Single-drive macro-micro mechanism based on screw drive and flexible mechanism

Abstract

The utility model relates to a single-drive macro-micro mechanism based on screw drive and a flexible mechanism, belongs to the technical field of precision displacement, and solves the technical problems that in the prior art, a macro-micro two-stage adjusting mechanism is multiple in drive device, complex in structure and high in manufacturing cost. The device comprises a stepping motor, a base, a linear bearing, a through hole cylinder, a circular ring electromagnet, a wedge-shaped ring, a movable circular ring, an inner nut, a connecting piece, a circular plug, an inserting piece, a baffle, a screw, a lead screw and a micro-motion flexible mechanism. The lead screw is driven by the stepping motor to rotate, and rotary motion is converted into linear motion of the inner nut by means of threaded fit of the lead screw and the inner nut, so that macro-motion adjustment is formed. The movable circular ring is attracted by the electromagnet to clamp the through hole cylinder and the base, the through hole cylinder and the base are relatively fixed, displacement input of the flexible mechanism is achieved through movement of the inner nut, and therefore micro displacement is output, and micro adjustment is achieved. According to the mechanism, macro-motion large-stroke adjustment and micro-motion high-precision adjustment can be achieved through single drive.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the precise displacement technical field, concretely relates to a single drive macro micro mechanism based on screw transmission and flexible mechanism. BACKGROUND

[0002] With the rapid development of science and technology, the robot technology is increasingly widely used in industry, medical treatment, service and research field. In order to meet the demand of high precision macro micro adjustment of robot system, the mechanism design with accurate positioning and micro manipulation demand is higher. The utility model mainly concentrates on solving the problems, such as complex driving system, size limitation and difficult balance of adjustment precision, of traditional micro adjustment mechanism.

[0003] At present, in macro micro two stage driving technology, most of them adopt multiple driving modes, and macro drive is mainly linear motor, and micro drive is piezoelectric drive and magnetostrictor etc. The utility model adopts the rotation of screw rod driven by stepper motor, realizes macro displacement by the axial movement of nut, and realizes micro displacement by driving micro motion flexible mechanism with displacement reduction function. This makes the displacement mode of stepper motor driving screw rod in macro micro two stage driving mode, forms the structure of single driving two stage adjustment. Under the common adjustment of stepper motor and flexible mechanism, large stroke and high precision displacement are realized. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a macro micro two stage precision adjustment mechanism, solves the technical problems, such as multiple driving devices, complex structure and high manufacturing cost, of macro micro two stage adjustment mechanism in prior art.

[0005] The utility model discloses a macro micro two stage precision adjustment mechanism includes stepper motor, base, linear bearing, through hole cylinder, circular ring electromagnet, wedge ring, mobile circular ring, inner nut, connecting piece, round plug, insert, baffle, screw, screw rod and micro motion flexible mechanism.

[0006] The flexible mechanism includes displacement output surface, displacement input surface and fixed support leg;

[0007] The screw is a cylinder head inner hexagonal screw, the outer circle of the inner nut part is the nut outer surface, and the inner side of the linear bearing is contacted, the lower end through hole part and the lower end circular arc part form straight circular flexible hinge, and the gap is reserved in the through hole part, and the screw thread is connected after being pressed tightly;

[0008] The cooperation between the components of the mechanism is that the stepping motor is fixed at the lower end of the base through a screw, the through-hole cylinder and other components are arranged on the inner side of the base, the lead screw is connected with the stepping motor in a shape connection, is in threaded connection with the inner nut, the upper end of the inner nut is in shape connection with the flexible mechanism through a plug-in part, the through-hole cylinder is connected with the base through a connecting part and forms a moving pair, and the through-hole cylinder is connected with the flexible mechanism through a screw, so that the inner nut cannot rotate, and the inner nut moves up and down when the lead screw rotates; the inner side of the through-hole cylinder is in interference fit with the outer side of the linear bearing, and the through-hole cylinder is in clearance fit with the lead screw, the through-hole cylinder is in nested fit with the wedge-shaped ring, the inner ring of the moving ring is in nested fit with the outer ring of the wedge-shaped ring, the upper end of the ring-shaped electromagnet is in contact with the lower end of the wedge-shaped ring, and the baffle is fixed at the lower end of the through-hole cylinder through a screw;

