Flexible high-bearing two-degree-of-freedom posture adjusting device

Abstract

The invention discloses a flexible high-bearing two-degree-of-freedom posture adjusting device, and relates to the field of mechanical assembly, the flexible high-bearing two-degree-of-freedom posture adjusting device comprises a compliant mechanism, a first driving electric cylinder, a posture adjusting device base and a second driving electric cylinder, and the displacement output by the first driving electric cylinder and the second driving electric cylinder can enable the compliant mechanism to generate overall structural deformation, so that the position of the output posture adjusting surface of the compliant mechanism is adjusted. The invention provides a flexible high-bearing posture adjusting mechanism which is composed of two stages of force transmission mechanisms, high bearing is provided, meanwhile, flexible posture adjusting movement is provided, the bearing capacity of the whole mechanism is effectively improved, the mechanism can be competent for posture adjusting tasks of heavy equipment, the load of the mechanism can reach 50 tons, and the mechanism has the advantages of being simple in structure and convenient to use. The device can be applied to the field of assembly and posture adjustment of large ships, vehicles and large industrial machined parts.

Description

Technical Field

[0001] The invention relates to the field of mechanical assembly, and in particular to a flexible high-load bearing two-degree-of-freedom posture adjuster. Background Art

[0002] In the assembly and docking process of large mechanical structures, accurate and efficient posture adjustment mechanisms are essential to achieve precise docking. Traditionally, such posture adjustment mechanisms mostly use rigid body transmission mechanisms, relying on motor drive combined with mechanical structures such as guide rails and connecting rods to transmit power and motion. Although this technical system has matured, its inherent manufacturing complexity, large size, and high sensitivity to assembly errors significantly restrict the posture adjustment capabilities under high load conditions, especially in limited spaces.

[0003] In contrast, as an emerging technology, compliant mechanisms transmit force and displacement through the flexible deformation of the structure itself, showing significant advantages such as high precision and strong impact resistance, and have been widely used in the field of posture adjustment of small precision equipment. However, the design and application of existing compliant mechanisms are mainly limited to the scope of light-load and small equipment, and their carrying capacity is limited, making it difficult to meet the posture adjustment requirements of large and heavy-load equipment, especially in scenarios with limited space.

[0004] In the field of precision engineering, compliant posture adjustment mechanisms have shown significant advantages in small equipment with their excellent posture adjustment accuracy and low impact characteristics. However, their inherent miniaturization design and limited load-bearing capacity have become the main bottlenecks hindering their application in heavy equipment posture adjustment tasks. In contrast, although traditional rigid posture adjustment mechanisms can withstand higher loads, their complex component assembly system, large size, and the reduction in motion accuracy that may be caused by cumulative assembly errors all limit their high-precision posture adjustment capabilities under space-constrained conditions.

[0005] Therefore, in response to the urgent need to achieve heavy-load posture adjustment in a small space, technical personnel in this field are committed to developing a flexible posture adjustment mechanism that has both heavy-load bearing capacity and compact structural design. It can not only overcome the limitations of traditional rigid posture adjustment mechanisms, but also maintain or improve the posture adjustment accuracy while significantly enhancing its adaptability to heavy-load conditions, thereby promoting the further development of large-scale mechanical structure assembly and docking technology. 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 how to design a flexible posture adjustment mechanism with both heavy-load bearing capacity and compact structure.

[0007] To achieve the above-mentioned objectives, the present invention provides a flexible, high-load-bearing, two-degree-of-freedom attitude adjuster, characterized in that it includes a compliant mechanism, a first driving electric cylinder, a attitude adjuster base and a second driving electric cylinder, wherein the mounting base of the compliant mechanism is fixedly installed on the attitude adjuster base, the first driving electric cylinder and the second driving electric cylinder are horizontally fixed at the two ends of the attitude adjuster base respectively, the output end of the first driving electric cylinder and the output end of the second driving electric cylinder are respectively connected to the two sides of the compliant mechanism, and the displacement output by the first driving electric cylinder and the second driving electric cylinder can cause the overall structural deformation of the compliant mechanism, thereby adjusting the position of the output attitude adjustment surface of the compliant mechanism.

