Flexible high-load-carrying two-degree-of-freedom posture adjuster

Abstract

The application discloses a flexible high-bearing two-degree-of-freedom posture adjuster and relates to the field of mechanical assembly, which comprises 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 installed on the posture adjuster base, and the displacement output by the first driving electric cylinder and the second driving electric cylinder can make the compliant mechanism produce overall structural deformation, so that the position of the output posture adjustment surface of the compliant mechanism is adjusted. The application provides a flexible high-bearing posture adjustment mechanism which is composed of two-stage force transmission mechanisms, realizes the provision of compliant posture adjustment movement while providing high bearing, effectively improves the bearing capacity of the overall mechanism, and enables the posture adjustment mechanism to undertake the posture adjustment task of heavy equipment, and the load of the posture adjustment mechanism can reach 50 tons, so that the posture adjustment mechanism can be applied to the fields of assembly and posture adjustment of large ships, vehicles and large industrial workpieces.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical assembly, in particular to a flexible high-load two-degree-of-freedom pose adjuster. BACKGROUND

[0002] In the assembly and docking process of large mechanical structures, accurate and efficient pose adjustment mechanism is crucial for precise docking. Traditionally, such pose adjustment mechanism adopts rigid body transmission mechanism, relying on motor drive combined with guide rail, connecting rod and other mechanical structures for power and motion transmission. Although this technology system has been mature, its inherent manufacturing complexity, large volume and high sensitivity to assembly errors significantly restrict the pose adjustment capability in high load conditions, especially in limited space.

[0003] In contrast, as a new technology, compliant mechanism transmits force and displacement through the flexibility of its own structure, showing significant advantages such as high precision and strong impact resistance, and has been widely applied in the pose adjustment field of small precision devices. However, the design and application of existing compliant mechanisms are mainly limited to the field of light load and small devices, and their carrying capacity is limited, which makes it difficult to meet the pose adjustment needs of large and heavy devices, especially in space-limited scenarios.

[0004] In the field of precision engineering, compliant pose adjustment mechanism shows significant advantages in small devices due to its excellent pose adjustment precision and low impact characteristics. However, its inherent small design and limited carrying capacity become the main bottleneck that hinders its application in heavy device pose adjustment tasks. In contrast, traditional rigid pose adjustment mechanism, although it can withstand higher load, its complex assembly system of parts, large volume and possible decline in motion precision due to assembly cumulative error all limit its high-precision pose adjustment capability in space-limited conditions.

[0005] Therefore, in view of the urgent need to achieve heavy load pose adjustment in small space, the technical personnel in this field are committed to developing a compliant pose adjustment mechanism with heavy load carrying capacity and compact structure design, which not only overcomes the limitations of traditional rigid pose adjustment mechanism, but also significantly enhances its adaptability to heavy load conditions while maintaining or improving pose adjustment precision, thus promoting the further development of large mechanical structure assembly and docking technology. SUMMARY

[0006] In view of the above defects of the prior art, the technical problem to be solved by the present application is how to design a compliant pose adjustment mechanism with heavy load carrying capacity and compact structure.

[0007] In order to achieve the above-mentioned purpose, the present application provides a flexible high-bearing two-degree-of-freedom attitude adjuster, characterized in that it comprises a compliant mechanism, a first driving electric cylinder, an 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 respectively fixed horizontally at two ends of the attitude adjuster base, 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 structure of the compliant mechanism to deform, so as to adjust the position of the output attitude adjusting surface of the compliant mechanism.

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

[0009] Further, the compliant mechanism further comprises a first driving input end and a second driving input end, the first driving input end and the second driving input end are asymmetrically distributed on two sides of the compliant mechanism, the first driving input end and the second driving input end are respectively fixedly connected with the output end of the first driving electric cylinder and the output end of the second driving electric cylinder, and the output end of the first driving electric cylinder and the output end of the second driving electric cylinder both have a movement degree of freedom along the axial extension.