[0009] The working principle of the mechanism is divided into macro motion and micro motion; when the ring-shaped electromagnet is not powered, the whole macro moves, the inner nut is in shape connection with the flexible mechanism through a plug-in part, the flexible mechanism is connected with the through-hole cylinder through a screw, the through-hole cylinder is connected with the base through a connecting part and forms a moving pair, the inherent connection makes the through-hole cylinder and the inner nut not rotate relatively, and meanwhile, the rotation of the lead screw drives the inner nut to move up and down, so as to drive the whole to move up and down; when the ring-shaped electromagnet is powered, the electromagnet attracts the moving ring, the moving ring descends and clamps the through-hole cylinder and the base, at this time, the through-hole cylinder and the base do not produce relative displacement, and meanwhile, the rotation of the lead screw drives the inner nut to move upwards, so that the flexible mechanism obtains displacement input, the flexible mechanism deforms, and the displacement output end of the flexible mechanism produces a small displacement output, that is, micro motion.

[0010] The stepping motor converts the rotary motion into linear motion through the threaded cooperation between the lead screw and the inner nut, so that the mechanism moves in the axial direction; the clamping and fixing in the device are realized by controlling the switch of the electromagnet, so that the mechanism can complete macro displacement and micro displacement respectively; the rebound after the compression and deformation of the flexible joint in the inner nut offsets the backlash problem existing in the threaded cooperation; under the action of the single-drive two-stage adjusting mechanism, the macro motion realizes large-stroke adjustment and the micro motion realizes precise adjustment, the structure and control are simple, and the manufacturing and use costs are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is an external contour structure diagram of the single-drive macro-micro mechanism based on screw transmission and a flexible mechanism;

[0012] Figure 2 It is an internal structure diagram of the single-drive macro-micro mechanism based on screw transmission and a flexible mechanism;

[0013] Figure 3 It is a sectional view of the single-drive macro-micro mechanism based on screw transmission and a flexible mechanism;

[0014] Figure 4 This is a contour diagram of a single-drive macro-micro flexible mechanism based on helical transmission and flexible mechanism according to this utility model.

[0015] Figure 5 This is a cross-sectional view of a through-hole cylindrical structure of a single-drive macro-micro mechanism based on helical transmission and flexible mechanism according to this utility model;

[0016] Figure 6 This is a cross-sectional view of the base of a single-drive macro-micro mechanism based on helical transmission and flexible mechanism according to this utility model;

[0017] Figure 7 This is a structural diagram of a linear bearing for a single-drive macro-micro mechanism based on helical transmission and flexible mechanism according to this utility model;

[0018] Figure 8 This is a structural diagram of the internal nut of a single-drive macro-micro mechanism based on helical transmission and flexible mechanism according to this utility model. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] See appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 Appendix Figure 6 Appendix Figure 7 and attached Figure 8 The present invention provides a single-drive macro-micro mechanism based on helical transmission and flexible mechanism, comprising a stepper motor 14, a linear bearing 3, a base 1, a through-hole cylinder 4, a circular electromagnet 12, a wedge ring 10, a movable ring 11, an inner nut 9, a connector 6, a circular plug 7, a plug 8, a baffle 13, a screw 5, a lead screw 15, and a micro-motion flexible mechanism 2.

