Rigid-flexible composite flight positioning platform and implementation method thereof

Abstract

The application relates to the technical field of flight positioning platforms, in particular to a rigid-flexible composite flight positioning platform and an implementation method thereof. The following technical scheme is provided: a rigid platform is arranged to slide, a flexible platform is further arranged, the flexible platform is arranged on the rigid platform, the flexible platform comprises a flexible guide mechanism which moves relative to the rigid platform, and intermittent positioning operation is realized by controlling the relative motion speed of the flexible guide mechanism and the rigid platform. The design of the application reduces energy consumption, makes the flexible guide mechanism work near the natural frequency, has the highest energy conversion efficiency, and when decelerating, the flexible hinge converts kinetic energy into elastic potential energy and stores the elastic potential energy, and when recovering, the elastic potential energy is converted into kinetic energy. Specifically, the lateral motion is realized by the bending deformation of the flexible hinge, displacement is generated, and elastic deformation energy is stored. The reciprocating motion of the flexible hinge converts energy between elastic deformation energy and kinetic energy, thereby reducing energy consumption and realizing green manufacturing.

Description

Technical Field

[0001] This application relates to the field of flight positioning platform technology, and in particular to a rigid-flexible composite flight positioning platform and its implementation method. Background Technology

[0002] A positioning platform is a mechanical operation auxiliary device used in the processing and manufacturing of various parts. The auxiliary functions of the positioning platform directly affect the efficiency of product processing, and the working performance of the positioning platform itself directly determines its energy consumption.

[0003] Motion platforms are required in processes such as dispensing, mass transfer, and microstructure array fabrication. Existing motion platforms require continuous start-stop operation during the fabrication process, providing a few milliseconds of time window to perform array operations. Although the stroke is short, the motion platform takes time to start and stop, resulting in low positioning efficiency and high energy consumption due to frequent acceleration and deceleration.

[0004] Taking dispensing as an example, a dispensing valve can achieve a spraying speed of several hundred dots per second, while the motion platform repeatedly starts and stops, with a positioning efficiency of less than ten times per second, severely limiting the dispensing speed. Furthermore, frequent acceleration and deceleration require a high-thrust motor, and the deceleration braking force dissipates kinetic energy, resulting in high energy consumption, which is detrimental to achieving green manufacturing. Therefore, this application proposes a rigid-flexible composite flight positioning platform and its implementation method. Summary of the Invention

[0005] The purpose of this application is to address the technical problems identified in the background section by proposing a rigid-flexible composite flight positioning platform and its implementation method.

[0006] The technical solution of this application:

[0007] In a first aspect, the present invention provides a rigid-flexible composite flight positioning platform, comprising a rigid platform that is slidably disposed.

[0008] It also includes a flexible platform, which is disposed on the rigid platform, and the flexible platform includes a flexible guide mechanism that moves relative to the rigid platform. Intermittent positioning operation is achieved by controlling the relative movement speed between the flexible guide mechanism and the rigid platform.

[0009] Preferably, the flexible platform includes a mounting frame connected to a rigid platform, and the flexible guide mechanism is connected to the inner side of the mounting frame via a flexible hinge. The flexible guide mechanism is driven by a drive component to control the intermittent reciprocating cyclic motion of the flexible guide mechanism.

[0010] Preferably, the flexible hinges are arranged in two sets symmetrically on the inner wall of the mounting frame, and the flexible guide mechanism is connected between the two sets of flexible hinges.

[0011] Preferably, the flexible hinges are a set and arranged in parallel, and the flexible hinges are installed on the inner wall of one side of the mounting frame.

[0012] Preferably, a triangular frame is installed on one inner wall of the mounting frame, and the parallel flexible hinge is connected to the triangular frame.

[0013] Preferably, the flexible hinge includes a primary parallel flexible hinge connected to the opposite edge of the triangular frame and a secondary parallel flexible hinge connected to the other opposite edge of the triangular frame. The flexible guide mechanism is connected to the secondary parallel flexible hinge, and the control end of the drive member is connected to the triangular frame.

[0014] Preferably, when the working part has a large inertia, it is split into a flexible, linked large inertia part and a small inertia part. The large inertia part is installed on the rigid platform, and the small inertia part is installed on the flexible guide mechanism. The large inertia part and the small inertia part are flexibly connected through a flexible conduit.

