CN102269653B - Multi-structure planar linkage mechanism testing platform - Google Patents
Multi-structure planar linkage mechanism testing platform Download PDFInfo
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- CN102269653B CN102269653B CN 201110100617 CN201110100617A CN102269653B CN 102269653 B CN102269653 B CN 102269653B CN 201110100617 CN201110100617 CN 201110100617 CN 201110100617 A CN201110100617 A CN 201110100617A CN 102269653 B CN102269653 B CN 102269653B
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Abstract
The invention discloses a multi-structure planar linkage mechanism testing platform. The testing platform is novel in design and simple in structure, reasonably utilizes a combined planar linkage mechanism structure, and better solves the problem that multi-structure planar linkage mechanisms cannot be simultaneously designed, subjected to motion demonstration, characteristic research and the like on one testing platform. The planar linkage mechanism structures fully utilize the space of the testing platform, and the mechanism structure arrangement is effectively increased; the testing platform particularly brings convenience to experiments in aspects such as the lapping of the multi-structure planar linkage mechanisms, various mechanism motion and dynamics characteristics, and has important significance for a learner to master related knowledge of a planar linkage mechanism; meanwhile, a researcher can verify theories in the planar linkage mechanism science through the platform. The testing platform has the characteristics of convenience in manufacturing and good application effect, and is convenient to promote and use.
Description
Technical field
The present invention relates to a kind of linkage assembly experiment porch, specifically, relate to a kind of experimental platform for multi-configuration planar link rod mechanisms.
Background technology
Planar linkage mechanism is a kind of application mechanism very widely, is an important topic of theory of mechanisms research to its design and analysis always.The various complexity of planar linkage mechanism configuration, present linkage assembly experiment porch are used for cognitive type and demonstration type experiment mainly for the planar linkage mechanism of a certain configuration, only are fit to the ABC that the beginner learns planar linkage mechanism.When the characteristics such as the kinematics of Designing Plant Crank Mechanism innovation and researcher being studied multi-configuration mechanism, dynamics, can meet difficulty.A kind of controlled planes five-rod testing table that can provide experimental basis for any given motion, can accurately realize the arbitrary motion track is disclosed in Chinese patent 200820190530.7.This testing table only can be tested for planar five-bar mechanism, and is helpless for the test of the mechanism of the configurations such as four-bar mechanism, multi-bar linkage.Described a kind of plane mechanism testing table in Chinese patent 03248164.0, its design mainly for multiple plane mechanism, assembly unit, motion demonstrating are for the Students ' Learning plane mechanism knowledge of mechanical subject provides a kind of desirable teaching aid.This testing table can be for multiple plane mechanism, but only can carry out motion demonstrating to four-bar linkage during specific to planar linkage mechanism, can not adapt to the research of characteristic of the planar linkage mechanism of multiple configuration.The dynamic test, the designed teaching that disclose a kind of effective analogue crank, guide rod, slide block movement in Chinese patent 01257105.9 are tested mechanism.This tests mechanism only for slider-crank mechanism and crank guide rod mechanism, can not satisfy on the experiment table that coexists and carry out multiple configuration Designing Plant Crank Mechanism, motion demonstrating, characteristic research.
Summary of the invention
For overcome the mechanism that exists in prior art single, can not satisfy on the experiment porch that coexists and carry out the deficiencies such as multiple configuration Designing Plant Crank Mechanism, motion demonstrating, characteristic research.The invention provides a kind of experimental platform for multi-configuration planar link rod mechanisms, this Experiment Platform Design is reasonable, and is simple in structure, performances such as the kinematics of research institution, dynamics easily, and effect is good, is convenient to promote the use of.
For solving the problems of the technologies described above, the technical solution used in the present invention is: experiment porch comprises: panel, support, thick bar, thin bar, moving platform, pin shaft hole, bearing pin, elongate rod; Described panel is fixedly mounted on stand, at least two groups through hole arranged evenly is set on panel, every group of through hole is comprised of pin shaft hole and a plurality of screw hole, following and the bearing pin that driving motor is arranged on panel is connected, support is fixedly mounted on panel and is connected with thick bar with screw by bearing pin, uses bearing pin to be connected with screw between thick bar and thin bar or elongate rod or moving platform; The pin shaft hole that arranges on the central through hole at bracket tab position and panel is on same axis.