[0021] like Figure 4 As shown, the flexible mechanism includes a displacement output surface 2001, a displacement input surface 2003, and two fixed feet 2002;

[0022] like Figure 3As shown, the base 1 as a whole structure of the fixed device, its bottom end 1002 by screw 5 fixed step motor 14, through-hole cylinder 4 and other components placed in the inside of base 1; Screw 15 and step motor 14 for the shape of the connection, with the inner nut 9 for threaded connection, the upper end of the inner nut 9 through the plug-in 8 and flexible mechanism 2 form shape connection, through-hole cylinder 4 upper outside hole 4002 interference fit connector 6 one end, the other end of the connector 6 and base 1 inside hole 1003 clearance fit, forming a moving pair, while the through-hole cylinder 4 upper end 4001 through the screw 5 and the two fixed foot 2002 of flexible mechanism 2 connection, so that the inner nut 9 can not rotate, screw 15 rotation, the inner nut 9 up and down movement;

[0023] As shown in Figure 2 The upper end of the through-hole cylinder 4 inside 4004 and the outer side 3002 of the linear bearing 3 interference fit, the outer side 4003 of the through-hole cylinder 4 and the inner circle of the wedge ring 10 clearance fit, the outer circle of the wedge ring 10 and the inner circle of the moving ring 11 clearance fit, the outer circle of the moving ring 11 and the inner wall 1001 of the base 1 clearance fit; The upper end of the circular ring electromagnet 12 and the lower end of the wedge ring 10 contact, the lower end of the circular ring electromagnet 12 and the baffle 13 contact, the baffle 13 is fixed on the lower end 4005 of the through-hole cylinder 4 by screw 5; Screw 15 and the inner side 3001 of the linear bearing 3 through the ball direct contact, and the lower inside 4006 of the through-hole cylinder 4 clearance fit;

[0024] As shown in Figure 8 The outer circle 9001 of the inner nut 9 is the outer surface of the nut, which contacts the inner side 3001 of the linear bearing 3; The lower end through-hole part 9002 and the lower end arc part 9003 form a straight circular flexible hinge, and the through-hole part has a gap 9004; After compression, it is screwed with the screw 15;

[0025] The specific implementation scheme of the utility model is divided into macro motion and micro motion; when the ring electromagnet 12 is not powered, the whole macro moves, the inner nut 9 is connected with the flexible mechanism 2 through the plug-in part 8, the flexible mechanism 2 is connected with the through-hole cylinder 4 through the screw 5, the through-hole cylinder 4 is connected with the base 1 through the connecting piece 6 to form a moving pair, the inherent connection makes the through-hole cylinder 4 and the inner nut 9 not relatively rotate, the stepping motor 14 rotates the lead screw 15 through the rotating shaft, drives the inner nut 9 to move up and down, thereby drives the structure including the flexible mechanism to move up and down; when the ring electromagnet 12 is powered, the electromagnet 12 generates suction force to adsorb the moving ring 11, the moving ring 11 is lowered, the clamping force is generated to the wedge ring 10, thereby clamps the through-hole cylinder 4, clamps the base 1, at this moment, the through-hole cylinder 4 and the base 1 do not relatively displace, but the lead screw 15 rotates, drives the inner nut 9 to move up and down, forms the displacement input to the flexible mechanism 2, the displacement input surface 2003 of the flexible mechanism 2 moves up, the flexible mechanism 2 deforms, thereby the small displacement is output on the displacement output surface 2001 of the flexible mechanism, the micro motion of the device is realized; after the ring electromagnet 12 is powered off, the moving ring 11 and the wedge ring 10 do not clamp the through-hole cylinder 4 and the base 1, the rotation of the lead screw 15 only causes the inner nut 9 to move up and down, namely the device can macro move again to adjust the position. Under the action of the single drive two-stage adjusting mechanism, the macro motion large stroke adjustment and the micro motion precision adjustment are realized, the structure and control are simple, the manufacturing and use cost are reduced.

