 216 and the horizontal adjustment screw 2110 can be replaced with differential heads.

[0047] like Figure 5 As shown, the ends of the inclined fixing block 213 are respectively screwed and fixed to the side surfaces of the corresponding side support columns 211 through fixing screws 2111 passed through vertical gaps; the ends of the horizontal fixing block 217 are also respectively screwed and fixed to the side surfaces of the corresponding side support columns 211 through fixing screws 2111 passed through vertical gaps.

[0048] By adopting the above technical solution, the provided fixing screws 2111 can make the inclined fixing block 213 and the horizontal fixing block 217 detachably fixedly connected to the side support column 211, which is convenient for later disassembly and assembly.

[0049] like Figure 2 and 5 As shown, a first reserved threaded hole 132 is opened on the upper platform 13 along the position of the side support column 211, and a second reserved threaded hole 2112 is opened vertically inward on the bottom surface of the side support column 211. The second reserved threaded hole 2112 is fixed to the first reserved threaded hole 132 by threaded bolts.

[0050] By adopting the above technical solution, the first reserved threaded hole 132 and the second reserved threaded hole 2112 are matched with each other, so that the side support column 211 can be detachably fixedly connected to the upper platform 13, thereby facilitating the later disassembly and replacement of the entire flexible constant force mechanism 2.

[0051] Example 4

[0052] like Figure 3 and 4 As shown, based on the above embodiment, this embodiment further provides the following content:

[0053] In this embodiment, the end top moving platform 22 is a regular polygonal plate structure, the number of its sides is the same as the number of the composite flexible mechanism 21, and the corners of the end top moving platform 22 are vertically fixedly connected to the top of the corresponding middle support column 212.

[0054] The adoption of the above technical solution is beneficial to improving the force balance and stability of the terminal top moving platform 22 during movement.

[0055] like Figure 3 and 4 As shown, the end top moving platform 22 is an equilateral triangle plate, a regular quadrilateral plate, or a regular pentagonal plate.

[0056] By adopting the above technical solution, the number of the composite compliance mechanisms 21 can be changed accordingly according to actual operation needs by providing several regular polygonal plates on the top movable platform 22 at the end.

[0057] The working principle and use process of the present invention:

[0058] In the present invention, the terminal top moving platform 22 is supported on the top surface of the upper platform 13 of the parallel soft drive mechanism 1 through multiple composite flexible mechanisms 21, and the movement of the terminal top moving platform 22 is performed by the parallel soft drive mechanism 1.

[0059] During use, the lower platform 11 of the parallel soft drive mechanism 1 is fixed, and the object or equipment to be operated is placed on the end top moving platform 22. The same or different air pressures are filled into the inflation holes 112 to control the elongation and bending of the soft drive 12. By controlling the air pressure of the three soft drives 12, the movement of the parallel soft drive mechanism 1 can be controlled, and the movement of the end top moving platform 22 can be indirectly controlled so that it can rotate around the X-axis and Y-axis and move along the Z-axis. By adjusting the inclined adjustment screw 216, the inclined slider 214 slides along the moving direction of the negative stiffness beam 215, and at the same time, the horizontal adjustment screw 2110 is adjusted to make the horizontal slider 218 slide along the moving direction of the positive stiffness beam 219, so that the position of the end top moving platform 22 can reach an unknown area where passive constant force can be achieved, that is, under the joint action of multiple composite flexible mechanisms, a constant force state is maintained.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A parallel soft drive terminal compliant passive constant force adjustable mechanism, characterized by: The mechanism comprises a parallel soft drive mechanism (1), wherein a compliant constant force mechanism (2) capable of realizing a terminal passive constant force characteristic is provided on the top surface of the parallel soft drive mechanism (1), and the compliant constant force mechanism (2) operates a workpiece placed thereon by generating a terminal passive constant force under the drive of the parallel soft drive mechanism (1); The compliant constant force mechanism (2) comprises at least three composite compliant mechanisms (21) circumferentially distributed around the central axis of the top surface of the upper platform (13); the tops of the plurality of composite compliant mechanisms (21) jointly and horizontally support a terminal top moving platform (22) for carrying an operated workpiece; the terminal top moving platform (22) can realize rotation around the X-axis and Y-axis directions and movement along the Z-axis direction under the motion control of the parallel soft drive mechanism (1); The composite compliant mechanism (21) comprises side support columns (211) vertically arranged on the top surface of the upper platform (13), a middle support column (212) is vertically suspended between the two side support columns (211), and the top surface of the middle support column (212) is higher than the top surface of the side support columns (211); the upper side surface of the middle support column (212) is symmetrically fixedly connected with two negative stiffness beams (215) that are parallel to each other and arranged obliquely downward, and the outer ends of the negative stiffness beams (215) are symmetrically slidably connected to the corresponding inclined sliders (214) passing through the side support columns (211); the bottom side surface of the middle support column (212) is symmetrically fixedly connected with two positive stiffness beams (219) that are parallel to each other and arranged horizontally, and the outer ends of the positive stiffness beams (219) are symmetrically slidably connected to the corresponding flat sliders (218) passing through the side support columns (211).