Described support is " several " word shape, and place, both sides of the edge, lower end is symmetrically arranged with threaded hole, is used for support is fixed on panel; The boss center position of support is provided with through hole, is used for the location and supports bearing pin.
Described thick bar is the unequal straight rod members in both ends, end edge is the semicircular arc take the straight-bar width as diameter, the circle centre position of semicircular arc is provided with through hole, wherein larger end through hole both sides respectively are equipped with a threaded hole thick bar are fixedly connected with bearing pin, thick bar coordinates with bearing pin and is used for transmitting Motor torque, and the other end of thick bar is connected with thin bar.
Described thin bar is the flat bar rod member of halves symmetry, the center section hollow out, and two ends are equipped with round tube hole and bearing pin is used in conjunction with, and through hole both sides respectively are provided with a threaded hole, are used for thin bar is fixedly connected with transmitting torque with bearing pin.In order to study the characteristic of mechanism under different-stiffness, the present invention is equipped with the refill-unit of a thin bar, and is the same with the thin bar structure, and rigidity is little.
Described elongate rod is the stock that both ends are semicircular arc, and the circle centre position of semicircular arc is provided with round tube hole, and through hole both sides respectively are provided with a threaded hole, is used for elongate rod and the bearing pin transmitting torque that is fixedly connected.The center section hollow out of elongate rod.
Described moving platform is the equilateral triangle thin plate, is provided with some apertures according to the center extension, is respectively arranged with round tube hole on three angles, is fixed with neck bush in through hole and coordinates with bearing pin; Set aperture is used for sensor installation and facilitates the later stage to gather experimental data.
A kind of experimental platform for multi-configuration planar link rod mechanisms of the present invention, novel in design, rationally utilized combined flat surface linkage assembly configuration, effectively solved prior art existing mechanism single, can not satisfy and carry out the problems such as multiple configuration Designing Plant Crank Mechanism, motion demonstrating, characteristic research simultaneously on an experiment porch.Its beneficial effect is: planar linkage mechanism configuration structure takes full advantage of the experiment porch volumetric spaces, can effectively increase mechanism configuration and arrange, and makes the planar linkage mechanism type be improved; As the six-bar mechanism of five bars of the four-bar mechanism of multiple configuration, multiple configuration, multiple configuration and the multi-bar linkage of multiple configuration; Especially bring convenience in the experiment of carrying out the aspects such as multiple configuration planar linkage mechanism overlap joint, various mechanism motion and dynamics, the learner is grasped the planar linkage mechanism relevant knowledge significant, the theory during the researcher can learn by this platform validation planar linkage mechanism simultaneously.It is simple in structure, easy to make that the present invention has, and effect is good, is convenient to promote the use of.
Description of drawings
Below in conjunction with drawings and embodiments, a kind of experimental platform for multi-configuration planar link rod mechanisms of the present invention is described in further detail.
Fig. 1 is experimental platform for multi-configuration planar link rod mechanisms structural representation of the present invention.
Fig. 2 is the panel schematic diagram of experimental platform for multi-configuration planar link rod mechanisms.
Fig. 3 is the thick bar schematic diagram of experimental platform for multi-configuration planar link rod mechanisms.
Fig. 4 is the thin bar schematic diagram of experimental platform for multi-configuration planar link rod mechanisms.
Fig. 5 is the elongate rod schematic diagram of experimental platform for multi-configuration planar link rod mechanisms.
Fig. 6 is the moving platform schematic diagram of experimental platform for multi-configuration planar link rod mechanisms of the present invention.
Fig. 7 is the support schematic diagram of experimental platform for multi-configuration planar link rod mechanisms of the present invention.
Fig. 8 is the schematic diagram of two-freedom three revolute pair redundancy parallel mechanisms.
Fig. 9 is the structural representation of planar five-bar mechanism.
Figure 10 is the structural representation of four-bar linkage.
Figure 11 is the structural representation of planar six-bar linkage.
