Parallel decoupled motion platform

Abstract

The application discloses a parallel decoupling motion platform, which comprises a bottom plate, a rotating output table, two rotating input groups and driving members, the rotating output table is located above the bottom plate and is used for carrying objects, rotating shafts of the two rotating input groups intersect with each other, each rotating input group comprises two rotating input tables, the two rotating input tables of each rotating input group are respectively located at two ends of the rotating shaft of the rotating input group, the rotating input tables are connected with the upper surface of the bottom plate, the driving members are two, and each driving member is connected with one rotating input group, wherein, four motion transmission assemblies are arranged on the rotating output table, each motion transmission assembly is connected with one rotating input table, the motion transmission assembly has high rigidity in the direction of the rotating shaft of the rotating input group connected with the motion transmission assembly, and the motion transmission assembly has weak rigidity in the direction perpendicular to the rotating output table. The parallel decoupling motion platform can solve the motion coupling problem in the parallel implementation scheme, is convenient to control and is favorable for practical application.

Description

Technical Field

[0001] This invention relates to the field of motion positioning technology, and in particular to a parallel decoupled motion platform. Background Technology

[0002] Rotary precision positioning parallel decoupled motion platforms play an important role in fields such as fiber optic alignment, laser communication, bioengineering, nanoimprinting, and synchrotron radiation optical modulation. There are two implementation schemes: series and parallel. The series implementation scheme is simple and easy to implement, but it suffers from drawbacks such as error accumulation, large structural volume, and poor dynamic performance.

[0003] Existing technologies employ parallel implementation schemes, which can effectively improve the static and dynamic performance of parallel decoupled motion platforms. However, parallel implementation schemes often suffer from motion coupling, i.e., multiple inputs and multiple outputs, making the control of parallel decoupled motion platforms more complex and affecting practical applications. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a parallel decoupled motion platform, which can solve the motion coupling problem in the parallel implementation scheme of the parallel decoupled motion platform, facilitates control, and is beneficial to practical applications.

[0005] This application provides a parallel decoupled motion platform, including a base plate, a rotary output platform, two rotary input groups, and driving components. The rotary output platform is located above the base plate and is used for carrying objects. The rotation axes of the two rotary input groups intersect each other. Each rotary input group includes two rotary input platforms, which are located at both ends of the rotation axis of the rotary input group. The rotary input platforms are connected to the upper surface of the base plate. There are two driving components, each connected to one rotary input group. The rotary output platform is provided with four motion transmission components, each connected to one rotary input platform. The motion transmission components have high stiffness in the direction of the rotation axis of the rotary input group to which they are connected, and low stiffness in the direction perpendicular to the rotary output platform.

[0006] According to the parallel decoupled motion platform of this application embodiment, by setting a motion transmission component on the rotary output platform, the motion transmission component has high stiffness in the direction of the rotation axis of the rotary input group connected to it, and low stiffness in the direction perpendicular to the rotary output platform, so that the rotary output platform can effectively transmit the rotational motion of one of the rotation axes in the rotational direction of one of the rotation axes, and at the same time, can decouple the rotational motion of the other rotation axis, thereby realizing the precision motion of parallel decoupled rotation of two axes.

[0007] In one possible implementation of this application, the motion transmission component includes a transmission body and a first elastic hinge. One side of the transmission body is connected to the output end of the rotary input stage, and the other side is connected to the rotary output stage. There are two first elastic hinges, which are respectively arranged on the upper and lower sides of the rotary output stage along a direction perpendicular to the rotary output stage. One end of each elastic hinge is connected to the transmission body, and the other end is connected to the rotary output stage.

[0008] In one possible implementation of this application, the motion transmission component further includes a second elastic hinge, one end of which is connected to the transmission body and the other end of which is connected to the rotary output stage. The thickness of the second elastic hinge is greater than the thickness of the first elastic hinge.

[0009] In one possible implementation of this application, the second elastic hinge is one or two.

[0010] In one possible implementation of this application, both the first elastic hinge and the second elastic hinge include multiple stacked U-shaped hinges, and the lengths of the multiple U-shaped hinges decrease sequentially in the direction close to the rotary output table.

[0011] In one possible implementation of this application, the two rotary input stages of each rotary input group are located at opposite ends of the central axis of the rotary output stage.