[0010] Further, the compliant mechanism further comprises a first secondary force transmission structure, a first primary force transmission structure, a second secondary force transmission structure and a second primary force transmission structure, the first secondary force transmission structure and the second secondary force transmission structure are respectively connected with the output attitude adjusting surface, and the first primary force transmission structure and the second primary force transmission structure are respectively connected with the first driving input end and the second driving input end.

[0011] Further, the first secondary force transmission structure and the second secondary force transmission structure respectively comprise a group of spiral rotation structures, the central region of the spiral rotation structure comprises a direction structure, the direction structure reverses the rotation direction of the spiral and extends to the lower part.

[0012] Further, the first primary force transmission structure and the second primary force transmission structure respectively comprise a group of spiral rotation structures, the central region of the spiral rotation structure comprises a direction structure, the direction structure reverses the rotation direction of the spiral and extends to the lower part.

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

[0014] Further, the distance between adjacent spiral surfaces of the spiral rotation structure is set to enable self-contact when the structure deformation reaches the limit position, thereby providing a limit protection function.

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

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

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

[0018] 1. The present application proposes a flexible high-load posture adjustment mechanism, which is composed of two-stage force transmission mechanism, realizing high-load bearing while providing flexible posture adjustment. The present application aims to trigger precise flexible deformation inside the mechanism through subtle changes in input force, which promotes flexible and accurate movement of the moving platform in two degrees of freedom, significantly improving the flexibility and accuracy of posture adjustment. In order to overcome the limitations of traditional flexible mechanisms in bearing capacity, the present application adopts a robust and optimized bearing structure, effectively improving the bearing capacity of the overall mechanism, enabling it to perform posture adjustment tasks for heavy equipment. The large-scale overall structural deformation strategy enables the posture adjustment mechanism to maintain a low stress state while achieving large displacement output at the end of the moving platform, thereby achieving high-precision attitude adjustment under heavy load in a small space. The load of the present application can reach 50 tons, which can be applied to the assembly and posture adjustment field of large ships, vehicles and large industrial processing parts.

[0019] 2. The design of traditional rigid posture adjustment mechanism often relies on numerous complex assembly parts, and the precise fitting and assembly between these parts not only increases the complexity of the preparation process, but also significantly increases the manufacturing cost. Specifically, the machining precision, surface quality and mutual clearance of each part need to be strictly controlled to ensure the movement precision and stability of the overall mechanism. In addition, the complex assembly process not only requires high technical proficiency, but also may 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 application innovatively adopts 3D printing technology, realizing the integrated printing of the mechanism. This method completely eliminates the complex assembly parts and tedious assembly process in the traditional manufacturing process, greatly simplifies the manufacturing process, and significantly saves processing time and labor cost. Through 3D printing technology, the complex internal structure of the mechanism can be accurately realized without additional processing or adjustment steps, thereby ensuring the integrity and precision of the overall structure. The flexible high-load posture adjustment mechanism is made of the same material, and its structure does not need assembly relationship, which can save processing time and cost.

[0020] The concept, specific structure and technical effects of the present application will be further described in combination with the drawings to fully understand the purpose, features and effects of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 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 application;

[0022] Figure 2 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 application;

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

[0024] Figure 4 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 application;

[0025] Figure 5 is a perspective view of the compliant mechanism structure of a flexible high-load-bearing two-degree-of-freedom posture adjuster according to a preferred embodiment of the present application;

[0026] wherein 1 - compliant mechanism, 11 - first secondary force transmission structure, 12 - first primary force transmission structure, 13 - first driving input end, 14 - mounting base, 15 - output posture adjustment surface, 16 - second secondary force transmission structure, 17 - second primary 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 reference to the drawings introduces the preferred embodiments of the present application, making the technical content of the present application clearer and easier to understand. The present application can be embodied in many different forms, and the scope of protection of the present application is not limited to the embodiments mentioned herein.

[0028] In the drawings, components of the same structure are denoted by the same reference numerals, and components having similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present application is not limited to the size and thickness of each component. In order to make the drawing clearer, the thickness of some components is appropriately exaggerated in some places in the drawing.