[0008] Furthermore, the compliant mechanism is an integrated structure formed by metal 3D printing.

[0009] Furthermore, the compliance mechanism also includes a first drive input end and a second drive input end, and the first drive input end and the second drive input end are asymmetrically distributed on both sides of the compliance mechanism. The first drive input end and the second drive input end are respectively fixedly connected to the output end of the first drive electric cylinder and the output end of the second drive electric cylinder, and the output end of the first drive electric cylinder and the output end of the second drive electric cylinder both have the freedom of movement to extend and retract along their axial direction.

[0010] Furthermore, the compliant mechanism also includes a first-secondary force transmission structure, a first-level force transmission structure, a second-secondary force transmission structure and a second-level force transmission structure, the first-secondary force transmission structure and the second-level force transmission structure are respectively connected to the output posture adjustment surface, and the first-level force transmission structure and the second-level force transmission structure are respectively connected to the first drive input end and the second drive input end.

[0011] Furthermore, the first secondary force transmission structure and the second secondary force transmission structure respectively include a group of spiral rotation structures, and the central area of ​​the spiral rotation structure includes a direction structure, which reverses the rotation direction of the spiral and extends to the lower part.

[0012] Furthermore, the first-level force transmission structure and the second-level force transmission structure respectively include a group of spiral rotation structures, and the central area of ​​the spiral rotation structure includes a direction structure, which reverses the rotation direction of the spiral and extends to the lower part.

[0013] Furthermore, the compliant mechanism is a hollow structure.

[0014] Furthermore, the spacing between adjacent helical surfaces of the helical rotation structure can cause self-contact when the structural deformation reaches the limit position, thereby providing a position limiting protection function.

[0015] Furthermore, the posture adjuster base is provided with a horizontal base, and the upper surface of the posture adjuster base is an inclined structure.

[0016] Furthermore, the fixed end of the first driving electric cylinder and the fixed end of the second driving electric cylinder are respectively fixedly connected to two sides of the posture adjuster base.

[0017] The beneficial technical effects of the present invention are as follows:

[0018] 1. The present invention proposes a flexible high-load-bearing attitude adjustment mechanism, which is composed of a two-stage force transmission mechanism, and realizes smooth attitude adjustment movement while providing high load. The present invention aims to trigger precise and compliant deformation inside the mechanism through slight changes in the force at the input end. This deformation mechanism enables the moving platform to achieve flexible and precise movement in two degrees of freedom, significantly improving the flexibility and accuracy of attitude adjustment. In order to overcome the limitations of traditional compliant mechanisms in terms of bearing capacity, the present invention adopts a sturdy and optimized bearing structure, which effectively improves the bearing capacity of the overall mechanism, making it capable of performing attitude adjustment tasks for heavy equipment. The large-scale overall structural deformation strategy enables the attitude adjustment mechanism to achieve a large displacement output at the end of the moving platform while maintaining a low stress state, thereby realizing high-precision attitude adjustment under large loads in a small space. The load-bearing capacity of the present invention can reach 50 tons, and can be applied to the field of assembly and attitude adjustment of large ships, vehicles, and large industrial processed parts.

[0019] 2. The design of traditional rigid body posture adjustment mechanism often relies on many complex assembly parts. The precise matching and assembly between these parts not only increase the complexity of the preparation process, but also significantly increase the manufacturing cost. Specifically, the processing accuracy, surface quality and matching clearance between each part must be strictly controlled to ensure the motion accuracy and stability of the overall mechanism. In addition, the complex assembly process not only requires a high degree of technical proficiency, but may also lead to the accumulation of assembly errors, further affecting the performance of the posture adjustment mechanism. The design of the posture adjustment mechanism in the present invention innovatively adopts 3D printing technology to achieve the integrated printing molding of the mechanism. This method completely abandons the complex assembly parts and cumbersome assembly process in the traditional manufacturing process, greatly simplifies the manufacturing process, and significantly saves processing time and labor costs. Through 3D printing technology, the complex structural features inside the mechanism can be accurately realized without the need for additional processing or adjustment steps, thereby ensuring the integrity and accuracy of the overall structure. The compliant mechanism is composed of the same material, and its structure does not require an assembly relationship. The one-piece flexible high-load posture adjustment mechanism can save processing time and cost.

