CN110561386A - Connecting rod mechanism capable of achieving accurate vertical linear motion - Google Patents
Connecting rod mechanism capable of achieving accurate vertical linear motion Download PDFInfo
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- CN110561386A CN110561386A CN201910752284.2A CN201910752284A CN110561386A CN 110561386 A CN110561386 A CN 110561386A CN 201910752284 A CN201910752284 A CN 201910752284A CN 110561386 A CN110561386 A CN 110561386A
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- connecting rod
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- rotating pair
- rotating
- revolute pair
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000004308 accommodation Effects 0.000 abstract 1
- 230000002337 anti-port Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a connecting rod mechanism capable of accurately vertically and linearly moving, which comprises a base, a connecting block, a moving platform, a connecting rod and a rotating pair, wherein the connecting rod and the rotating pair are connected between the base and the moving platform, and the connecting rod and the rotating pair of the mechanism are in mirror symmetry structures. The invention has the beneficial effects that: in the telescopic process of the link mechanism, the motion platform can realize vertical linear motion, and has the advantages of simple kinematics, easy driving, high rigidity and strong bearing capacity; meanwhile, the mechanism has compact structure, small volume when completely contracted and convenient accommodation. Therefore, the invention has good application prospect on the outer space deployable supporting arm, the deployable wing and the deployable grab.
Description
Technical Field
The invention relates to the field of motion mechanisms, in particular to a link mechanism capable of accurately moving in a vertical straight line.
Background
The linear motion mechanism has important application in the fields of walking robots, internal combustion engines, long-stroke equipment, mechanical equipment in space exploration technology and the like, and particularly has good application prospect in the aspects of deployable supporting arms, solar panel supports, deployable wings, deployable grippers, deployable antennas and the like.
Chinese patent CN201110093972.6 presents an accurate linear motion mechanism, the middle platform of the mechanism is an isosceles triangle, two revolute pairs on the middle platform are arranged along the waist, and the intersection relationship is presented, which results in the oblique intersection of the movable platform and the fixed platform, the movable platform can only realize oblique linear motion, and can not realize vertical linear motion, the kinematic parameters are complex, and the contraction is not compact enough when folding; in addition, the mechanism needs to design two revolute pairs on a gear train synchronous driving rack to realize linear motion. Chinese patent CN201110077493.5 presents a precise linear motion mechanism, which is asymmetric, the driving branch contains multiple local degrees of freedom, it is easy to generate interference, and the whole mechanism is not compact when it is folded.
The connecting rod mechanism for accurate vertical linear motion is structurally different from the existing linear motion mechanism, and is different from the mechanism in composition principle, motion number and motion pair axis arrangement.
Disclosure of Invention
In order to solve the defects existing in the existing linear motion mechanism in the background art, an embodiment of the present invention provides a link mechanism for precise vertical linear motion, including a base, a first revolute pair, a first link, a second revolute pair, a first connecting block, a third revolute pair, a second link, a fourth revolute pair, a motion platform, a fifth revolute pair, a third link, a sixth revolute pair, a second connecting block, a seventh revolute pair, a fourth link, an eighth revolute pair, a ninth revolute pair, a fifth link, a tenth revolute pair, a sixth link, and an eleventh revolute pair; the base, the connecting rod, the revolute pair and the motion platform are connected in a following manner: one end of the first connecting rod is arranged on the base through the first revolute pair, the other end of the first connecting rod is connected with the first connecting block through the second revolute pair, one end of the second connecting rod is connected with the first connecting block through the third revolute pair, the other end of the second connecting rod is arranged on the motion platform through the fourth revolute pair, one end of the third connecting rod is arranged on the base through the fifth revolute pair, the other end of the third connecting rod is connected with the second connecting block through the sixth revolute pair, one end of the fourth connecting rod is connected with the second connecting block through the seventh revolute pair, the other end of the fourth connecting rod is arranged on the motion platform through the eighth revolute pair, one end of the fifth connecting rod is connected with the first connecting block through the ninth revolute pair, and one end of the sixth connecting rod is connected with the other end of the fifth connecting rod through the eleventh revolute pair, the other end of the sixth connecting rod is connected with the second connecting block through the tenth revolute pair; the first connecting block and the second connecting block are same in size, the first connecting rod and the third connecting rod are equal in length, and the second connecting rod and the fourth connecting rod are equal in length; the axes of the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair are parallel to each other, the axes of the fifth rotating pair, the sixth rotating pair, the seventh rotating pair and the eighth rotating pair are parallel to each other, the axes of the ninth rotating pair, the tenth rotating pair and the eleventh rotating pair are parallel to each other, the axis of the ninth rotating pair is perpendicular to the axis of the second rotating pair, and the axis of the tenth rotating pair is perpendicular to the axis of the sixth rotating pair; the axes of the first rotating pair and the fifth rotating pair are intersected, the axes of the second rotating pair and the sixth rotating pair are intersected, the axes of the third rotating pair and the seventh rotating pair are intersected, and the axes of the fourth rotating pair and the eighth rotating pair are intersected.