[0012] In one possible implementation of this application, the rotary input stage includes an input body, a central shaft, and a first hinge. The input body is fixed vertically on a base plate and has a through hole in the horizontal direction. The central shaft is located at the center of the through hole. One end of the central shaft is connected to the output end of a drive unit, and the other end is connected to the rotary output stage. There are multiple first hinges distributed circumferentially along the central shaft. One end of each first hinge is connected to the central shaft, and the other end is connected to the input body.

[0013] In one possible implementation of this application, the first hinge is a straight beam hinge.

[0014] In one possible implementation of this application, the input body is detachably connected to the base plate.

[0015] In one possible implementation of this application, the driving component is a U-shaped driving rod, with the open end of the U-shaped driving rod connected to two rotary input stages of the rotary input group, and the closed end of the U-shaped driving rod used to connect to the driving mechanism.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a three-dimensional structural schematic diagram of a parallel decoupled motion platform according to an embodiment of the present invention;

[0019] Figure 2 This is an exploded view of a parallel decoupled motion platform according to an embodiment of the present invention;

[0020] Figure 3 This is a side view of a parallel decoupled motion platform according to an embodiment of the present invention;

[0021] Figure 4 This is a top view of a parallel decoupled motion platform according to an embodiment of the present invention;

[0022] Figure 5 This is a side view of the rotating output platform of the parallel decoupled motion platform according to an embodiment of the present invention;

[0023] Figure 6 This is a top view of the rotating output platform of the parallel decoupled motion platform according to an embodiment of the present invention;

[0024] Figure 7 This is a side view of the rotary input stage of the parallel decoupled motion platform according to an embodiment of the present invention;

[0025] Figure 8 This is a top view of the drive component of the parallel decoupled motion platform according to an embodiment of the present invention.

[0026] Figure label:

[0027] Parallel decoupling motion platform 100

[0028] Base plate 10

[0029] Rotary output table 20

[0030] Rotary input assembly 30, rotary input stage 31, input body 311, central shaft 312, first hinge 313

[0031] Drive component 40, open end 41, closed end 42, drive connection part 43

[0032] Motion transmission component 50, transmission body 51, first elastic hinge 52, second elastic hinge 53. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this invention, it should be understood that the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The structure of the parallel decoupled motion platform 100 according to an embodiment of this application is described below with reference to the accompanying drawings.

[0037] Reference Figures 1-4 The parallel decoupled motion platform 100 provided in this embodiment includes a base plate 10, a rotary output platform 20, two rotary input groups 30, and a drive unit 40. The rotary output platform 20 is located above the base plate 10 and is used for carrying objects. The rotation axes of the two rotary input groups 30 intersect each other. Each rotary input group 30 includes two rotary input platforms 31, which are located at both ends of the rotation axis of the rotary input group 30. The rotary input platforms 31 are connected to the upper surface of the base plate 10. There are two drive units 40, and each drive unit 40 is connected to one rotary input group 30. The rotary output platform 20 is provided with four motion transmission components 50, and each motion transmission component 50 is connected to one rotary input platform 31. The motion transmission components 50 have high stiffness in the direction of the rotation axis of the rotary input group 30 to which they are connected, and have weak stiffness in the direction perpendicular to the rotary output platform 20.

[0038] Specifically, the base plate 10 supports the rotary input group 30, the drive unit 40 connected to the rotary input group 30, and the rotary output stage 20. The rotary output stage 20 is located above the base plate 10 and is used to carry objects, causing the objects it carries to rotate. The rotation axes of the two rotary input groups 30 intersect each other, allowing rotation input to the rotary output stage 20 in different directions, enabling the rotary output stage 20 to rotate in different directions. Each rotary input group 30 includes two rotary input stages 31, located at opposite ends of the rotation axis of each rotary input group 30, to input rotation to the rotary output stage 20 connected between the two rotary input stages 31, causing the rotary output stage 20 to rotate along the rotation axis connecting the two rotary input stages 31. The rotary input stages 31 are connected to the upper surface of the base plate 10 to fix the rotary input stages 31 to the base plate 10, ensuring the stability of the rotary input. There are two drive units 40, each connected to a corresponding rotary input group 30 to drive the rotary input group 30 to rotate and provide rotary input. The rotary output stage 20 is equipped with four motion transmission components 50, each connected to a corresponding rotary input stage 31. The motion transmission components 50 transmit the rotary input from the rotary input group 30 to the rotary output stage 20, thereby causing the object they carry to rotate. The motion transmission components 50 have high stiffness in the direction of the rotation axis of the rotary input group 30 they are connected to, and low stiffness in the direction perpendicular to the rotary output stage 20. This allows the rotary output stage 20 to effectively transmit the rotational motion of one of the rotation axes. Simultaneously, because the motion transmission components 50 have low stiffness in the direction perpendicular to the rotary output stage 20, they can decouple the rotational motion of the other rotation axis, thus achieving precise parallel and decoupled motion of the two axes.