[0015] Preferably, it further includes a first rigid guide rail, and the rigid platform is horizontally slidably connected to the first rigid guide rail.

[0016] Preferably, the rigid platform is horizontally slidably connected to the first rigid guide rail via a guide plate, and the rigid platform is vertically slidably connected to one side of the guide plate via a second rigid guide rail. An operating component is connected to the bottom end of the flexible guiding mechanism.

[0017] Secondly, the present invention also proposes a method for implementing a rigid-flexible composite flight positioning platform, which is implemented using the rigid-flexible composite flight positioning platform of the first aspect. When the driving force of the flexible platform is less than the required maximum inertial force, the amplitude of the flexible hinge gradually increases to a stable state. At this time, the speed of the rigid platform is adjusted, and the adjustment time of the rigid platform is controlled to be an integer multiple of the vibration period of the flexible platform.

[0018] When the target displacement change exceeds the adjustment capability of the rigid platform, the motion cycle of the flexible platform is increased by an integer multiple until it meets the speed adjustment requirements of the rigid platform.

[0019] Compared with the prior art, this application has the following beneficial technical effects:

[0020] This application sets up a rigid platform and a flexible platform. The rigid platform moves at a low frequency, while the flexible guiding mechanism moves at a high frequency relative to the rigid platform and has a period of uniform motion. This uniform motion cancels out the uniform motion of the rigid platform, and the relative combined motion achieves intermittent positioning, which facilitates the operation of the workpiece.

[0021] This design reduces energy consumption by enabling the flexible guide mechanism to operate near its natural frequency, maximizing energy conversion efficiency. During deceleration, the flexible hinge converts kinetic energy into elastic potential energy for storage, and then converts it back into kinetic energy during recovery. This is achieved through lateral motion generated by the bending deformation of the flexible hinge, which simultaneously generates displacement and stores elastic deformation energy. The reciprocating motion of the flexible hinge allows energy to be converted between elastic deformation energy and kinetic energy, rather than dissipating energy during braking as is done by a rigid platform, thus reducing energy consumption and achieving green manufacturing.

[0022] To achieve high-frequency array operation, when the inertia of the manipulated object is large, a hierarchical design is adopted, dividing the manipulated object into two parts with large inertia and small inertia. The large inertia part is installed on a rigid platform, and the small inertia part is installed on a flexible guide mechanism. The two are connected by a flexible conduit, which rationally distributes the inertia and achieves high efficiency and energy saving.

[0023] An orthogonally arranged, single-sided supported parallel flexible hinge is configured. A secondary parallel flexible hinge is orthogonally mounted on the flexible platform of the primary parallel flexible hinge. The bending deformation of the primary parallel flexible hinge drives the overall movement of the secondary parallel flexible hinge. The bending deformation of the secondary parallel flexible hinge, combined with the displacement of the primary parallel flexible hinge, creates movement in two directions, thereby compensating for longitudinal displacement or generating precise two-degree-of-freedom displacement. This reduces energy consumption. It is suitable for operations or processes requiring large flexible strokes and precise vertical displacement control, such as microstructure array stamping. Attached Figure Description

[0024] Figure 1 This is a perspective view of the first embodiment of the rigid-flexible composite flight positioning platform;

[0025] Figure 2 This is an operational schematic diagram of the first embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the installation and use of the first embodiment of this application;

[0027] Figure 4 This is a perspective view of the second embodiment of the rigid-flexible composite flight positioning platform;

[0028] Figure 5 This is an operational schematic diagram of the second embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the installation and use of the second embodiment of this application;

[0030] Figure 7 This is a perspective view of the third embodiment of the rigid-flexible composite flight positioning platform;

[0031] Figure 8 This is a schematic diagram from another perspective of the third embodiment of the rigid-flexible composite flight positioning platform;

[0032] Figure 9 This is an operational schematic diagram of the third embodiment of this application;

[0033] Figure 10 This is a schematic diagram of the installation and use of the third embodiment of this application;

[0034] Figure 11 This is a motion curve diagram of the flexible guide mechanism in this application;

[0035] Figure 12 This is a graph showing the start-up and stable phases of the flexible guide mechanism in this application;

[0036] Figure 13 The velocity curves are for a rigid platform and a flexible platform.