2. A parallel soft drive terminal compliant passive constant force adjustable mechanism according to claim 1, characterized in that: The parallel soft drive mechanism (1) comprises a lower platform (11) and an upper platform (13) which are arranged in parallel with each other in the transverse direction. The upper platform (13) and the lower platform (11) are longitudinally supported by three soft drives (12) arranged in a triangular shape. The upper and lower ends of the soft drive (12) are respectively axially fixedly sleeved with an upper connecting ring (131) and a lower connecting ring (111). The upper connecting ring (131) is integrally fixedly connected to the bottom surface of the upper platform (13). The lower connecting ring (111) is integrally fixedly connected to the top surface of the lower platform (11). The bottom surface of the lower connecting ring (111) is penetrated by three inflation holes (112) arranged in a triangular shape. Three chambers (121) are evenly spaced in the inner circumference of the soft drive (12), and each chamber (121) is connected to the corresponding inflation hole (112).

3. The parallel soft drive terminal compliant passive constant force adjustable mechanism according to claim 2, characterized in that: The upper platform (13) and the lower platform (11) are both equilateral triangle structures, and the upper connecting ring (131) and the lower connecting ring (111) are respectively and correspondingly arranged at the inner corner ends of the upper platform (13) and the lower platform (11).

4. The parallel soft drive terminal compliant passive constant force adjustable mechanism according to claim 1, characterized in that: The inclined sliding block (214) is fixedly attached to the side of the corresponding side support column (211) to limit its sliding direction, and the sliding direction of the inclined sliding block (214) is the same as the moving direction of the negative stiffness beam (215); an inclined adjustment screw (216) is passed through the vertical gap in the middle of the inclined fixing block (213), and the inclined adjustment screw (216) is screwed to the threaded hole corresponding to the end surface of the inclined sliding block (214); The sliding direction of the flat slider (218) is limited by a flat fixing block (217) fixedly attached to the side surface of the corresponding side support column (211), and the sliding direction of the flat slider (218) is the same as the moving direction of the positive stiffness beam (219); a flat adjustment screw (2110) is passed through the vertical gap in the middle of the flat fixing block (217), and the flat adjustment screw (2110) is screwed into the threaded hole corresponding to the end surface of the flat slider (218).

5. The parallel soft drive terminal compliant passive constant force adjustable mechanism according to claim 4, characterized in that: The ends of the oblique fixing blocks (213) are respectively screwed and fixed to the side surfaces of the corresponding side support columns (211) through fixing screws (2111) passing through vertical gaps; the ends of the horizontal fixing blocks (217) are also respectively screwed and fixed to the side surfaces of the corresponding side support columns (211) through fixing screws (2111) passing through vertical gaps.

6. The parallel soft-drive terminal compliant passive constant force adjustable mechanism according to claim 1, characterized in that: A first reserved threaded hole (132) is provided on the upper platform (13) along the position of the side support column (211), and a second reserved threaded hole (2112) is provided vertically inwardly on the bottom surface of the side support column (211), and the second reserved threaded hole (2112) is fixed to the first reserved threaded hole (132) by a threaded bolt.

7. A parallel soft-drive terminal compliant passive constant force adjustable mechanism according to any one of claims 4 to 6, characterized in that: The end top movable platform (22) is a regular polygonal plate structure, the number of its sides being the same as the number of the composite compliant mechanism (21), and the corners of the end top movable platform (22) are vertically fixedly connected to the top of the corresponding middle support column (212).

8. The parallel soft drive terminal compliant passive constant force adjustable mechanism according to claim 7, characterized in that: The end top moving platform (22) is an equilateral triangle plate, a regular quadrilateral plate, or a regular pentagonal plate.

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