In figure:
1. panel 2. support 3. thick bar 4. thin bars
5. moving platform 6. pin shaft hole 7. bearing pin 8. elongate rod
Embodiment
Experimental platform for multi-configuration planar link rod mechanisms of the present invention is for each member of maximum using, and the size of each member is optimized, and can adapt to after standardization to become rigidity, become the Various Complex experiment condition such as gap, multiple configuration planar linkage mechanism research.Can reach user's specific (special) requirements by changing separately member, expand the usable range of this platform.The below is take planar three freedom three revolute pair parallel institutions, plane two-freedom three revolute pair redundancy parallel mechanisms, planar five-bar mechanism, four-bar linkage and watt type planar six-bar linkage as example explanation embodiment.
Embodiment 1
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 7, the present embodiment is a kind of experimental platform for multi-configuration planar link rod mechanisms, comprises panel 1, support 2, thick bar 3, thin bar 4, moving platform 5, pin shaft hole 6, bearing pin 7, elongate rod 8 and part of standards part.Wherein, panel 1 is fixedly mounted on stand, arrangement at least two group through holes are set on panel 1, every group of through hole is comprised of pin shaft hole 6 and a plurality of screw hole, following and the bearing pin 7 that driving motor is arranged on panel 1 is connected, support 2 is fixedly mounted on panel 1 and is connected with thick bar 3 with screw by bearing pin 7, uses bearing pin 7 and screw attachment between thick bar 3 and thin bar 4 or moving platform 5; Support 2 places, both sides of the edge, lower end are symmetrically arranged with threaded hole, are used for support 2 is fixed on panel; The boss center position of support 2 is provided with through hole, is used for the location and supports bearing pin 7.Described thick bar 3 is the unequal straight rod members in both ends, end edge is the semicircular arc take the straight-bar width as diameter, the circle centre position of semicircular arc is provided with through hole, wherein larger end through hole both sides respectively are equipped with a threaded hole thick bar 3 and bearing pin 7 are fixedly connected, thick bar coordinates with bearing pin and is used for transmitting Motor torque, and the other end of thick bar 3 is connected with thin bar 4.Described thin bar 4 is the flat bar rod member of halves symmetry, the center section hollow out, and two ends are equipped with round tube hole and bearing pin is used in conjunction with, and through hole both sides respectively are provided with a threaded hole, are used for thin bar 4 and the bearing pin transmitting torque that is fixedly connected; As Fig. 4.Described elongate rod 8 is the stock of semicircular arc for both ends, the circle centre position of semicircular arc is provided with round tube hole, and through hole both sides respectively are provided with a threaded hole, is used for elongate rod 8 is connected transmitting torque with bearing pin.The center section hollow out of elongate rod 8; Referring to Fig. 5.Described moving platform 5 is the equilateral triangle thin plate, is provided with some apertures according to the center extension, is respectively arranged with round tube hole on three angles, is fixed with neck bush in through hole and coordinates with bearing pin; Set aperture is used for sensor installation and facilitates the later stage to gather experimental data; As shown in Figure 6.
During installation, first install on panel 1 and fix three supports 2, three thick bars 3 are installed respectively by bearing pin 7 and screw in the top of three supports 2, the other end of three thick bars 3 is connected with screw by bearing pin with an end of three thin bars 4 respectively and is connected, three thin bar 4 other ends are connected with moving platform 5 respectively, form planar three freedom three revolute pair parallel institutions.Thin bar 4 in Fig. 1 is replaced by the less refill-unit of rigidity, and the vibration acceleration of test key point can compare experiment to the magnitude of vibrations of mechanism.Change the lining of installing on moving platform, can carry out the kinematic accuracy experiment, movement locus and the range of movement of driven member are tested, on this basis, the kinematic accuracy of mechanism is estimated.Arrange foil gauge on moving link, can carry out dynamic stress experiment, can test member dynamic stress size by strainmeter, thus the mechanical gain of mechanism is estimated.
Embodiment 2
As shown in Figure 8, be the present embodiment two-freedom three revolute pair redundancy parallel mechanisms, comprise panel 1, support 2, bearing pin 7, thick bar 3, thin bar 4, elongate rod 8.