[0037] Reference numerals: 1. First rigid guide rail; 2. Rigid platform;

[0038] 3. Flexible platform; 301. Mounting frame; 302. Flexible guide mechanism; 303. Flexible hinge; 3031. Primary parallel flexible hinge; 3032. Secondary parallel flexible hinge;

[0039] 4. High inertia section; 5. Flexible conduit; 6. Low inertia section; 7. Drive component; 8. Second rigid guide rail. Detailed Implementation

[0040] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application.

[0042] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the description of this application, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present 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 present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of this application, it should be noted that, unless otherwise expressly 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] Example 1

[0046] like Figure 1-13 As shown, the rigid-flexible composite flight positioning platform proposed in this application includes a slidably mounted rigid platform 2 and a first rigid guide rail 1, wherein the rigid platform 2 and the first rigid guide rail 1 are horizontally slidably connected. For specific use, refer to... Figure 3 The first rigid guide rail 1 is installed on the side wall of the gantry frame. The gantry frame is perpendicular to the operating table. The operating table is equipped with a slide rail that moves in an orthogonal direction to the first rigid guide rail 1 for conveying the workpiece.

[0047] The rigid-flexible composite flight positioning platform also includes a flexible platform 3, which is disposed on the rigid platform 2. The flexible platform 3 includes a flexible guide mechanism 302 that moves relative to the rigid platform 2. Intermittent positioning operation is achieved by controlling the relative movement speed between the flexible guide mechanism 302 and the rigid platform 2.

[0048] Furthermore, the flexible platform 3 includes a mounting frame 301 fixedly connected to the rigid platform. The flexible guide mechanism 302 is connected to the inner side of the mounting frame 301 via a flexible hinge 303. The flexible guide mechanism 302 is driven by a drive component 7, which controls the intermittent reciprocating cyclic motion of the flexible guide mechanism 302. The drive component 7 can be a voice coil motor or other types of motors, which are not limited here. Here, a smaller motor is used for the drive component 7, which increases the amplitude slowly and reaches stability. The motor has low power and a smaller moving part mass, resulting in lower energy consumption and enabling high-frequency reciprocating motion.

[0049] Furthermore, the flexible hinges 303 are arranged in two sets symmetrically on the inner wall of the mounting frame 301, and the flexible guide mechanism 302 is connected between the two sets of flexible hinges 303. The symmetrically arranged parallel flexible hinges 303 are symmetrically positioned on both sides of the mounting frame 301. The bending deformation of the flexible hinges 303 generates lateral displacement, but no longitudinal displacement. However, it results in stress stiffening and a relatively small stroke. This lateral movement is achieved through the bending deformation of the flexible hinges 303, which simultaneously stores elastic deformation energy. The reciprocating motion of the flexible hinges 303 allows energy to be converted between elastic deformation energy and kinetic energy, rather than the energy being dissipated by a rigid platform during braking, thus reducing energy consumption.

[0050] In practical use: when the working part has a large inertia, it is split into a flexible connection between a large inertia part 4 and a small inertia part 6. The large inertia part 4 is installed on the rigid platform 2, and the small inertia part 6 is installed on the flexible guide mechanism 302. The large inertia part 4 and the small inertia part 6 are flexibly connected through a flexible conduit 5.

[0051] The rigid platform 2 and the flexible platform 3 move relative to each other without affecting the delivery of the adhesive, and the dispensing direction of the small inertia section 6 is not affected by the movement. Because the small inertia section 6 is located on the flexible guide mechanism 302, its small size and low inertia prevent it from being affected by the high-frequency movement of the flexible guide mechanism 302 during adhesive delivery. The rigid platform 2 moves at a uniform speed, moving uniformly in one direction at a speed of V for a period of time. The flexible guide mechanism 302 reciprocates, first moving rapidly in the direction of the rigid platform 2, then moving back, moving uniformly at a speed of -V for a period of time. (Refer to...) Figure 11 and Figure 12 Where t is time and V is velocity. After the rigid platform 2 and the flexible guide mechanism 302 combine their motions, the positive and negative velocities cancel each other out, thus forming a relatively static positioning period. The large inertia section 4 and the small inertia section 6 are connected by a flexible conduit 5, which is suitable for operation in high-performance motion environments. It is worth noting that the reciprocating motion of the flexible guide mechanism 302 is controlled by the drive component 7. The flexible guide mechanism 302 operates near its natural frequency, resulting in the highest energy conversion efficiency. During deceleration, the flexible hinge 303 converts kinetic energy into elastic potential energy for storage, and then converts it back into kinetic energy during reciprocating motion, reducing energy consumption.

