A heavy-duty attitude adjustment mechanism based on a compliant mechanism

Abstract

This invention discloses a heavy-duty attitude adjustment mechanism based on a compliant mechanism, comprising an attitude adjuster base, two drive electric cylinders, and a compliant motion platform. The compliant motion platform is made of elastic composite material and includes two drive loading ends, two primary motion transmission structures, and two secondary motion transmission structures (33). The compliant base has a fixed surface and an output moving plane. The drive electric cylinders are connected to the drive loading ends to provide loading force. The displacement motion of the drive loading ends is transmitted along their structures to the primary motion transmission structures, and then to the output moving plane via the secondary motion transmission structures. This invention achieves high-precision attitude adjustment under heavy loads in a confined space.

Description

Technical Field

[0001] This invention relates to the field of large-scale mechanical assembly, and more particularly to a heavy-duty attitude adjustment mechanism based on a compliant mechanism. Background Technology

[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 a rigid body transmission mechanism design, using a motor to drive guide rails and connecting rods to achieve motion transmission. Although this technology is mature, the manufacturing process of such attitude adjustment mechanisms is complex, their size is large, and the assembly error of the mechanism itself is difficult to control, which limits their attitude adjustment capabilities in heavy-duty, confined spaces.

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

[0004] Traditional compliant posture adjustment mechanisms are not suitable for meeting the need for heavy-duty posture adjustment in small spaces.

[0005] Therefore, those skilled in the art are dedicated to developing a compliant attitude adjustment mechanism that is heavy-duty and small in size. Summary of the Invention

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

[0007] 1. While common compliant attitude adjustment mechanisms offer high accuracy, their small size and low load-bearing capacity make them unsuitable for adjusting heavy equipment. Traditional rigid body attitude adjustment mechanisms, on the other hand, have complex component assembly relationships, resulting in higher motion accuracy and larger size. Therefore, existing attitude adjustment mechanisms cannot meet the requirements for heavy-duty, space-constrained assembly and attitude adjustment.

[0008] 2. Traditional rigid body attitude adjustment mechanisms require complex assembly parts, and their manufacturing process is complicated and costly.

[0009] To achieve the above objectives, the present invention provides a heavy-duty attitude adjustment mechanism based on a compliant mechanism, comprising:

[0010] The attitude adjuster base (1), two drive electric cylinders (2) and a compliant motion platform (3) are mounted on the attitude adjuster base (1). The compliant motion platform (3) is made of elastic composite material.

[0011] The compliant motion platform (3) includes two drive 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 plane (35).

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

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

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

[0015] Furthermore, the semi-circular ring structure of the primary motion transmission structure (32) has a separated extended region inside, which is used to limit the amount of motion deformation of the ring structure.

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

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

[0018] Furthermore, the semi-circular ring structure of the secondary motion transmission structure (33) has a separate extended region inside, which is used to limit the amount of motion deformation of the ring structure.

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

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

[0021] Furthermore, the compliant motion platform (3) is an integral structure 3D printed.

[0022] Technical effect

[0023] 1. This invention proposes a heavy-duty compliant attitude adjustment mechanism, constructed from composite materials, capable of transmitting motion to the end effector platform based on a given input force, achieving high-load, high-precision flexible attitude adjustment at the end effector. This invention proposes a compliant attitude adjustment mechanism configuration design based on an integrated composite material. Its structure undergoes compliant deformation according to changes in the input force, enabling the end effector platform to generate two degrees of freedom of motion. High load-bearing capacity is achieved through a robust load-bearing structure, while large displacement of the end effector platform is achieved under low stress conditions through a wide range of overall structural deformation. This invention achieves high-precision attitude adjustment under high loads in confined spaces by designing a heavy-duty attitude adjuster based on a compliant mechanism.

[0024] 2. This attitude adjustment mechanism can be integrally printed using 3D printing, eliminating the need for complex assembly relationships and 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 integrally molded. The integrally molded heavy-duty compliant attitude adjustment mechanism can save processing time and costs.

[0025] The compliant motion platform deforms the overall structure by applying a loading force through a drive electric cylinder, thereby causing the output moving plane to move. The transmission structure is integrally formed, eliminating the need for rigid moving parts, making the motion process simple and efficient. The compliant motion platform is manufactured as a single 3D printed unit, eliminating the need for complex assembly relationships during fabrication, thus simplifying the assembly process and improving motion accuracy. The displacement input at the drive loading ends of the compliant motion platform can be independently controlled, and by varying the displacements of the two electric cylinders, two degrees of freedom of motion in the vertical and horizontal directions can be achieved at the end of the moving plane.

[0026] This invention has a load capacity of up to 50 tons and can be applied to the assembly and attitude adjustment of large ships, vehicles, and large industrial processed parts.