The connecting rod mechanism capable of accurately moving vertically and linearly has the beneficial effects that: the connecting rod mechanism is of a symmetrical structure, the moving platform always moves along a straight line in the telescopic process, and the driving is simple, the kinematics is easy, the unfolding speed is easy to control, and the repetition precision is high; meanwhile, the connecting rod mechanism has a compact structure, is small in size when completely contracted and is convenient to accommodate.
Drawings
Fig. 1 is a schematic structural view of a link mechanism for precise vertical linear motion according to the present invention.
Fig. 2 is a schematic view of a fully extended configuration of a precise vertical linear motion linkage mechanism of the present invention.
Fig. 3 is a schematic view of a fully folded structure of a precise vertical linear motion link mechanism of the present invention.
In the above figures: 1-a first connecting rod, 2-a second connecting rod, 3-a third connecting rod, 4-a fourth connecting rod, 5-a fifth connecting rod, 6-a sixth connecting rod, 7-a first connecting block, 8-a second connecting block, 9-a base, 10-a motion platform, 11-a first rotating pair, 12-a second rotating pair, 13-a third rotating pair, 14-a fourth rotating pair, 15-a fifth rotating pair, 16-a sixth rotating pair, 17-a seventh rotating pair, 18-an eighth rotating pair, 19-a ninth rotating pair, 20-a tenth rotating pair and 21-an eleventh rotating pair.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a link mechanism with precise vertical linear motion is characterized in that: the device comprises a base 9, a first rotating pair 11, a first connecting rod 1, a second rotating pair 12, a first connecting block 7, a third rotating pair 13, a second connecting rod 2, a fourth rotating pair 14, a moving platform 10, a fifth rotating pair 15, a third connecting rod 3, a sixth rotating pair 16, a second connecting block 8, a seventh rotating pair 17, a fourth connecting rod 4, an eighth rotating pair 18, a ninth rotating pair 19, a fifth connecting rod 5, a tenth rotating pair 20, a sixth connecting rod 6 and an eleventh rotating pair 21; the base 9, the connecting rod, the rotating pair and the moving platform 10 have the following connection relationship: one end of the first connecting rod 1 is installed on the base 10 through the first revolute pair 11, the other end of the first connecting rod 1 is connected with the first connecting block 7 through the second revolute pair 12, one end of the second connecting rod 2 is connected with the first connecting block 7 through the third revolute pair 13, the other end of the second connecting rod 2 is installed on the moving platform 10 through the fourth revolute pair 14, one end of the third connecting rod 3 is installed on the base 9 through the fifth revolute pair 15, the other end of the third connecting rod 3 is connected with the second connecting block 8 through the sixth revolute pair 16, one end of the fourth connecting rod 4 is connected with the second connecting block 8 through the seventh revolute pair 17, the other end of the fourth connecting rod 4 is installed on the moving platform 10 through the eighth revolute pair 18, and one end of the fifth connecting rod 5 is connected with the first connecting block 7 through the ninth revolute pair 19, one end 6 of the sixth connecting rod is connected with the other end of the fifth connecting rod 5 through an eleventh revolute pair 10, and the other end of the sixth connecting rod 6 is connected with the second connecting block 8 through a tenth revolute pair 21; the first connecting block 7 and the second connecting block 8 are the same in size, the first connecting rod 1 and the third connecting rod 3 are equal in length, and the second connecting rod 2 and the fourth connecting rod 4 are equal in length; the axes of the first revolute pair 11, the second revolute pair 12, the third revolute pair 13 and the fourth revolute pair 14 are parallel to each other, the axes of the fifth revolute pair 15, the sixth revolute pair 16, the seventh revolute pair 17 and the eighth revolute pair 18 are parallel to each other, the axes of the ninth revolute pair 19, the tenth revolute pair 20 and the eleventh revolute pair 21 are parallel to each other, the axis of the ninth revolute pair 19 is perpendicular to the axis of the second revolute pair 12, and the axis of the tenth revolute pair 20 is perpendicular to the axis of the sixth revolute pair 16; the first revolute pair 11 and the fifth revolute pair 15 are intersected in axis, the second revolute pair 12 and the sixth revolute pair 16 are intersected in axis, the third revolute pair 13 and the seventh revolute pair 17 are intersected in axis, and the fourth revolute pair 14 and the eighth revolute pair 18 are intersected in axis.
