Steel wire flexible-jointed six-degree-of-freedom platform

Abstract

The present application relates to the technical field of six-degree-of-freedom platform, and provides a steel wire flexible hinge six-degree-of-freedom platform, which comprises a mounting base, an upper platform and three groups of flexible bodies, the mounting base is provided with a supporting frame and three assembly positions which are uniformly arranged along the circumference of the supporting frame, each assembly position is provided with a first mounting surface close to the supporting frame and a second mounting surface away from the supporting frame, the upper platform is provided with three third mounting surfaces arranged in a ring shape and three fourth mounting surfaces, one fourth mounting surface is arranged between each two adjacent third mounting surfaces, and each group of flexible bodies comprises two flexible fluid actuators and two steel wire flexible hinges, the upper platform can realize accurate position adjustment and attitude control in a large range by controlling the extension and contraction of the flexible actuators and combining the bending of the steel wire hinges, and high durability and reliability can be realized without power supply.

Description

Technical Field

[0001] The present invention relates to the technical field of six-degree-of-freedom platforms, and in particular to a six-degree-of-freedom platform with a flexible wire hinge. Background Art

[0002] Objects possess six degrees of freedom in space. Six-degree-of-freedom platforms, when used, can simulate various spatial motions and postures, and are widely used in a variety of fields. Currently, existing six-degree-of-freedom platforms typically utilize a multi-electric cylinder structure for control. This increases the platform's weight, requires electricity to maintain reliability and durability, and consumes high amounts of energy, requiring further improvement. Summary of the Invention

[0003] In view of the defects in the prior art, the purpose of the present invention is to provide a wire flexible hinge six-degree-of-freedom platform.

[0004] According to the present invention, a wire flexible hinge six-degree-of-freedom platform is provided, comprising:

[0005] The mounting base comprises a support frame and three assembly positions evenly arranged along the circumference of the support frame, each of the assembly positions being provided with a first mounting surface close to the support frame and a second mounting surface away from the support frame;

[0006] The upper platform has three third mounting surfaces and three fourth mounting surfaces arranged in an annular shape, with one fourth mounting surface being provided between every two adjacent third mounting surfaces;

[0007] Three groups of flexible bodies, each group of flexible bodies includes two flexible fluid actuators and two steel wire flexible hinges, wherein the axis of the first flexible fluid actuator is arranged along the first direction and one end is assembled on the second mounting surface, and the other end of the first flexible fluid actuator is assembled on the fourth mounting surface through a steel wire flexible hinge, the axis of the second flexible fluid actuator is arranged along the second direction and one end is assembled on the first mounting surface, and the other end of the second flexible fluid actuator is assembled on the third mounting surface through a steel wire flexible hinge, wherein the first direction is perpendicular to the second direction.

[0008] Preferably, the steel wire flexible hinge includes five fixed blocks, a high-toughness structure that connects the five fixed blocks in series, and a first connecting member. The five fixed blocks are arranged in sequence and form two rows with one end aligned and arranged in parallel, wherein one row consists of two fixed blocks and the other row consists of three fixed blocks, and the two fixed blocks at the aligned ends in the two rows are connected by a first connecting member.

[0009] Preferably, the high-toughness structure is two parallel steel wires or steel ropes.

[0010] Preferably, the fixing block includes two fixing plates with an L-shaped cross-section and a second connecting member. The two fixing plates are relative to each other and connected by the second connecting member to form a rectangular structure, wherein the high-toughness structure is clamped and fixed between the two fixing plates.

[0011] Preferably, the flexible fluid actuator includes a plurality of actuators connected in sequence and fixed flanges arranged at both ends. Two adjacent actuators are connected through an internal channel, and the actuator is extended or shortened in the axial direction by inputting fluid into the actuator or outputting fluid from the actuator.

[0012] Preferably, the flexible fluid actuator is arranged with its axis along the first direction and is assembled to the second mounting surface through a base with the aid of its own fixing flange, wherein both the fixing flange and the base have an intermediate channel communicating with the interior of the actuator.

[0013] Preferably, the flexible fluid actuator is arranged with its axis along the first direction and is connected to the steel wire flexible hinge through an adapter with the aid of its own fixing flange.

[0014] Preferably, the flexible fluid actuator is arranged with its axis along the second direction and is directly assembled on the first mounting surface by means of its own fixing flange.

[0015] Preferably, the flexible fluid actuator is arranged along the second direction and is connected to the steel wire flexible hinge through an adapter with its own fixed flange.