[0039] Therefore, the parallel decoupled motion platform 100 according to the embodiments of this application, by providing a motion transmission component 50 on the rotary output stage 20, the motion transmission component 50 has high stiffness in the direction of the rotation axis of the rotary input group 30 connected to it, and low stiffness in the direction perpendicular to the rotary output stage 20, so that the rotary output stage 20 can effectively transmit the rotational motion of one of the rotation axes in the rotational direction, and at the same time, can decouple the rotational motion of the other rotation axis, thereby realizing the precision motion of parallel decoupled rotation of two axes.

[0040] In some embodiments, refer to Figure 1 The rotation axes of the two rotary input groups 30 are perpendicular to each other.

[0041] In some embodiments, the rotation axis may coincide with the central axis 312 of the rotary output stage 20, or the rotation axis may be parallel to the central axis 312 of the rotary output stage 20.

[0042] In some embodiments of this application, reference is made to Figure 1 , Figure 2 , Figure 3 and Figure 5 The motion transmission assembly 50 includes a transmission body 51 and two first elastic hinges 5252. One side of the transmission body 51 is connected to the output end of the rotary input stage 31, and the other side is connected to the rotary output stage 20. Two first elastic hinges 5252 are respectively disposed on the upper and lower sides of the rotary output stage 20 along a direction perpendicular to the rotary output stage 20. One end of each elastic hinge is connected to the transmission body 51, and the other end is connected to the rotary output stage 20. The motion transmission assembly 50 connects the rotary input stage 31 and the rotary output stage 20. The first elastic hinges 5252 disposed on the upper and lower sides of the rotary output stage 20 can decouple the rotational motion of the cross axis and simultaneously guide the motion.

[0043] In some embodiments, in order to make the motion transmission assembly 50 have high stiffness in the direction of rotation axis of the rotary input group 30 connected thereto and weak stiffness in the direction perpendicular to the rotary output stage 20, a hinge with a thickness greater than the first elastic hinge 5252 can be provided between the transmission body 51 and the rotary output stage 20, or other structures with higher stiffness can be provided.

[0044] In some embodiments, the motion transmission assembly 50 is fixedly connected to the rotary output stage 20.

[0045] In some embodiments, the transfer body 51 can be a ring-shaped structure. For example, a circular ring, a square ring, or an irregular ring. Preferably, the transfer body 51 is a semi-circular ring. The outer side of the middle portion of the transfer body 51 is connected to the output end of the rotary input stage 31, and the inner side is connected to the rotary output stage 20. Each end of the transfer body 51 is connected to a first elastic hinge 5252.

[0046] Preferably, in order to improve the stability and accuracy of rotary input, the motion transmission component 50 is integrally formed with the rotary output stage 20, and in this case, the transmission body 51 is a semi-circular ring.

[0047] Of course, it is understandable that the transfer body 51 can also be other structures similar to a semi-circular ring, such as an arc or a U-shape.

[0048] In some embodiments of this application, reference is made to Figure 1 , Figure 2 , Figure 3 and Figure 5The motion transmission assembly 50 also includes a second elastic hinge, one end of which is connected to the transmission body 51, and the other end is connected to the rotary output stage 20. The thickness of the second elastic hinge is greater than the thickness of the first elastic hinge 5252. By providing a second elastic hinge between the transmission body 51 and the rotary output stage 20, rotational input is facilitated. The greater thickness of the second elastic hinge compared to the first elastic hinge 5252 results in higher stiffness in the direction of the rotation axis and lower stiffness in the other rotation axis, thereby achieving effective transmission of rotational motion along that axis and a high degree of decoupling of rotational motion along the cross axis, i.e., achieving single input and single output.

[0049] In some embodiments, the first elastic hinge 5252 and the second elastic hinge can have the same structure. When the structures are the same, the thickness of the second elastic hinge can be increased to improve its stiffness. Of course, the structures of the first elastic hinge 5252 and the second elastic hinge can also be different, as long as the stiffness of the second elastic hinge is greater and the stiffness of the first elastic hinge 5252 is smaller.

[0050] In some embodiments of this application, the second elastic hinge is one or two.