[0020] 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

[0021] Figure 1 It is a schematic diagram of the overall structure of a flexible high-load bearing two-degree-of-freedom posture adjuster according to a preferred embodiment of the present invention;

[0022] Figure 2 It is a front view of the overall structure of a flexible high-load bearing two-degree-of-freedom posture adjuster according to a preferred embodiment of the present invention;

[0023] Figure 3 It is a schematic diagram of a driving electric cylinder of a flexible high-load-bearing two-degree-of-freedom posture adjuster according to a preferred embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the base structure of a flexible high-load-bearing two-degree-of-freedom posture adjuster according to a preferred embodiment of the present invention;

[0025] Figure 5 It is a three-dimensional view of the compliant mechanism structure of a flexible high-load two-degree-of-freedom posture adjuster of a preferred embodiment of the present invention;

[0026] Among them, 1-compliant mechanism, 11-first and second-level force transmission structure, 12-first and first-level force transmission structure, 13-first driving input end, 14-mounting base, 15-output posture adjustment surface, 16-second and second-level force transmission structure, 17-second and first-level force transmission structure, 18-second driving input end, 2-first driving electric cylinder, 21-output end, 22-fixed end, 3-posture adjuster base, 4-second driving electric cylinder. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] In the current broad field of domestic manufacturing, the exploration and technological innovation of heavy-load attitude adjustment systems have traditionally focused on rigid body attitude adjustment mechanisms. Such mechanisms are built on rigid mechanical components such as motors, precision connecting rods and high-strength bearings. Although the technical level has become mature, it inevitably faces challenges such as large system scale, complicated assembly process and bottlenecks in precision improvement. The development of high-performance, high-precision integrated processing and forming technology of composite materials and advanced non-standard automated processing and assembly technology has made the production and implementation of flexible high-load attitude adjustment mechanisms possible. In contrast, the breakthrough contribution of the present invention lies in the introduction of a new design concept of flexible attitude adjustment systems. This innovation completely subverts the complex assembly mode of traditional mechanical structures. The present invention provides a flexible high-load two-degree-of-freedom attitude adjuster that can solve the problems of insufficient load-bearing capacity, complex preparation and high cost of attitude adjustment mechanisms in the prior art. The attitude adjuster adopts an integrated design, is composed of the same material, does not require complex assembly relationships, and can realize the function of automatically adjusting the posture of the end moving platform according to changes in the input force. With its integrated advanced processing technology, it not only greatly simplifies the structure of the transmission chain and reduces the cumulative error of the intermediate links, but also significantly reduces the complexity and uncertainty of the assembly process, thus ensuring the high precision and compactness of the system. This design concept has opened up broad prospects for future applications in the fields of intelligent manufacturing, precision engineering, etc., showing strong market potential and technological leadership.

[0030] In order to achieve the above object, the technical solution provided by the present invention is as follows:

[0031] like Figure 1 and Figure 2 As shown, a flexible, high-load-bearing, two-degree-of-freedom posture adjuster comprises: a compliant mechanism 1, a first driving electric cylinder 2, a posture adjuster base 3 and a second driving electric cylinder 4.

[0032] like Figure 5 As shown, the compliant mechanism 1 is prepared by metal 3D printing, including a first and second force transmission structure 11, a first force transmission structure 12, a first drive input end 13, a mounting base 14, an output posture adjustment surface 15, a second and second force transmission structure 16, a second and first force transmission structure 17, and a second drive input end 18. The compliant mechanism 1 has a large longitudinal width, thereby having high load-bearing capacity.

[0033] The first driving electric cylinder 2 and the second driving electric cylinder 4 are respectively fixed horizontally on the posture adjuster base 3, and the output ends thereof are respectively fixedly connected to the two sides of the compliance mechanism 1 for providing loading force.

