Heavy-load posture adjusting mechanism based on compliant mechanism

Abstract

The heavy-load posture adjusting mechanism comprises a posture adjusting device base, two driving electric cylinders and a compliant movable platform, the compliant movable platform is made of an elastic composite material, and the compliant movable platform comprises two driving loading ends, two first-stage motion transmission structures, two second-stage motion transmission structures (33), a compliant base fixing face and an output movable plane. The driving electric cylinder is connected with the driving loading end and used for providing loading force, and displacement motion of the driving loading end is transmitted to the first-stage motion transmission structure along the structure of the driving loading end and then transmitted to the output moving plane through the second-stage motion transmission structure. According to the invention, high-precision attitude adjustment under large load in a narrow space is realized.

Description

Technical Field

[0001] The invention relates to the field of large-scale mechanical assembly, and in particular to a heavy-load posture adjustment mechanism based on a compliant mechanism. Background Art

[0002] The assembly and docking process of large mechanical structures requires an attitude adjustment mechanism to assist in positioning and docking. Traditional attitude adjustment mechanisms generally adopt the design form of rigid transmission mechanisms, and realize motion transmission through motor-driven guide rails and connecting rods. Although this type of technology is mature, the manufacturing process of such attitude adjustment mechanisms is complicated, the size is large, and the assembly error of the mechanism itself is difficult to control, which limits its attitude adjustment ability in a small space with heavy loads.

[0003] Compliant mechanisms are a type of mechanism that uses the flexible deformation of the structure to transmit force and displacement. Due to its advantages such as high precision and impact resistance, it has been widely used in the field of precision posture adjustment of small equipment in recent years. However, despite its many advantages, existing compliant mechanisms are mainly used for small-scale equipment, and their bearing capacity is small, making them unsuitable for posture adjustment of large and heavy-loaded equipment.

[0004] In order to achieve heavy-load posture adjustment in a small space, the traditional flexible posture adjustment mechanism is not applicable.

[0005] Therefore, those skilled in the art are committed to developing a compliant posture adjustment mechanism with heavy load and small size. Summary of the invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is:

[0007] 1. Although the common flexible posture adjustment mechanism has high posture adjustment accuracy, it is small in size and has low bearing capacity, so it cannot be used for posture adjustment of heavy equipment. The traditional rigid posture adjustment mechanism has a complex assembly relationship of parts, and its motion accuracy and volume are large. Therefore, the existing posture adjustment mechanism cannot meet the requirements of assembly posture adjustment in heavy-load small spaces.

[0008] 2. The traditional rigid posture adjustment mechanism requires complex assembly parts, and its preparation process is complicated and the cost is high.

[0009] To achieve the above object, the present invention provides a heavy-load posture adjustment mechanism based on a compliant mechanism, comprising:

[0010] The posture adjuster base (1), two driving electric cylinders (2) and a flexible moving platform (3), the driving electric cylinders (2) and the flexible moving platform (3) are installed on the posture adjuster base (1), and the material of the flexible moving platform (3) is an elastic composite material.

[0011] The compliant moving platform (3) comprises two driving loading ends (31), two primary motion transmission structures (32), two secondary motion transmission structures (33), a compliant base fixing surface (34) and an output moving surface (35).

[0012] The driving electric cylinder (2) is connected to the driving loading end (31) to provide a loading force. The driving loading end (31) generates displacement under the drive of the driving electric cylinder (2). Its motion is first transmitted to the primary motion transmission structure (32) along its structure, and then the motion is further transmitted to the secondary motion transmission structure (33) after the motion deformation of the primary motion transmission structure, and finally the motion is transmitted to the output moving plane (35).

[0013] Furthermore, the primary motion transmission structure (32) is a semicircular ring structure.

[0014] Furthermore, rod-shaped structures are respectively extended on both sides of the primary motion transmission structure (32) to amplify the stroke.

[0015] Furthermore, the semicircular ring structure of the primary motion transfer structure (32) has a separated extension area inside, which is used to limit the movement deformation of the circular ring structure.

[0016] Furthermore, the secondary motion transmission structure (33) is a semicircular ring structure.

[0017] Furthermore, rod-shaped structures are respectively extended on both sides of the secondary motion transmission structure (33) to amplify the stroke.