[0051] When there are two second elastic hinges, they are arranged along the rotation axis, and one side of the rotary output stage 20 is located between the two second elastic hinges. This allows for simultaneous input of rotation from both sides of one side of the rotary output stage 20, resulting in higher stability of the rotation input. In this case, the transmission body 51 has a ring structure. When there is only one second elastic hinge, it is located between the rotary input stage 31 and the rotary output stage 20. In this case, the transmission body 51 can be a ring or a semi-circular ring structure.

[0052] In some embodiments of this application, reference is made to Figure 1 , Figure 2 , Figure 3 and Figure 5 Both the first elastic hinge 5252 and the second elastic hinge include multiple stacked U-shaped hinges, and the lengths of the multiple U-shaped hinges decrease sequentially in the direction near the rotary output stage 20. By decreasing the lengths of the multiple U-shaped hinges sequentially in the direction near the rotary output stage 20, the stiffness of the first elastic hinge 5252 is weakened, which can better decouple the rotational motion of the cross axis, while the stiffness of the second elastic hinge has a smaller impact. Therefore, the effective transmission of the rotational motion of this axis can be guaranteed.

[0053] In some embodiments of this application, reference is made to Figure 1 , Figure 4 and Figure 6Each rotary input group 30 has two rotary input stages 31 located at both ends of the central axis 312 of the rotary output stage 20. By setting the two rotary input stages 31 of the rotary input group 30 at both ends of the central axis 312 of the rotary output stage 20, the rotation axis of the rotary input group 30 coincides with the central axis 312 of the rotary output stage 20. In this way, the required driving force is the same regardless of whether the rotation direction of the rotary output stage 20 is clockwise or counterclockwise, which facilitates operation.

[0054] Of course, if the input parameters of the driving force are not considered, or if the rotation direction of the rotary output stage 20 is fixed, then the two rotary input stages 31 of the rotary input group 30 can also be set at both ends of the axis parallel to the central axis 312 of the rotary output stage 20.

[0055] In some embodiments of this application, reference is made to Figure 7 The rotary input stage 31 includes an input body 311, a central shaft 312, and first hinges 313. The input body 311 is fixed vertically to the base plate 10 and has a through hole in the horizontal direction. The central shaft 312 is located at the center of the through hole. One end of the central shaft 312 is connected to the output end of the drive member 40, and the other end is connected to the rotary output stage 20. There are multiple first hinges 313, which are distributed circumferentially along the central shaft 312. One end of each first hinge 313 is connected to the central shaft 312, and the other end is connected to the input body 311. The fixed connection between the input body 311 and the base plate 10 improves the reliability of the connection between the rotary input stage 31 and the base plate 10. The rotary input is transmitted from the rotary input stage 31 to the motion transmission assembly 50 via the central shaft 312, and then to the rotary output stage 20. The bending deformation of the first hinges 313 converts the linear motion input by the drive member 40 into rotary motion.

[0056] In some embodiments, refer to Figure 7 The first hinge 313 is evenly distributed around the central axis 312 to stably convert linear motion into rotational motion.

[0057] In some embodiments, the first hinge 313 only needs to be able to bend and deform. For example, the first hinge 313 can be a straight beam hinge, an elliptical hinge, a chamfered hinge, etc.

[0058] In some embodiments of this application, reference is made to Figure 7 The first hinge 313 is a straight beam hinge. By setting the first hinge 313 as a straight beam hinge, when the driving member 40 inputs linear motion, the straight beam hinge undergoes bending deformation, converting the linear motion into rotational motion. Straight beam hinges are prone to bending deformation.

[0059] In some embodiments of this application, reference is made to Figure 2The input body 311 is detachably connected to the base plate 10, which facilitates installation and disassembly.

[0060] Specifically, the input body 311 and the base plate 10 can be detachably connected by bolts and nuts. Furthermore, the input body 311 has a connecting part extending on each of its two sides perpendicular to the rotation axis. The connecting part has a through hole in the vertical direction, which matches the through hole on the base plate 10. The bolt passes through the connecting part and the through hole on the base plate 10 and matches the nut.

[0061] Of course, it is understandable that the input body 311 and the base plate 10 can also be connected by other detachable methods, such as plug-in or snap-fit ​​connection.

[0062] In some embodiments of this application, reference is made to Figure 1 , Figure 2 and Figure 8 The driving component 40 is a U-shaped driving rod. The open end 41 of the U-shaped driving rod is connected to the two rotary input tables 31 of the rotary input group 30, and the closed end 42 of the U-shaped driving rod is used to connect to the driving mechanism. By setting the driving component 40 as a U-shaped driving rod, the U-shaped driving rod can move in a straight line under the drive of the driving mechanism, without losing energy in other directions, and can convert more driving force into rotational motion.