[0052] Furthermore, the flexible hinges 303 are arranged in a group and are symmetrically parallel, and the flexible hinges 303 are installed on the inner wall of one side of the mounting frame 301. A single-sided support parallel flexible hinge 303, multiple flexible hinges 303 arranged in parallel, one side connected to the mounting frame 301 and the other side connected to the flexible guide mechanism 302, multiple flexible hinges 303 bend synchronously, generating lateral displacement, without stress stiffening, and with a large stroke, but longitudinal displacement will occur, suitable for applications where longitudinal displacement is not sensitive.

[0053] For specific usage: refer to... Figure 4-6 The flexible guiding mechanism 302 has a dispensing head installed at its bottom end, and the rigid platform 2 has a glue tank and a dispensing valve installed on its side wall. The dispensing head and the glue tank are flexibly connected through a flexible conduit 5. (Refer to...) Figure 11 and Figure 12 In specific operation, the rigid platform 2 moves at a constant speed, and moves at a constant speed V for a period of time. At this time, the flexible guide mechanism 302 moves laterally reciprocating, and moves at a constant speed -V for a period of time. At the same time, a small parasitic displacement is generated in the direction perpendicular to the rigid platform 2. After the relative motion of the rigid platform 2 and the flexible guide mechanism 302 is combined, the positive and negative speeds cancel each other out, thus forming a relatively static positioning period. It is suitable for use in processing environments with a large flexible stroke and insensitivity to vertical parasitic displacement. It can be applied to flying dispensing equipment. By using a single-sided drive of the flexible guide mechanism 302, a large stroke and high-speed reciprocating motion can be achieved. After being superimposed with the constant speed motion of the rigid platform 2, flying positioning is achieved and high-speed dispensing is completed.

[0054] The working principle of this embodiment is as follows: During equidistant operation processing, the rigid platform 2 moves at a constant speed in one direction, while the flexible platform 3 reciprocates regularly at a constant speed. After the relative motion of the rigid platform 2 and the flexible guide mechanism 302 is combined, the positive and negative velocities cancel each other out, thus forming a relatively static positioning period. During the positioning period, equidistant operation processing is performed. The reciprocating motion of the flexible guide mechanism 302 is controlled by the drive component 7. Energy consumption is reduced by the lateral motion generated by the bending deformation of the flexible hinge 303, which stores elastic deformation energy while generating displacement. The reciprocating motion of the flexible hinge 303 allows energy to be converted between elastic deformation energy and kinetic energy, rather than the energy being dissipated when the rigid platform brakes, thereby reducing energy consumption. The flexible hinge 303 can be arranged in different ways, including symmetrically arranged parallel flexible hinges 303. When the inertia of the working part is large, it can be split into a flexiblely linked large inertia part 4 and a small inertia part 6, which is suitable for operation in high-inertia motion environments. It also includes a set of flexible hinges 303 arranged symmetrically and parallelly, with the flexible hinges 303 installed on the inner wall of one side of the mounting frame 301. The bottom end of the flexible guide mechanism 302 is equipped with a dispensing head, and the side wall of the rigid platform 2 is equipped with a glue tank and a dispensing valve. The dispensing head and the glue tank are flexibly connected through a flexible conduit 5. It is suitable for use in processing environments with large flexible strokes and insensitivity to vertical parasitic displacement. It can be applied to flying dispensing equipment. By using a single-sided drive flexible guide mechanism 302, it can achieve large stroke and high-speed reciprocating motion. After being superimposed with the uniform motion of the rigid platform 2, it can achieve flight positioning and complete high-speed dispensing.