As shown in fig. 2 and 3, the unfolding and folding processes of the link mechanism with accurate vertical linear motion of the invention are as follows: the first connecting rod 1 and the third connecting rod 3 rotate to respectively drive the first connecting block 7 and the second connecting block 8 to ascend in height, meanwhile, the fifth connecting rod 5 and the sixth connecting rod 6 restrict the first connecting block 7 and the second connecting block 8 to be at the same height, the second connecting rod 2 and the fourth connecting rod 4 rotate under the driving of the first connecting block 7 and the second connecting block 8 to drive the motion platform 10 to ascend, the motion platform 10 always moves in the vertical direction in the ascending process until the motion platform is completely unfolded (as shown in fig. 2), and at the moment, the first connecting rod 1 and the second connecting rod 2 are located on the same straight line; first connecting rod 1 and third pole 3 antiport drive first connecting block 7 and the high decline of second connecting block 8, and second connecting rod 2 and fourth connecting rod 4 antiport simultaneously drive motion platform 10 and descend, and motion platform 10 decline process is removed along vertical direction all the time, until folding completely (as shown in fig. 3), and first connecting rod 1 and the straight line of second connecting rod 2 place are parallel to each other this moment. The link mechanism with accurate linear motion can be unfolded and folded only by driving the first connecting rod 1 or the third connecting rod 3 in the unfolding and folding processes.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. The utility model provides a link mechanism of accurate vertical linear motion which characterized in that: the device comprises a base, a first rotating pair, a first connecting rod, a second rotating pair, a first connecting block, a third rotating pair, a second connecting rod, a fourth rotating pair, a motion platform, a fifth rotating pair, a third connecting rod, a sixth rotating pair, a second connecting block, a seventh rotating pair, a fourth connecting rod, an eighth rotating pair, a ninth rotating pair, a fifth connecting rod, a tenth rotating pair, a sixth connecting rod and an eleventh rotating pair; the base, the connecting rod, the revolute pair and the motion platform are connected in a following manner: one end of the first connecting rod is arranged on the base through the first revolute pair, the other end of the first connecting rod is connected with the first connecting block through the second revolute pair, one end of the second connecting rod is connected with the first connecting block through the third revolute pair, the other end of the second connecting rod is arranged on the motion platform through the fourth revolute pair, one end of the third connecting rod is arranged on the base through the fifth revolute pair, the other end of the third connecting rod is connected with the second connecting block through the sixth revolute pair, one end of the fourth connecting rod is connected with the second connecting block through the seventh revolute pair, the other end of the fourth connecting rod is arranged on the motion platform through the eighth revolute pair, one end of the fifth connecting rod is connected with the first connecting block through the ninth revolute pair, and one end of the sixth connecting rod is connected with the other end of the fifth connecting rod through the eleventh revolute pair, the other end of the sixth connecting rod is connected with the second connecting block through the tenth revolute pair; the first connecting block and the second connecting block are same in size, the first connecting rod and the third connecting rod are equal in length, and the second connecting rod and the fourth connecting rod are equal in length; the axes of the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair are parallel to each other, the axes of the fifth rotating pair, the sixth rotating pair, the seventh rotating pair and the eighth rotating pair are parallel to each other, the axes of the ninth rotating pair, the tenth rotating pair and the eleventh rotating pair are parallel to each other, the axis of the ninth rotating pair is perpendicular to the axis of the second rotating pair, and the axis of the tenth rotating pair is perpendicular to the axis of the sixth rotating pair; the axes of the first rotating pair and the fifth rotating pair are intersected, the axes of the second rotating pair and the sixth rotating pair are intersected, the axes of the third rotating pair and the seventh rotating pair are intersected, and the axes of the fourth rotating pair and the eighth rotating pair are intersected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910752284.2A CN110561386A (en) | 2019-08-15 | 2019-08-15 | Connecting rod mechanism capable of achieving accurate vertical linear motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910752284.2A CN110561386A (en) | 2019-08-15 | 2019-08-15 | Connecting rod mechanism capable of achieving accurate vertical linear motion |
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| Publication Number | Publication Date |
|---|---|
| CN110561386A true CN110561386A (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910752284.2A Pending CN110561386A (en) | 2019-08-15 | 2019-08-15 | Connecting rod mechanism capable of achieving accurate vertical linear motion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976856A (en) * | 2020-07-20 | 2020-11-24 | 北京交通大学 | Single-power crawler based on Sarrus mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5237887A (en) * | 1991-07-01 | 1993-08-24 | Rockwell International Corporation | Straight line mechanism |
| CN102152317A (en) * | 2011-03-29 | 2011-08-17 | 天津大学 | Accurate straight-line motion mechanism only including revolute pair |
| WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
| CN210850249U (en) * | 2019-08-15 | 2020-06-26 | 中国地质大学（武汉） | Connecting rod mechanism capable of achieving accurate vertical linear motion |
-
2019
- 2019-08-15 CN CN201910752284.2A patent/CN110561386A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5237887A (en) * | 1991-07-01 | 1993-08-24 | Rockwell International Corporation | Straight line mechanism |
| CN102152317A (en) * | 2011-03-29 | 2011-08-17 | 天津大学 | Accurate straight-line motion mechanism only including revolute pair |
| WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
| CN210850249U (en) * | 2019-08-15 | 2020-06-26 | 中国地质大学（武汉） | Connecting rod mechanism capable of achieving accurate vertical linear motion |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976856A (en) * | 2020-07-20 | 2020-11-24 | 北京交通大学 | Single-power crawler based on Sarrus mechanism |
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