[0027] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

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

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

[0030] Figure 3 This is a schematic diagram of the drive electric cylinder structure according to a preferred embodiment of the present invention.

[0031] Figure 4 A front view of the compliant motion platform structure according to a preferred embodiment of the present invention.

[0032] Figure 5 A perspective view of the compliant motion platform structure according to a preferred embodiment of the present invention. Detailed Implementation

[0033] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0034] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0035] refer to Figure 1 A heavy-duty compliant attitude adjuster includes an attitude adjuster base 1, a drive electric cylinder 2, and a compliant motion platform 3.

[0036] In this example, the heavy-duty compliant attitude adjuster can change the position of the output moving plane 3 of the compliant moving platform 3 by the input displacement of the drive cylinder 2, thereby achieving precise attitude adjustment of the object it carries. Figure 1 As shown, the drive cylinders 2 are placed on both sides of the compliant platform 3. The output end 21 of the drive cylinder 2 is fixedly connected to the drive loading end 31 of the compliant platform, and the fixed end 22 of the drive cylinder is fixedly connected to the attitude adjuster base 1.

[0037] The compliant motion platform in this example can be a monolithic structure 3D printed from elastic composite materials, exhibiting compliant behavior. Under displacement input at the drive loading end 31, the entire structure undergoes compliant deformation and transmits the motion to the output motion platform 35, achieving two degrees of freedom of attitude adjustment in both the horizontal and vertical directions.

[0038] like Figure 2 As shown, the drive electric cylinder includes an output end 21 and a fixed end 22. The output end 21 has a degree of freedom of movement that extends and retracts along its axial direction, and the fixed end has a flat surface that can be fixedly connected to the attitude adjuster base 1.

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

[0040] like Figure 4 , Figure 5 As shown, the primary motion transmission structure 32 of the compliant motion platform 3 includes a set of semi-circular ring structures with hollowed-out characteristics. Rod-like structures extend from both sides of the semi-circular ring structures to amplify the stroke. The semi-circular ring structures have separated extended regions inside, which limit the amount of motion deformation of the ring structure, ensuring that the deformation during driving is less than a safe range, thereby avoiding material fracture caused by excessive input displacement.

[0041] Specifically, the secondary motion transmission structure 33 of the compliant motion platform 3 includes a set of semi-circular ring structures with hollowed-out characteristics. Rod-like structures extend from both sides of the semi-circular ring structures to amplify the stroke. The semi-circular ring structures have separated extended regions inside, which limit the amount of motion deformation of the ring structure, ensuring that the deformation during driving is less than a safe range, thereby avoiding material fracture caused by excessive input displacement.

[0042] The primary motion transmission structure 32 and the secondary motion transmission structure 33 of the aforementioned compliant motion platform 3 may include a hollow structure. The function of the hollow structure is to reduce the structural stiffness and increase the deformation displacement.

[0043] It will be apparent 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 invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This method of description is merely for clarity, and those skilled in the art should consider the specification as a whole. The technical solutions in the various embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0044] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A heavy-duty attitude adjustment mechanism based on a compliant mechanism, characterized in that, include, The attitude adjuster base (1), two drive electric cylinders (2) and a compliant motion platform (3) are mounted on the attitude adjuster base (1). The compliant motion platform (3) is made of elastic composite material. The compliant motion platform (3) includes two drive 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 plane (35). The drive electric cylinder (2) is connected to the drive loading end (31) to provide loading force. The drive loading end (31) generates displacement under the drive of the drive electric cylinder (2). Its motion is first transmitted to the first-level motion transmission structure (32) along its structure, and then further transmitted to the second-level motion transmission structure (33) after the motion deformation of the first-level motion transmission structure, and finally transmitted to the output moving plane (35).

2. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 1, characterized in that, The primary motion transmission structure (32) is a semi-circular ring structure.

3. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 2, characterized in that, The primary motion transmission structure (32) has rod-shaped structures extending from both sides to amplify the stroke.

4. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 2, characterized in that, The semi-circular ring structure of the first-level motion transmission structure (32) has a separated extended region inside, which is used to limit the amount of motion deformation of the ring structure.

5. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 1, characterized in that, The secondary motion transmission structure (33) is a semi-circular ring structure.

6. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 5, characterized in that, The secondary motion transmission structure (33) has rod-shaped structures extending from both sides to amplify the stroke.

7. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 5, characterized in that, The semi-circular ring structure of the secondary motion transmission structure (33) has a separated extended region inside, which is used to limit the amount of motion deformation of the ring structure.

8. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in 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-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 1, characterized in that, The upper surface of the attitude adjuster base (1) is inclined.

10. The heavy-duty attitude adjustment mechanism based on a compliant mechanism as described in claim 1, characterized in that, The compliant motion platform (3) is an integral structure 3D printed.

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