[0018] Furthermore, the semicircular ring structure of the secondary motion transfer structure (33) has a separated extension area inside, which is used to limit the movement deformation of the circular ring structure.

[0019] Furthermore, the primary motion transmission structure (32) and / or the secondary motion transmission structure (33) is a hollow structure.

[0020] Furthermore, the upper surface of the posture adjuster base (1) is an inclined structure.

[0021] Furthermore, the compliant moving platform (3) is an integral structure formed by 3D printing.

[0022] Technical Effects

[0023] 1. The present invention proposes a heavy-load compliant attitude adjustment mechanism, which is made of composite materials and can transmit motion to the terminal moving platform based on a given input force, thereby realizing high-load and high-precision flexible attitude adjustment at the terminal. The present invention proposes a compliant attitude adjustment mechanism configuration design based on an integrated composite material, the structure of which produces compliant deformation according to the change of the input end force, so that its moving platform produces two-degree-of-freedom motion. High load-bearing capacity is achieved through a sturdy load-bearing structure, and a large displacement of the terminal moving platform is achieved when the structure is in a low-stress state through a large range of overall structural deformation. The present invention realizes high-precision attitude adjustment under large loads in a small space by designing a heavy-load attitude adjuster based on a compliant mechanism.

[0024] 2. The posture adjustment mechanism can be integrated through 3D printing, without the need for complex assembly relationships, saving processing time and labor costs. The compliant mechanism is made of the same material, and its structure does not require assembly relationships, so it can be integrated. The integrated heavy-duty compliant posture adjustment mechanism can save processing time and costs.

[0025] The compliant moving platform applies loading force by driving the electric cylinder to produce overall structural deformation, thereby causing the output moving plane to move. The transmission structure is integrally formed, and no rigid moving parts are required, making the movement process simple and efficient. The compliant moving platform is manufactured by 3D printing. No complex assembly relationships are required during the preparation process, thereby simplifying the assembly process and improving the movement accuracy. The input displacement of the driving loading end of the driving electric cylinder at both ends of the compliant moving platform can be independently controlled. The two-degree-of-freedom movement of the end moving plane in the vertical and horizontal directions can be achieved through the different displacements of the electric cylinders on both sides.

[0026] The load capacity of the invention reaches 50 tons, and it can be applied to the assembly and posture adjustment of large ships, vehicles, and large industrial processing parts.

[0027] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The overall structure diagram of a preferred embodiment of the present invention is

[0029] Figure 2 A front view of the overall structure of a preferred embodiment of the present invention

[0030] Figure 3 A schematic diagram of the structure of a driving electric cylinder according to a preferred embodiment of the present invention

[0031] Figure 4 A front view of a flexible moving platform structure of a preferred embodiment of the present invention

[0032] Figure 5 A three-dimensional view of a flexible moving platform structure of a preferred embodiment of the present invention DETAILED DESCRIPTION

[0033] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0034] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0035] refer to Figure 1 A heavy-duty flexible posture adjuster, comprising a posture adjuster base 1, a driving electric cylinder 2, and a flexible moving platform 3

[0036] The heavy-loaded flexible posture adjuster in this example can change the position of the output moving plane 3 of the flexible moving platform 3 by driving the input displacement of the electric cylinder 2, thereby achieving accurate posture adjustment of the object it carries. Figure 1 As shown, the driving electric cylinder 2 is respectively placed on both sides of the flexible moving platform 3, the output end 21 of the driving electric cylinder 2 is fixedly connected to the driving loading end 31 of the flexible moving platform, and the fixed end 22 of the driving electric cylinder is fixedly connected to the posture adjuster base 1.

[0037] The compliant moving platform of this example can be an integrated structure made of elastic composite material 3D printing, and its structure is compliant. Under the displacement input of the driving loading end 31, its structure as a whole produces compliant deformation and transmits the motion to the output moving platform 35, realizing two-degree-of-freedom posture adjustment in the horizontal and vertical directions.

[0038] like Figure 2 As shown, the driving electric cylinder includes an output end 21 and a fixed end 22, wherein the output end 21 has the freedom of movement to extend and retract along its axial direction, and the fixed end has a flat surface and can be fixedly connected to the posture adjuster base 1.