[0016] Preferably, each actuator is designed with a fluid chamber, and a horizontal wall is designed between two adjacent fluid chambers to separate the two adjacent fluid chambers so as to prevent the actuator from bending in the radial direction, wherein the internal channel is provided on the horizontal wall.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The design of the mounting base in the present invention allows for the precise placement of the flexible wire hinge and flexible fluid actuator to achieve optimal mechanical performance and motion response, ensuring stable support during high-precision positioning and large-scale movement. The upper platform is directly connected to the object or tool being operated and supported by the flexible wire hinge and flexible fluid actuator, enabling precise movement with six degrees of freedom. By controlling the expansion and contraction of the flexible actuator and combining it with the bending of the wire hinge, the upper platform can achieve precise position adjustment and posture control over a wide range, allowing for multi-directional bending and supporting six-degree-of-freedom movement. It achieves high durability and reliability without the need for power supply, ensuring long-term use without damage, making it suitable for applications requiring high-precision and long-range positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is a schematic top view of the structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the installation base, upper platform, first connector, and second connector after disassembly;

[0023] Figure 4 Schematic diagram of the structure of the steel wire flexible hinge;

[0024] Figure 5 This is a structural diagram of some parts of the disassembled wire flexible hinge;

[0025] Figure 6 Schematic diagram of the structure of the flexible fluid actuator;

[0026] Figure 7 for Figure 6 Middle AA section view.

[0027] The figure shows:

[0028] Flexible fluid actuator 1

[0029] Actuator 11

[0030] Internal channel 111

[0031] Fluid chamber 112

[0032] Fixed flange 12

[0033] Base 13

[0034] Middle Channel 131

[0035] Mounting Base 2

[0036] Support frame 21

[0037] Assembly position 22

[0038] First mounting surface 221

[0039] Second mounting surface 222

[0040] Upper Platform 3

[0041] The third mounting surface 31

[0042] Fourth mounting surface 32

[0043] Steel wire flexible hinge 4

[0044] Fixed block 41

[0045] Fixed plate 411

[0046] Second connecting member 412

[0047] First connecting member 42

[0048] High toughness structure 43

[0049] First connector 5

[0050] Second connector 6 DETAILED DESCRIPTION

[0051] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0052] The present invention provides a wire flexible hinge six-degree-of-freedom platform, such as Figure 1 、 Figure 2 、 Figure 3As shown, it includes a flexible fluid actuator 1, a mounting base 2, an upper platform 3 and three groups of flexible bodies. The mounting base 2 has a support frame 21 and three assembly positions 22 evenly arranged along the circumference of the support frame 21. The support frame 21 has an equilateral triangle structure when viewed from above. Each assembly position 22 is provided with a first mounting surface 221 close to the support frame 21 and a second mounting surface 222 away from the support frame 21. The first mounting surface 221 and the second mounting surface 222 are preferably arranged in a stepped manner; the upper platform 3 has three third mounting surfaces 31 and three fourth mounting surfaces 32 arranged in an annular manner. A fourth mounting surface 32 is provided between each two adjacent third mounting surfaces 31, and the third mounting surface 31 faces upward. A positioning edge, raised above the third mounting surface 31, is provided on one side of the middle portion of the platform 3. Each group of flexible bodies includes two flexible fluid actuators 1 and two flexible steel wire hinges 4. The axis of the first flexible fluid actuator 1 is arranged along the first direction, with one end mounted on the second mounting surface 222. The other end of the first flexible fluid actuator 1 is mounted on the fourth mounting surface 32 via a flexible steel wire hinge 4. The flexible steel wire hinge 4 and the fourth mounting surface 32 are connected by a first connector 5. The first connector 5 has a U-shaped cross-section, with one side of the first connector 5 mounted to the bottom of the fourth mounting surface 32, and the end of the flexible steel wire hinge 4 mounted in a groove in the first connector 5. The axis of the second flexible fluid actuator 1 is arranged along the second direction, with one end mounted on the first mounting surface 221. The other end of the second flexible fluid actuator 1 is mounted on the third mounting surface 31 via a flexible steel wire hinge 4. The first direction is perpendicular to the second direction.

[0053] Furthermore, the flexible fluid actuator 1 is arranged along the first direction and is assembled to the second mounting surface 222 through the base 13 with the aid of its own fixing flange 12. Both the fixing flange 12 and the base 13 have an intermediate channel 131 communicating with the interior of the actuator 11. Figure 7 The flexible fluid actuator 1 is arranged along the first direction with its own fixed flange 12 and connected to the steel wire flexible hinge 4 through the adapter 14, as shown. Figure 6 shown.

[0054] It should be noted that the steel wire flexible hinge 4 and the third mounting surface 31 are connected via a second connector 6, as shown in FIG. Figure 3As shown, the second connector 6 also has a U-shaped cross-section. The difference between the first connector 5 and the second connector 6 is that when the first connector 5 is assembled on the upper platform 3, the U-shaped opening faces upward and parallel to the axis of the upper platform 3, while when the second connector 6 is assembled on the upper platform 3, the U-shaped opening faces radially outward from the upper platform 3 and perpendicular to the axis of the upper platform 3. The flexible fluid actuator 1, arranged along the second axis, is directly assembled to the first mounting surface 221 via its own fixing flange 12. The flexible fluid actuator 1, arranged along the second axis, is connected to the steel wire flexible hinge 4 via its own fixing flange 12 via an adapter 14. The present invention utilizes the combination of a steel wire flexible hinge and a flexible actuator to achieve frictionless motion and high-precision positioning.