At first fixedly mount three supports 2 by screw on panel 1, three thick bars 3 are installed respectively by bearing pin 7 and screw in the top of three supports 2, transmit moment of torsion and motion that motor provides, two thin bars 4 and an elongate rod 8 are installed respectively in the top of three thick bars 3, form two-freedom three revolute pair redundancy parallel mechanisms.The present embodiment can carry out the redundant drive experiment, for Two-Degree-of-Freedom mechanism, adopts three motor-driven, determines the rational characteristics of motion, by redundant drive, realizes the experiment that overcomes of unusual bit-type.Elongate rod in mechanism is replaced by the less refill-unit of rigidity, is used for doing the vibration comparative analysis of the lower mechanism of different-stiffness contrast; The copper sheathing of changing different-thickness can be done the kinematic accuracy experiment of mechanism under different gap.
Embodiment 3
Fig. 9 has showed the embodiment that is used for planar five-bar mechanism, this embodiment can carry out the movement locus experiment according to the planar five-bar mechanism of version, certain motion of point track on the plane motion member is drawn, also can be tested dead point, utmost point position and the pressure angle of mechanism.Structure at planar five-bar mechanism comprises panel 1, support 2, bearing pin 7, thick bar 3, thin bar 4, elongate rod 8.
In the present embodiment, two supports 2 of fixed installation on panel 1, two thick bars 3 are installed respectively by bearing pin and screw in the top of two supports 2, transmit moment of torsion and motion that motor provides, a thin bar 4 and an elongate rod 8 have been installed respectively in the top of thick bar 3, thin bar 4 is connected with the top of elongate rod 8, has formed a kind of planar five-bar mechanism of version.Change the installation site of one of them support, the 4 tops connections of 4, two thin bars of two thin bars have been installed respectively on the top of two thick bars 3, have just formed the planar five-bar mechanism of another kind of version.
Embodiment 4
Figure 10 is the embodiment of four-bar linkage, comprises panel 1, support 2, bearing pin 7, thick bar 3, thin bar 4, moving platform 5.In the present embodiment, first are connected with moving platform with a thick bar 3 respectively and are connected in the top of 2, two supports 2 of two supports of fixed installation on panel 1, and the top of thick bar 3 is equipped with elongate rod 8, thick bar 3 is connected with the top of elongate rod 8, has formed a kind of four-bar linkage of version.Elongate rod 8 in embodiment is changed the less replacement bar of rigidity, can carry out the vibration characteristics experiment of mechanism under different-stiffness.Can carry out simultaneously the range of movement experiment.
Embodiment 5
Figure 11 is the structure of planar six-bar linkage, comprises panel 1, support 2, bearing pin 7, thick bar 3, thin bar 4, moving platform 5.At first fixedly mount three supports 2 by screw on panel 1, two thick bars 3 are installed with bearing pin and screw in the top of two supports 2, moving platform 5 is installed on the top of another support, the top of two thick bars 3 is connected with two thin bars 4 respectively, two thin bars 4 link together with moving platform 5, have formed watt type planar six-bar linkage.The copper sheathing of changing different-thickness can carry out the kinematic accuracy experiment, and the kinematic accuracy of mechanism is estimated.Also can carry out the dynamic stress experiment, by strain-gauge test member dynamic stress size, thereby the mechanical gain of mechanism be estimated.
Claims (6)
1. experimental platform for multi-configuration planar link rod mechanisms, comprise panel, support, thick bar, thin bar, moving platform, pin shaft hole, bearing pin, elongate rod, it is characterized in that: described panel is fixedly mounted on stand, be provided with 6 groups of through holes arranged evenly on panel, every group of through hole is comprised of pin shaft hole and a plurality of screw hole, following and the bearing pin that driving motor is arranged on panel is connected, support is fixedly mounted on panel and is connected with thick bar with screw by bearing pin, uses bearing pin to be connected with screw between thick bar and thin bar or elongate rod or moving platform; The pin shaft hole that arranges on the central through hole at bracket tab position and panel is on same axis.