[0029] In the vast field of domestic manufacturing, the exploration and technological innovation of heavy-duty attitude adjustment systems have traditionally focused on rigid body attitude adjustment mechanisms. These mechanisms rely on rigid mechanical components such as motors, precision connecting rods, and high-strength bearings. While the technology is relatively mature, they inevitably face challenges such as large system scale, complex assembly processes, and bottlenecks in precision improvement. However, the development of high-performance, high-precision integrated composite material processing and forming technology and advanced non-standard automated processing and assembly technology has made the production and implementation of flexible, high-load-bearing attitude adjustment mechanisms possible. In contrast, the breakthrough contribution of this invention lies in the introduction of a completely new design concept for flexible attitude adjustment systems. This innovation completely overturns the complex assembly mode of traditional mechanical structures. This invention provides a flexible, high-load-bearing two-degree-of-freedom attitude adjuster that solves the problems of insufficient load-bearing capacity, complex manufacturing, and high cost in existing attitude adjustment mechanisms. This attitude adjuster adopts an integrated design, is composed of the same material, eliminates the need for complex assembly relationships, and can automatically adjust the attitude of the end effector platform according to changes in input force. Thanks to its integrated advanced processing technology, this system not only greatly simplifies the transmission chain structure and reduces accumulated errors in intermediate links, but also significantly reduces the complexity and uncertainty in the assembly process, thereby ensuring the system's high precision and compactness. This design concept opens up broad prospects for future applications in fields such as intelligent manufacturing and precision engineering, demonstrating strong market potential and technological leadership.

[0030] To achieve the above objectives, 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 attitude adjuster includes: a compliant mechanism 1, a first drive electric cylinder 2, an attitude adjuster base 3, and a second drive electric cylinder 4.

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

[0033] The first drive cylinder 2 and the second drive cylinder 4 are respectively horizontally fixed on the attitude adjuster base 3, and their output ends are respectively fixed to both sides of the compliant mechanism 1 to provide loading force.

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

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

[0036] The compliant mechanism 1 is an integral structure made of metal 3D printing, and its structure is compliant. Under the displacement input of the first drive input terminal 13 and the second drive input terminal 18, its structure as a whole undergoes compliant deformation and transmits the motion to the output attitude adjustment surface 15, realizing two degrees of freedom attitude adjustment in the horizontal and vertical directions.

[0037] like Figure 3 As shown, the first drive electric cylinder 2 includes an output end 21 and a fixed end 22. Its output end 21 has a degree of freedom of movement that extends and retracts along its axial direction. Its fixed end has a flat surface and can be fixedly connected to the attitude adjuster base 3. The structure of the second drive electric cylinder 4 is the same as that of the first drive electric cylinder 2.

[0038] like Figure 5 As shown, the mounting base 14 of the compliant mechanism 1 is horizontally fixed to the middle area of ​​the attitude adjuster base 3. The first drive input end 13 and the second drive input end 18 of the compliant mechanism 1 are asymmetrically distributed on both sides of the structure, and their loading end faces are both flat, 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 generate displacement under the drive of the drive electric cylinder. Their motion is first transmitted along the structure to the first primary force transmission structure 12 and the second primary force transmission structure 17, and then further transmitted to the first secondary force transmission structure 11 and the second secondary force transmission structure 16 after the deformation of the structure, and finally transmitted to the output attitude adjustment surface 15.

[0039] Specifically, the first and second stage force transmission structures 11 and 16 of the compliant mechanism 1 each include a set of helical rotation structures for amplifying the deformation range. The central region of each helical rotation structure has a directional structure that reverses the direction of the helix and extends it downwards, increasing the amount of motion deformation. The spacing between adjacent helical surfaces is small; when a large displacement occurs, the adjacent helical surfaces will contact each other, causing the compliant deformation to terminate, thereby protecting the structure from excessive deformation and breakage.