[0063] In some embodiments, a drive connection part 43 is provided in the middle of the closed end 42 of the U-shaped drive rod, and the output end of the drive mechanism is connected to the U-shaped drive rod through the drive connection part 43 so that the open end of the U-shaped drive rod is subjected to the same force, thereby inputting the same linear motion to the rotary input table 31.

[0064] In some embodiments, the drive mechanism may be a motor with high-precision linear motion input, such as an electro-ceramic motor or a voice coil motor.

[0065] In some embodiments of this application, reference is made to Figure 1 , Figure 2 , Figure 4 and Figure 6 The rotating output platform 20 has a hollow structure to achieve lightweighting, reduce production costs, and reduce energy consumption.

[0066] In some embodiments, the upper surface of the rotary output stage 20 may be provided with a groove so that the loading surface coincides with the rotating surface, thereby enabling it to be applied to situations where the requirements for the rotation center are strict.

[0067] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0068] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A parallel decoupled motion platform, characterized in that, The utility model relates to a kind of rotary table, including: Base plate (10); Rotary output platform (20), the rotary output platform (20) is located above the base plate (10), for carrying things; Two rotary input groups (30), the rotary shaft of the two rotary input groups (30) is crossed each other, each rotary input group (30) includes two rotary input platforms (31), the two rotary input platforms (31) of each rotary input group (30) are located at the two ends of the rotary shaft of the rotary input group (30) respectively, and the rotary input platform (31) is connected with the upper surface of the base plate (10); Driving member (40), the driving member (40) is two, each driving member (40) is connected with one rotary input group (30); Wherein, the rotary output platform (20) is equipped with four motion transmission components (50), each motion transmission component (50) is connected with one rotary input platform (31), the motion transmission component (50) has high rigidity in the direction of the rotary shaft of the rotary input group (30) connected with it, and the motion transmission component (50) has weak rigidity in the direction perpendicular to the rotary output platform (20); The motion transmission component (50) includes: Transmission body (51), one side of the transmission body (51) is connected with the output end of the rotary input platform (31), and the other side is connected with the rotary output platform (20); First elastic hinge (52), the first elastic hinge (52) is two, the two first elastic hinges (52) are arranged on the upper and lower sides of the rotary output platform (20) along the direction perpendicular to the rotary output platform (20), and one end of each elastic hinge is connected with the transmission body (51), and the other end is connected with the rotary output platform (20); The motion transmission component (50) further includes second elastic hinge (53), one end of the second elastic hinge (53) is connected with the transmission body (51), and the other end is connected with the rotary output platform (20), and the thickness of the second elastic hinge (53) is greater than the thickness of the first elastic hinge (52); The first elastic hinge (52) and second elastic hinge (53) all include a plurality of stacked hingelike hinges, and in the direction close to the rotary output platform (20), the length of the plurality of hingelike hinges decreases in turn; The rotary input platform (31) includes: Input body (311), the input body (311) is fixed on the base plate (10) along the vertical direction, and the input body (311) has a through hole along the horizontal direction; Center shaft (312), the center shaft (312) is located at the center of the through hole, one end of the center shaft (312) is connected with the output end of the driving member (40), and the other end is connected with the rotary output platform (20); First hinge (313), the first hinge (313) is a plurality of, and is distributed along the circumference of the center shaft (312), one end of each first hinge (313) is connected with the center shaft (312), and the other end is connected with the input body (311).

2. The parallel decoupled motion platform of claim 1, wherein, The second elastic hinge (53) is one or two.

3. The parallel decoupled motion platform of claim 1, wherein, The two rotating input platforms (31) of each rotating input group (30) are respectively located at the two ends of the central shaft (312) of the rotating output platform (20).

4. The parallel decoupled motion platform of claim 1, wherein, The first hinge (313) is a straight beam type hinge.

5. The parallel decoupled motion platform of claim 1, wherein, The input body (311) is detachably connected with the bottom plate (10).

6. The parallel decoupled motion platform of claim 1, wherein, The driving member (40) is a U-shaped driving rod, the open ends (41) of the U-shaped driving rod are respectively connected with the two rotating input platforms (31) of the rotating input group (30), and the closed end (42) of the U-shaped driving rod is used for connecting a driving mechanism.

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