Claims

1. A single-drive macro-micro mechanism based on screw transmission and flexible mechanism, characterized in that, Stepping motor(14), linear bearing(3), base(1), through-hole cylinder(4), circular ring electromagnet(12), wedge ring(10), moving circular ring(11), inner nut(9), connecting piece(6), round plug(7), plug-in(8), baffle(13), screw(5), lead screw(15) and micro-motion flexible mechanism(2); The base(1) is the fixing device of the whole structure, the stepping motor(14) is installed at the bottom(1002) of the base(1) through the screw(5), and the remaining parts are placed on the inner side(1001) of the base(1); The lead screw(15) is connected with the stepping motor(14) and is threadedly connected with the inner nut(9); the inner nut(9) is in contact with the inner side(3001) of the linear bearing(3) through the ball, and can move in the axial direction in the linear bearing(3); the outer side(3002) of the linear bearing is interference fit with the upper inner side(4004) of the through-hole cylinder(4), the outer part(4003) of the through-hole cylinder(4) is clearance fit with the inner ring of the wedge ring(10), the outer ring of the wedge ring(10) is clearance fit with the inner ring of the moving circular ring(11), and the outer ring of the moving circular ring(11) is clearance fit with the inner side of the base(1); the lower end of the wedge ring(10) is in contact with the upper end of the circular ring electromagnet(12), the upper outer side hole(4002) of the through-hole cylinder(4) is interference fit with one end of the connecting piece(6), the other end of the connecting piece(6) is clearance fit with the inner hole(1003) of the base(1), forming a moving pair, the baffle(13) is fixed to the lower end(4005) of the through-hole cylinder(4) by the screw(5); the lead screw(15) is directly contacted with the inner side(3001) of the linear bearing(3) through the ball, and is clearance fit with the lower inner side(4006) of the through-hole cylinder(4); The two fixed feet(2002) of the micro-motion flexible mechanism(2) are fixed to the upper end(4001) of the through-hole cylinder(4) through the screw(5), the middle displacement input part(2003) is directly contacted with the upper end of the inner nut(9) and connected through the plug-in(8).

2. The single-driven micro-macro mechanism based on helical transmission and flexible mechanism according to claim 1, wherein, The single drive is used to realize macro displacement and micro displacement; the rotating shaft of the stepping motor (14) drives the screw rod (15) and the inner nut (9) to rotate oppositely; the inner nut (9) is connected with the flexible mechanism (2) through the insert (8); the flexible mechanism (2) is connected with the upper end (4001) of the through-hole cylinder (4) through a screw; the upper outer hole (4002) of the through-hole cylinder (4) is connected with one end of the connecting piece (6) through interference fit; the other end of the connecting piece (6) is connected with the inner hole (1003) of the base (1) through clearance fit, thereby forming the moving pair cooperation of the up-down movement; the inherent connection makes the through-hole cylinder (4) and the inner nut (9) not rotate relatively, that is, the rotation of the screw rod (15) driven by the stepping motor (14) makes the inner nut (9) only move up and down, thereby generating the macro movement; the micro movement part, the circular ring electromagnet (12) generates the suction force to the moving circular ring (11) after being electrified, the moving circular ring (11) moves downward, generates the clamping force to the wedge-shaped ring (10) inward, at the same time, the wedge-shaped ring (10) clamps the through-hole cylinder (4) outward, generates the clamping to the base (1), the through-hole cylinder (4) and the base (1) no longer generate the relative displacement, the rotation of the screw rod (15) drives the up-down movement of the inner nut (9), the inner nut (9) and the through-hole cylinder (4) generate the relative displacement, thereby generating the input displacement to the flexible mechanism (2), the flexible mechanism (2) deforms, and the micro displacement is generated to the output end (2001).

3. The single-driven micro-macro mechanism based on helical transmission and flexible mechanism according to claim 1, wherein, The outer ring (9001) of the inner nut (9) is the outer surface of the nut, which is in contact with the inner side of the linear bearing (3); the lower end through-hole part (9002) and the lower end arc part (9003) form the straight-circular flexible hinge, the gap (9004) is left in the through-hole part; the inner nut (9) is connected with the screw rod (15) through the compression, and the rebound force formed compensates the backlash problem of the screw thread.

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