[0039] like Figure 3As shown, the base fixing surface 34 of the compliant moving platform 3 is fixedly connected to the middle area of ​​the posture adjuster base 1 at a low level. The driving loading end 31 of the compliant moving platform 3 is asymmetrically distributed on both sides of the structure, and its loading end surface is a plane, which is used to connect with the output end 21 of the driving electric cylinder. The driving loading end generates displacement under the drive of the driving electric cylinder, and its motion is first transmitted to the primary motion transmission structure 32 along its structure, and then further transmitted to the secondary motion transmission structure 33 after the motion deformation of the primary motion transmission structure, and finally the motion is transmitted to the output moving plane 35.

[0040] like Figure 4 , Figure 5 As shown, the primary motion transmission structure 32 of the compliant moving platform 3 includes a group of semi-circular ring structures with hollow characteristics, and rod-shaped structures are extended on both sides of the semi-circular ring structure to amplify the stroke. There is a separated extension area inside the semi-circular ring structure, which is used to limit the movement deformation of the circular ring structure so that the deformation of the structure during the driving process is less than the safe range, so as to avoid material breakage caused by excessive input displacement.

[0041] Specifically, the secondary motion transmission structure 33 of the compliant moving platform 3 includes a group of semi-circular ring structures with hollow characteristics, and rod-shaped structures are extended on both sides of the semi-circular ring structure to amplify the stroke. The semi-circular ring structure has a separated extension area inside, which is used to limit the movement deformation of the circular ring structure so that the deformation of the structure during the driving process is less than the safe range, so as to avoid material fracture caused by excessive input displacement.

[0042] The primary motion transmission structure 32 and the secondary motion transmission structure 33 of the above-mentioned compliant moving platform 3 may include a hollow structure, and the function of the hollow structure is to reduce the structural rigidity and increase the deformation displacement.

[0043] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it should be understood that although this specification is described in accordance with the implementation methods, not each implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0044] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A heavy-load posture adjustment mechanism based on a compliant mechanism, characterized in that: include, The posture adjuster base (1), two driving electric cylinders (2) and a flexible moving platform (3), the driving electric cylinders (2) and the flexible moving platform (3) are installed on the posture adjuster base (1), and the material of the flexible moving platform (3) is an elastic composite material. The compliant moving platform (3) comprises two driving loading ends (31), two primary motion transmission structures (32), two secondary motion transmission structures (33), a compliant base fixing surface (34) and an output moving surface (35). The driving electric cylinder (2) is connected to the driving loading end (31) to provide a loading force. The driving loading end (31) generates displacement under the drive of the driving electric cylinder (2). Its motion is first transmitted to the primary motion transmission structure (32) along its structure, and then the motion is further transmitted to the secondary motion transmission structure (33) after the motion deformation of the primary motion transmission structure, and finally the motion is transmitted to the output moving plane (35).

2. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 1, characterized in that: The primary motion transmission structure (32) is a semicircular ring structure.

3. The heavy-load posture adjustment mechanism based on the compliant mechanism as claimed in claim 2, characterized in that: Rod-shaped structures are respectively extended on both sides of the primary motion transmission structure (32) to amplify the stroke.

4. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 2, characterized in that: The semicircular ring structure of the primary motion transmission structure (32) has a separated extension area inside, which is used to limit the motion deformation of the circular ring structure.

5. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 1, characterized in that: The secondary motion transmission structure (33) is a semicircular ring structure.

6. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 5, characterized in that: Rod-shaped structures are respectively extended on both sides of the secondary motion transmission structure (33) to amplify the stroke.

7. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 5, characterized in that: The semicircular ring structure of the secondary motion transmission structure (33) has a separated extension area inside, which is used to limit the motion deformation of the circular ring structure.

8. The heavy-load posture adjustment mechanism based on a compliant mechanism according to any one of claims 1 to 7, characterized in that: The primary motion transmission structure (32) and / or the secondary motion transmission structure (33) are hollow structures.

9. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 1, characterized in that: The upper surface of the posture adjuster base (1) is an inclined structure.

10. The heavy-load posture adjustment mechanism based on a compliant mechanism as claimed in claim 1, characterized in that: The compliant moving platform (3) is an integral structure formed by 3D printing.

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