[0055] Example 2

[0056] The rigid-flexible composite flight positioning platform proposed in this invention, compared to Embodiment 1, includes the following: the structure is basically the same as that of Embodiment 1, the difference being that this embodiment operates at unequal intervals, suitable for use in scenarios where workpiece distances are not uniform. When the driving force of the flexible platform 3 is less than the required maximum inertial force (maximum acceleration multiplied by the platform mass), the amplitude of the flexible hinge 303 gradually increases to a stable state. At this time, only the speed of the rigid platform 2 can be adjusted to adapt to the displacement change, and the speed adjustment time of the rigid platform 2 is an integer multiple of the vibration period of the flexible platform 3. When the target displacement change exceeds the adjustment capability of the rigid platform 2, the motion period of the flexible platform 3 can be increased by an integer multiple until the speed adjustment requirement of the rigid platform 2 is met.

[0057] Specifically, the rigid platform 2 undergoes speed-regulating motion, as referenced... Figure 13 When the speed of the rigid platform 2 is the same as the speed of the flexible guide mechanism 302, it is in a relatively static state. The flexible guide mechanism 302 still performs regular reciprocating motion and is in uniform motion.

[0058] Combination Figure 13The flexible guide mechanism 302 has a mass of m, a maximum acceleration of a during motion, and a required driving force of f = ma. When the actual driving force is less than the required driving force, the amplitude of the flexible platform 3 can only be gradually increased to a stable value before compound operations can be performed.

[0059] The flight positioning time is an integer multiple of the vibration period of the flexible hinge 303, and the positioning distance is the distance traveled by the rigid platform 2 during the positioning time. When positioning at equal intervals, the rigid platform 2 can move at a uniform speed of v. The flexible hinge 303 reciprocates with acceleration and deceleration at a speed of v, with a period of T. The positioning distance s = v * T * n, where n is the number of cycles required for positioning, typically n = 1.

[0060] When positioning at unequal intervals, speed adjustment is achieved through rigid platform 2. When the distance to the next positioning target is less than the distance generated by the uniform motion of rigid platform 2, rigid platform 2 first decelerates and then accelerates, resuming uniform motion during the positioning phase. When the distance to the next positioning target is greater than the distance generated by the uniform motion of rigid platform 2, rigid platform 2 first accelerates and then decelerates, resuming uniform motion during the positioning phase. The actual movement distance is the area enclosed by the movement speed of rigid platform 2 during the positioning time, such as... Figure 13 The shaded area is shown.

[0061] By combining the driving component 7 with the flexible hinge 303, energy is stored and energy consumption is reduced. The flexible hinge 303 operates near its natural frequency, achieving the highest energy conversion efficiency. During deceleration, the flexible hinge 303 converts kinetic energy into elastic potential energy for storage, and then converts it back into kinetic energy during the recovery motion, thereby reducing energy consumption. The driving component 7 controls the reciprocating motion of the flexible guide mechanism 302. (See the motion curve diagram of the flexible guide mechanism 302 for reference.) Figure 12 The speed increases during the initial stage, then decelerates, and finally maintains a stable speed.

[0062] Example 3

[0063] The rigid-flexible composite flight positioning platform proposed in this invention is based on Embodiment 1 or Embodiment 2, such as... Figure 7-10 As shown, this embodiment also includes: the rigid platform 2 is horizontally slidably connected to the first rigid guide rail 1 via a guide plate; the rigid platform 2 is vertically slidably connected to one side of the guide plate via a second rigid guide rail 8, enabling the rigid platform 2 to move vertically; and a stamped part is connected to the bottom end of the flexible guide mechanism 302. In use, the first rigid guide rail 1 is installed on the side wall of the gantry frame, so that the gantry frame is installed on the upper end of the operating table.

[0064] Specifically, a triangular frame is installed on one inner wall of the mounting frame 301, and the flexible hinge 303 is connected to the triangular frame; the flexible hinge 303 includes a primary parallel flexible hinge 3031 connected to the opposite edge of the triangular frame and a secondary parallel flexible hinge 3032 connected to the other opposite edge of the triangular frame, the flexible guide mechanism 302 is connected to the secondary parallel flexible hinge 3032, and the control end of the drive member 7 is connected to the triangular frame.