[0055] like Figure 4 As shown, the steel wire flexible hinge 4 includes five fixed blocks 41, a high toughness structure 43 connecting the five fixed blocks 41 in series, and a first connecting member 42. The five fixed blocks 41 are arranged in sequence and form two rows aligned at one end and arranged in parallel, with a gap between the two rows. One row has two fixed blocks 41 and the other row has three fixed blocks 41, forming a 7-shaped structure as a whole. The two fixed blocks 41 at the aligned ends of the two rows are connected by a first connecting member 42. The first connecting member 42 is a connecting pin structure with thin ends and thick in the middle, as shown in FIG. Figure 5 As shown, the high-toughness structure 43 is two parallel steel wires or steel ropes. The steel wires are high-toughness stainless steel wires, and the steel ropes are a structure formed by braiding multiple strands of steel wires.

[0056] Furthermore, the fixed block 41 includes two fixing plates 411 with an L-shaped cross-section and a second connecting member 412. The two fixing plates 411 are relatively buckled to form a rectangular structure, and are connected by the second connecting member 412 to fix the two fixing plates 411. The high-toughness structure 43 is clamped and fixed between the two fixing plates 411 when the two fixing plates 411 are buckled. The steel wire is tensioned during assembly. The steel wire flexible hinge 4 is one of the core components of the present invention. It uses high-toughness stainless steel wire or wire rope structure, combined with precise fixing and tensioning technology, to achieve a frictionless flexible connection. This design not only provides the necessary support stiffness, but also allows the hinge to bend in different directions, thereby providing six degrees of freedom of movement for the upper platform 3. The staggered arrangement of the hinges optimizes the mechanical properties of the entire platform, enabling it to withstand various loads without losing stability.

[0057] like Figure 6As shown, the flexible fluid actuator 1 includes a plurality of actuators 11 connected in sequence and fixed flanges 12 arranged at both ends. Adjacent actuators 11 are connected by internal channels 111. The actuator 11 is extended or shortened in the axial direction by inputting fluid into or outputting fluid from the actuator 11. The design of the actuator 1 takes into account ease of manufacture and driving efficiency, and is capable of generating linear motion. The actuator 1 is preferably prepared using three actuators 11 connected in series. Each actuator 11 is designed with a fluid chamber 112. A 2mm thick horizontal wall is designed between adjacent fluid chambers 112 to separate the different fluid chambers 112 to prevent the actuator 11 structure from bending in the radial direction. The internal channel 111 is provided on the horizontal wall. In one possible embodiment, the overall structural dimensions of the flexible fluid actuator 1 are 60mm in diameter and 35mm in height. Within the cylindrical space, a single flexible fluid actuator 1 has a stroke of 8mm. It is manufactured using a 3D printer using flexible materials.

[0058] In practical applications, due to the unique structural design and high performance of the wire flexible hinge six-degree-of-freedom platform, the small six-degree-of-freedom platform in the present invention is very suitable for scenarios where space is limited and high-precision and large-stroke positioning are required, such as micro-robotics, precision assembly, biomedical testing and other fields.

[0059] In the steel wire flexible hinge six-degree-of-freedom platform of the present invention, the horizontally arranged steel wire flexible hinges 4 and the vertically arranged steel wire flexible hinges 4 are respectively arranged alternately along the circumferential direction. Each steel wire flexible hinge 4 includes three pairs of orthogonally placed flexible fluid actuators 1. Each flexible fluid actuator 1 is respectively connected to the upper and lower platforms through the steel wire flexible hinge 4. The present invention realizes six-degree-of-freedom motion output within a large range of the upper platform 3 by combining a large-stroke steel wire flexible hinge with a linear flexible actuator, driving the flexible actuator axially to extend or contract through fluid, and combining the bending deformation of the steel wire hinge. The platform is frictionless in motion, has a large range of motion, high positioning accuracy, and a very compact overall structure. It is suitable for scenarios where space is limited and high-precision and large-stroke positioning are required.