[0034] like Figure 4 As shown, the posture adjuster base 3 has a horizontal base, and its upper surface is an inclined structure, which is used to install the first driving electric cylinder 2, the second driving electric cylinder 4 and the compliance mechanism 1 respectively.

[0035] The flexible high-load two-degree-of-freedom posture adjuster can change the position of the output posture adjustment surface 15 of the compliant mechanism 1 through the input displacement of the first driving electric cylinder 2 and the second driving electric cylinder 4, thereby achieving accurate posture adjustment of the object it carries. Figure 1 As shown, the first driving electric cylinder 2 and the second driving electric cylinder 4 are respectively placed on both sides of the compliance mechanism 1, the output end 21 of the first driving electric cylinder 2 is fixedly connected to the first driving input end 13 of the compliance mechanism, the fixed end 22 of the first driving electric cylinder 2 is fixedly connected to the posture adjuster base 3, the output end of the second driving electric cylinder 4 is fixedly connected to the second driving input end 18 of the compliance mechanism, and the fixed end of the second driving electric cylinder 4 is fixedly connected to the posture adjuster base 3.

[0036] The compliant mechanism 1 is an integrated structure made of metal 3D printing, and its structure is compliant. Under the displacement input of the first driving input end 13 and the second driving input end 18, its structure as a whole produces compliant deformation and transmits the motion to the output posture adjustment surface 15, realizing two-degree-of-freedom posture adjustment in the horizontal and vertical directions.

[0037] like Figure 3 As shown, the first driving electric cylinder 2 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 3, and the structure of the second driving electric cylinder 4 is the same as that of the first driving electric cylinder 2.

[0038] like Figure 5 As shown, the mounting base 14 of the compliance mechanism 1 is horizontally fixedly connected to the middle area of ​​the posture adjuster base 3. The first drive input end 13 and the second drive input end 18 of the compliance mechanism 1 are asymmetrically distributed on both sides of the structure, and the loading end faces thereof are both planes, which are used to connect with the output ends of the first drive electric cylinder 2 and the second drive electric cylinder 4. The first drive input end 13 and the second drive input end 18 are displaced under the drive of the drive electric cylinder, and the motion is firstly transmitted along the structure to the first primary force transmission structure 12 and the second primary force transmission structure 17, and then the motion is further transmitted to the first secondary force transmission structure 11 and the second secondary force transmission structure 16 after the motion deformation of the structure, and finally the motion is transmitted to the output posture adjustment surface 15.

[0039] Specifically, the first and second level force transmission structures 11 and the second and second level force transmission structures 16 of the compliance mechanism 1 respectively include a set of spiral rotation structures for amplifying the deformation range. The central area of ​​the spiral rotation structure has a direction structure that reverses the direction of the spiral and extends to the lower part, which serves to increase the amount of motion deformation. The distance between adjacent spiral surfaces is small, and when a large displacement occurs, the adjacent spiral surfaces will contact and terminate the compliance deformation, thereby protecting the structure from excessive deformation and fracture.

[0040] Specifically, the first-level force transmission structure 12 and the second-level force transmission structure 17 of the compliance mechanism 1 respectively include a set of spiral rotation structures for amplifying the deformation range, and the central area of ​​the spiral structure has a direction structure to reverse the direction of the spiral and extend to the lower part, which is used to increase the amount of motion deformation. The distance between adjacent spiral surfaces is small, and when a large displacement occurs, the adjacent spiral surfaces will contact and terminate the compliance deformation, thereby protecting the structure from excessive deformation and fracture.

[0041] The function of the hollow structure included in the compliance mechanism 1 is to reduce the structural rigidity and increase the deformation displacement. The compliance mechanism 1 generates overall structural deformation through the loading force applied by the first driving electric cylinder 2 and the second driving electric cylinder 4, so that the output posture adjustment surface 15 moves. The transmission structure is integrally formed, and there is no need to use a rigid motion pair, making the movement process simple and efficient. At the same time, since the clearance and wear problems of the rigid motion pair are eliminated, the transmission accuracy and stability are improved, the system structure is simplified, the manufacturing cost is reduced, and the maintenance cost in the heavy-load posture adjustment application scenario is reduced.