[0065] Specifically, a single-sided parallel flexible hinge 303 is orthogonally arranged. A secondary parallel flexible hinge 3032 is orthogonally mounted on the flexible platform of the primary parallel flexible hinge 3031. The bending deformation of the primary parallel flexible hinge 3031 drives the overall movement of the secondary parallel flexible hinge 3032. The bending deformation of the secondary parallel flexible hinge 3032, combined with the displacement of the primary parallel flexible hinge 3031, creates movement in two directions, thereby compensating for longitudinal displacement or generating precise two-degree-of-freedom displacement, thus reducing energy consumption.

[0066] During operation, the rigid platform 2 moves at a constant speed of V for a period of time, while the flexible guide mechanism 302 reciprocates laterally via the drive component 7. It also moves at a constant speed of -V for a period of time, simultaneously generating elastic displacement in the vertical direction to compensate for parasitic displacement. When the rigid platform 2 and the flexible guide mechanism 302 work together, their positive and negative speeds cancel each other out, creating a relatively static positioning period. This is suitable for machining environments with large flexible strokes and requiring precise vertical displacement control, such as the stamping of microstructured hole arrays.

[0067] The above specific embodiments are merely preferred embodiments of this application. Based on the technical solutions of this application and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments. The above specific embodiments are merely explanations of this application and are not limitations on this application.

Claims

1. A rigid-flexible composite flight positioning platform, characterized in that, include: A rigid platform with sliding configuration; A flexible platform is disposed on the rigid platform, and the flexible platform includes a flexible guide mechanism that moves relative to the rigid platform. Intermittent positioning operations are achieved by controlling the relative movement speed between the flexible guide mechanism and the rigid platform. The flexible platform includes a mounting frame connected to a rigid platform. The flexible guide mechanism is connected to the inside of the mounting frame via a flexible hinge. The flexible guide mechanism is driven by a drive component to control the intermittent reciprocating cyclic motion of the flexible guide mechanism. A triangular frame is installed on one inner wall of the mounting frame, and a parallel flexible hinge is connected to the triangular frame. The flexible hinge includes a primary parallel flexible hinge connected to the opposite edge of the triangular frame and a secondary parallel flexible hinge connected to the other opposite edge of the triangular frame. The flexible guide mechanism is connected to the secondary parallel flexible hinge. The secondary parallel flexible hinge, through bending deformation, superimposes its displacement with that of the primary parallel flexible hinge, forming movement in two directions.

2. The rigid-flexible composite flight positioning platform according to claim 1, characterized in that, The flexible hinges are arranged in two sets and symmetrically on the inner wall of the mounting frame, and the flexible guide mechanism is connected between the two sets of flexible hinges.

3. The rigid-flexible composite flight positioning platform according to claim 2, characterized in that, The flexible hinges are a set and arranged in parallel, and the flexible hinges are installed on the inner wall of one side of the mounting frame.

4. The rigid-flexible composite flight positioning platform according to claim 1, characterized in that, When the working part has a large inertia, it is split into a flexible link between a large inertia part and a small inertia part. The large inertia part is installed on the rigid platform, and the small inertia part is installed on the flexible guide mechanism. The large inertia part and the small inertia part are flexibly connected through a flexible conduit.

5. The rigid-flexible composite flight positioning platform according to claim 1, characterized in that, It also includes a first rigid guide rail, and the rigid platform is horizontally slidably connected to the first rigid guide rail.

6. The rigid-flexible composite flight positioning platform according to claim 5, characterized in that, The rigid platform is horizontally slidably connected to the first rigid guide rail via a guide plate, and the rigid platform is vertically slidably connected to one side of the guide plate via a second rigid guide rail. An operating component is connected to the bottom end of the flexible guiding mechanism.

7. A method for implementing a rigid-flexible composite flight positioning platform, characterized in that, The rigid-flexible composite flight positioning platform described in any one of claims 1-6 is used to achieve the following: when the driving force of the flexible platform is less than the required maximum inertial force, the amplitude of the flexible hinge gradually increases to a stable state. At this time, the speed of the rigid platform is adjusted, and the adjustment time of the rigid platform is controlled to be an integer multiple of the vibration period of the flexible platform. When the target displacement change exceeds the adjustment capability of the rigid platform, the motion cycle of the flexible platform is increased by an integer multiple until it meets the speed adjustment requirements of the rigid platform.

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