[0040] Specifically, the first primary force transmission structure 12 and the second primary force transmission structure 17 of the compliant mechanism 1 each include a set of spiral rotation structures for amplifying the shape, and the central region of the spiral structure has a direction structure, which reverses the rotation direction of the spiral and extends to the lower part, and the function is to increase the motion deformation. The distance between adjacent spiral surfaces is small, and when a larger displacement is generated, the adjacent spiral surfaces will contact and make the compliant deformation stop, thereby protecting the structure from breaking due to excessive deformation.

[0041] The function of the hollow structure included in the compliant mechanism 1 is to reduce the structural stiffness and increase the deformation displacement. The compliant mechanism 1 generates overall structural deformation by the loading force applied by the first driving electric cylinder 2 and the second driving electric cylinder 4, so that the output attitude surface 15 generates motion, and the transmission structure is integrally formed, without the need to use rigid kinematic pairs, so that the motion process is simple and efficient, and at the same time, 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 attitude adjustment application scenario is also reduced.

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

[0043] The first driving electric cylinder 2 and the second driving electric cylinder 4 can independently control the input displacement of the driving loading end at both ends of the compliant mechanism 1, and by different displacements of the two electric cylinders, the two-degree-of-freedom motion of the end dynamic plane in the vertical and horizontal directions can be realized.

[0044] The above describes the preferred embodiments of the present application in detail. It should be understood that those skilled in the art can make many modifications and changes to the present application without creative labor based on the concept of the present application. Therefore, any technical solution obtained by logical analysis, reasoning or limited experiment based on the existing technology according to the concept of the present application should be within the protection scope determined by the claims.

Claims

1. A flexible high load bearing two degree of freedom pose adjuster, characterized by, The compliant mechanism, the first driving cylinder, the pose adjuster base and the second driving cylinder, wherein the mounting base of the compliant mechanism is fixedly installed on the pose adjuster base, the first driving cylinder and the second driving cylinder are respectively fixed horizontally at two ends of the pose adjuster base, the output end of the first driving cylinder and the output end of the second driving cylinder are respectively connected at two sides of the compliant mechanism, the compliant mechanism further comprises a first driving input end and a second driving input end, the first driving input end and the second driving input end are asymmetrically distributed at two sides of the compliant mechanism, the first driving input end and the second driving input end are respectively fixedly connected with the output end of the first driving cylinder and the output end of the second driving cylinder, the output end of the first driving cylinder and the output end of the second driving cylinder both have a movement degree of freedom along the axial direction, the compliant mechanism further comprises a first secondary transmission structure, a first primary transmission structure, a second secondary transmission structure and a second primary transmission structure, the first secondary transmission structure and the second secondary transmission structure are respectively connected with the output pose adjustment surface of the compliant mechanism, the first primary transmission structure and the second primary transmission structure are respectively connected with the first driving input end and the second driving input end, the first secondary transmission structure, the second secondary transmission structure, the first primary transmission structure and the second primary transmission structure respectively comprise a group of spiral rotation structures, the central region of the spiral rotation structure comprises a direction structure, the direction structure reverses the rotation direction of the spiral and extends to the lower part, the displacement output by the first driving cylinder and the second driving cylinder can make the compliant mechanism produce overall structural deformation, so as to adjust the position of the output pose adjustment surface of the compliant mechanism.

2. The flexible high load bearing two degree of freedom pose adjuster of claim 1, wherein, The compliant mechanism is an integrated structure formed by metal 3D printing.

3. The flexible high load bearing two degree of freedom pose adjuster of claim 1, wherein, The compliant mechanism is a hollow structure.

4. The flexible high load bearing two degree of freedom pose adjuster of claim 1, wherein, The distance between adjacent spiral surfaces of the spiral rotation structure is set to enable self-contact when the structure deformation reaches the limit position, thereby providing a limit protection function.

5. The flexible high load bearing two degree of freedom pose adjuster of claim 1, wherein, The pose adjuster base is provided with a horizontal base, and the upper surface of the pose adjuster base is an inclined structure.

6. The flexible high load bearing two degree of freedom pose adjuster of claim 1, wherein, The fixed end of the first driving cylinder and the fixed end of the second driving cylinder are respectively fixedly connected at two sides of the pose adjuster base.

Images