[0042] The compliant mechanism 1 is designed by combining complex bending structures, which provides a limit protection function during the deformation process. When the deformation reaches the limit position, the structure will produce self-contact, thereby preventing excessive deformation from causing damage to the mechanism.

[0043] The input displacements of the first driving electric cylinder 2 and the second driving electric cylinder 4 at the driving loading ends of the two ends of the compliant mechanism 1 can be controlled independently, and the two-degree-of-freedom motion 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.

[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 flexible, high-load-bearing, two-degree-of-freedom posture adjuster, characterized in that: It includes a compliant mechanism, a first driving electric cylinder, a posture adjuster base and a second driving electric cylinder, wherein the mounting base of the compliant mechanism is fixedly mounted on the posture adjuster base, the first driving electric cylinder and the second driving electric cylinder are horizontally fixed at two ends of the posture adjuster base respectively, the output end of the first driving electric cylinder and the output end of the second driving electric cylinder are respectively connected to two sides of the compliant mechanism, and the displacement output by the first driving electric cylinder and the second driving electric cylinder can cause the overall structural deformation of the compliant mechanism, thereby adjusting the position of the output posture adjustment surface of the compliant mechanism.

2. A flexible high-load two-degree-of-freedom posture adjuster as claimed in claim 1, characterized in that: The compliant mechanism is an integrated structure formed by metal 3D printing.

3. A flexible high-load two-degree-of-freedom posture adjuster as claimed in claim 1, characterized in that: The compliance mechanism also includes a first drive input end and a second drive input end, the first drive input end and the second drive input end are asymmetrically distributed on both sides of the compliance mechanism, the first drive input end and the second drive input end are respectively fixedly connected to the output end of the first drive electric cylinder and the output end of the second drive electric cylinder, and the output end of the first drive electric cylinder and the output end of the second drive electric cylinder both have the freedom of movement to extend and retract along their axial direction.

4. A flexible high-load two-degree-of-freedom posture adjuster as claimed in claim 3, characterized in that: The compliant mechanism also includes a first-secondary force transmission structure, a first-level force transmission structure, a second-secondary force transmission structure and a second-level force transmission structure. The first-secondary force transmission structure and the second-level force transmission structure are respectively connected to the output posture adjustment surface, and the first-level force transmission structure and the second-level force transmission structure are respectively connected to the first drive input end and the second drive input end.

5. A flexible high-load two-degree-of-freedom posture adjuster as claimed in claim 4, characterized in that: The first secondary force transmission structure and the second secondary force transmission structure respectively include a group of spiral rotation structures, and the central area of ​​the spiral rotation structure includes a direction structure, which reverses the rotation direction of the spiral and extends to the lower part.

6. A flexible high-load two-degree-of-freedom posture adjuster as claimed in claim 4, characterized in that: The first-level force transmission structure and the second-level force transmission structure respectively include a group of spiral rotation structures, and the central area of ​​the spiral rotation structure includes a direction structure, which reverses the rotation direction of the spiral and extends to the lower part.

7. A flexible high-load bearing two-degree-of-freedom posture adjuster as claimed in claim 1, characterized in that: The compliant mechanism is a hollow structure.

8. A flexible high-load bearing two-degree-of-freedom posture adjuster as claimed in claim 5 or claim 6, characterized in that: The spacing between adjacent spiral surfaces of the spiral rotation structure can cause self-contact when the structure deforms to a limit position, thereby providing a limit protection function.

9. A flexible high-load bearing two-degree-of-freedom posture adjuster as claimed in claim 1, characterized in that: The posture adjuster base is provided with a horizontal base, and the upper surface of the posture adjuster base is an inclined structure.

10. A flexible high-load bearing two-degree-of-freedom posture adjuster as claimed in claim 1, characterized in that: The fixed end of the first driving electric cylinder and the fixed end of the second driving electric cylinder are respectively fixedly connected to two sides of the posture adjuster base.

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