2. experimental platform for multi-configuration planar link rod mechanisms according to claim 1, it is characterized in that: described support is " several " word shape, and place, both sides of the edge, lower end is symmetrically arranged with threaded hole, and the boss central through hole of support is used for the location and supports bearing pin.
3. experimental platform for multi-configuration planar link rod mechanisms according to claim 1, it is characterized in that: described thick bar is the unequal straight-bars in both ends, end edge is the semicircular arc take the straight-bar width as diameter, the circle centre position of semicircular arc is provided with through hole, larger end through hole both sides respectively are equipped with a threaded hole makes thick bar be fixedly connected with bearing pin, and the other end of thick bar is connected with thin bar.
4. experimental platform for multi-configuration planar link rod mechanisms according to claim 1, it is characterized in that: described thin bar is the flat bar rod member that two ends are circular arc, center section has the groove of two position, place symmetries, the circle centre position of rod member two ends circular arc has round tube hole to coordinate with bearing pin, and through hole both sides respectively are provided with a threaded hole.
5. experimental platform for multi-configuration planar link rod mechanisms according to claim 1, it is characterized in that: described elongate rod is the stock that two ends are circular arc, center section has groove, and the circle centre position of circular arc is provided with round tube hole, and through hole both sides respectively are provided with a threaded hole.
6. experimental platform for multi-configuration planar link rod mechanisms according to claim 1, it is characterized in that: described moving platform is the equilateral triangle thin plate, is provided with some apertures according to the center extension, is respectively arranged with round tube hole on three angles.
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| CN 201110100617 CN102269653B (en) | 2011-04-21 | 2011-04-21 | Multi-structure planar linkage mechanism testing platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110100617 CN102269653B (en) | 2011-04-21 | 2011-04-21 | Multi-structure planar linkage mechanism testing platform |
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| CN102269653A CN102269653A (en) | 2011-12-07 |
| CN102269653B true CN102269653B (en) | 2013-06-26 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104240581B (en) * | 2014-05-08 | 2016-08-17 | 韶关学院 | A kind of linkage teaching mode |
| CN104021719B (en) * | 2014-05-12 | 2016-04-13 | 南昌大学 | A kind of planar linkage mechanism combined teaching aid |
| CN106840642B (en) * | 2017-04-01 | 2023-04-21 | 中北大学 | Reconfigurable parallel/series-parallel mechanism experimental device component system |
| CN108932893A (en) * | 2017-05-27 | 2018-12-04 | 南京农业大学 | Planar motion mechanism innovation overlap joint experimental bench |
| CN107263446B (en) * | 2017-06-28 | 2024-01-02 | 华南理工大学 | Hybrid-driven redundant plane parallel mechanism control device and method |
| CN110036764B (en) * | 2019-05-27 | 2020-11-24 | 浙江理工大学 | Variable-frequency variable-amplitude excitation type fruit vibration harvesting mechanism and harvesting method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2062479U (en) * | 1989-11-22 | 1990-09-19 | 陈聪选 | Electric mechanical driving combined teaching tools |
| CN2394279Y (en) * | 1999-04-01 | 2000-08-30 | 徐剑雄 | Transmission mechanism demonstrator |
| DE20200766U1 (en) * | 2002-01-19 | 2003-04-03 | Schneck Gabriel | Method for demonstrating chaotic movements, using electric motor driving briefly elongated arm having counterweight at one end and interconnected pair of pendulums at other |
| CN202041379U (en) * | 2011-04-21 | 2011-11-16 | 西北工业大学 | Experimental platform for multi-configuration planar link rod mechanisms |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2062479U (en) * | 1989-11-22 | 1990-09-19 | 陈聪选 | Electric mechanical driving combined teaching tools |
| CN2394279Y (en) * | 1999-04-01 | 2000-08-30 | 徐剑雄 | Transmission mechanism demonstrator |
| DE20200766U1 (en) * | 2002-01-19 | 2003-04-03 | Schneck Gabriel | Method for demonstrating chaotic movements, using electric motor driving briefly elongated arm having counterweight at one end and interconnected pair of pendulums at other |
| CN202041379U (en) * | 2011-04-21 | 2011-11-16 | 西北工业大学 | Experimental platform for multi-configuration planar link rod mechanisms |
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