[0060] This platform utilizes a combination of flexible wire hinges and flexible actuators to achieve frictionless motion and high-precision positioning. The mounting base 2 serves as the support structure for the entire platform, connecting and securing the flexible wire hinge 4 and the flexible fluid actuator 1. Made of high-strength materials, the mounting base 2 ensures stable support during high-precision positioning and wide-range motion. The design of the mounting base 2 allows for precise placement of the flexible wire hinge 4 and the flexible fluid actuator 1 to achieve optimal mechanical properties and motion response. The upper platform 3 is the component of the present invention that performs precise positioning tasks and is directly connected to the object or tool being operated. Supported by the flexible wire hinge 4 and the flexible fluid actuator 1, it enables precise motion in six degrees of freedom. The design of the upper platform 3 takes into account the lightweight and rigid structure to optimize motion performance and response speed. By controlling the extension and contraction of the flexible actuator and combining it with the bending of the wire hinge, the upper platform 3 can achieve precise position adjustment and posture control over a wide range, allowing for multi-directional bending and supporting six-degree-of-freedom motion. Its high durability and reliability ensure that it will not be easily damaged during long-term use, making it suitable for applications requiring high-precision and long-range positioning.

[0061] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0062] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A wire flexible hinge six-degree-of-freedom platform, characterized in that: include: A mounting base (2) having a support frame (21) and three assembly positions (22) uniformly arranged along the circumference of the support frame (21), each assembly position (22) being provided with a first mounting surface (221) close to the support frame (21) and a second mounting surface (222) away from the support frame (21); An upper platform (3) having three third mounting surfaces (31) and three fourth mounting surfaces (32) arranged in an annular shape, wherein one fourth mounting surface (32) is provided between each two adjacent third mounting surfaces (31); Three groups of flexible bodies, each group of flexible bodies comprising two flexible fluid actuators (1) and two steel wire flexible hinges (4), wherein the axis of the first flexible fluid actuator (1) is arranged along the first direction and one end is assembled on the second mounting surface (222), and the other end of the first flexible fluid actuator (1) is assembled on the fourth mounting surface (32) through a steel wire flexible hinge (4), and the axis of the second flexible fluid actuator (1) is arranged along the second direction and one end is assembled on the first mounting surface (221), and the other end of the second flexible fluid actuator (1) is assembled on the third mounting surface (31) through a steel wire flexible hinge (4), wherein the first direction is perpendicular to the second direction; The steel wire flexible hinge (4) comprises five fixed blocks (41), a high-toughness structure (43) connecting the five fixed blocks (41) in series, and a first connecting member (42), wherein the five fixed blocks (41) are arranged in sequence and spaced apart to form two rows aligned at one end and arranged in parallel, wherein one row comprises two fixed blocks (41) and the other row comprises three fixed blocks (41), and the two fixed blocks (41) at the aligned ends of the two rows are connected via the first connecting member (42); The high-toughness structure (43) is two parallel steel wires or steel ropes; The flexible fluid actuator (1) comprises a plurality of actuators (11) connected in sequence, and the actuator (11) is extended or shortened in an axial direction by inputting fluid into the actuator (11) or outputting fluid from the actuator (11).

2. The wire flexible hinge six-degree-of-freedom platform according to claim 1, characterized in that: The fixing block (41) comprises two fixing plates (411) with L-shaped cross sections and a second connecting member (412). The two fixing plates (411) are relatively buckled and connected via the second connecting member (412) to form a rectangular parallelepiped structure, wherein the high-toughness structure (43) is clamped and fixed between the two fixing plates (411).

3. The wire flexible hinge six-degree-of-freedom platform according to claim 1, characterized in that: The flexible fluid actuator (1) further includes fixed flanges (12) arranged at both ends, and two adjacent actuators (11) are connected via an internal channel (111).

4. The wire flexible hinge six-degree-of-freedom platform according to claim 3, characterized in that: The flexible fluid actuator (1) is arranged along the first direction and is assembled onto the second mounting surface (222) via a base (13) with the aid of its own fixing flange (12), wherein both the fixing flange (12) and the base (13) have an intermediate channel (131) communicating with the interior of the actuator (11).

5. The wire flexible hinge six-degree-of-freedom platform according to claim 3, characterized in that: The flexible fluid actuator (1) is arranged with its axis along the first direction and is connected to the steel wire flexible hinge (4) via an adapter (14) with the aid of its own fixed flange (12).

6. The wire flexible hinge six-degree-of-freedom platform according to claim 3, characterized in that: The flexible fluid actuator (1) is arranged with its axis along the second direction and is directly assembled onto the first mounting surface (221) by means of its own fixing flange (12).

7. The wire flexible hinge six-degree-of-freedom platform according to claim 1, characterized in that: The flexible fluid actuator (1) is arranged with its axis along the second direction and is connected to the steel wire flexible hinge (4) via an adapter (14) with the aid of its own fixed flange (12).

8. The wire flexible hinge six-degree-of-freedom platform according to claim 4, characterized in that: Each actuator (11) is designed with a fluid chamber (112), and a horizontal wall is designed between two adjacent fluid chambers (112) to separate the two adjacent fluid chambers (112) so as to prevent the actuator (11) from bending in the radial direction, wherein the internal channel (111) is arranged on the horizontal wall.

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