CN103322148A - One-dimensional unfolding mechanism - Google Patents
One-dimensional unfolding mechanism Download PDFInfo
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- CN103322148A CN103322148A CN2013102100368A CN201310210036A CN103322148A CN 103322148 A CN103322148 A CN 103322148A CN 2013102100368 A CN2013102100368 A CN 2013102100368A CN 201310210036 A CN201310210036 A CN 201310210036A CN 103322148 A CN103322148 A CN 103322148A
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- arm
- locking
- train
- pair
- drive amplification
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Abstract
The invention discloses a one-dimensional unfolding mechanism. The mechanism comprises a central gear train (1), a drive amplification gear train, an unfolding arm (4), a locking rod (5), a locking stop pin (6) and a mounting base (10). The central gear train (1) comprises a central shaft which can rotate relative to the unfolding arm; the drive amplification gear train and the locking stop pin (6) are mounted on the mounting base (10); the locking rod (5) is mounted on the unfolding arm (4); after the unfolding arm (4) is in place and locked, a first plane pair is formed between the locking rod (5) and the locking stop pin (6) of a locking mechanism; a rotary pair is formed between the central shaft and the unfolding arm; and a second plane pair is formed between an internal gear meshing surface of the unfolding arm (4) and a final gear (2) of the drive amplification gear train under the action of residual thrust of a drive source, and acting forces applied to the unfolding arm (4) by three kinematic pairs are distributed in a triangular shape in space. The mechanism has the advantages of being simple in structure and high in unfolding in-place repeatability accuracy.
Description
Technical field
The present invention relates to a kind of one dimension development mechanism.
Background technique
Mechanism hand, robot, and field of space technology in relevant device etc. realize that closed loop control is complicated, the rotation precision after the higher expansion of rear realization that needs again simultaneously to launch to put in place puts in place.
More typical one dimension expansion highi degree of accuracy development mechanism mainly is to realize precision of expansion by the approach that high-precision angle sensor is installed both at home and abroad at present, this class development mechanism can be realized the highi degree of accuracy of any expanded angle, but realization link is more, and mechanism is complicated, and reliability is lower.
Summary of the invention
The object of the invention is in the changeless situation of expanded angle requirement, a kind of simple in structure, one dimension development mechanism that reliability is high is provided, have the higher expansion repeatability precision that puts in place.
Technological scheme of the present invention is:
A kind of one dimension development mechanism comprises center train, drive amplification train, launches arm, locking lever, locking shelves pin and fitting seat; The center train comprises central shaft, central shaft be connected arm and connect by bearing, can relatively rotate; Drive amplification train, locking shelves pin are installed on the fitting seat; Locking lever is installed in and launches on the arm; The driving force of driving source output is applied to central gear and fastens, the moving drive amplification train of central gear frenulum is amplified driving force, final-stage gear by the drive amplification train is applied to the expansion arm with the internal gear engagement that launches arm with driving force again, promote to launch arm and locking lever rotation, position-limiting action limitation lock fixed pole by locking shelves pin is rotated further, the locking so that the expansion arm rotate in place; After the expansion arm puts in place and locks, form the first planar pair flat pair for the plane between the locking lever of locking framework and the locking shelves pin; Be revolute pair between central shaft and the expansion arm; The internal gear Surface of action that launches arm and driving force are amplified between the final-stage gear of train and form the second planar pair flat pair under the effects of driving source thrust-drag margin, the active force that the first planar pair flat pair, the second planar pair flat pair, revolute pair impose on the expansion arm spatially be distributed as a triangle.
Described drive amplification train comprises two gears.
Described one dimension development mechanism also comprises the control speed train that is installed on the fitting seat, ride wheel and balance wheel.
The present invention compared with prior art has following beneficial effect: the present invention is by drive amplification mechanism, the specific arrangements of locking framework and centre of expansion axle puts in place, with traditional one dimension development mechanism relatively, have simple in structure, launch to put in place that repeatability precision is high, good reproducibility, need not to carry out Zero positioning.
Description of drawings
Fig. 1 is one dimension development mechanism outline drawing.
Fig. 2 is that driving force is amplified the train enlarged diagram.
Fig. 3 launches the arm schematic diagram for the locking framework locking that puts in place.
Fig. 4 is for launching the stressed schematic diagram of arm.
Fig. 5 is development mechanism free state schematic diagram of the present invention.
Fig. 6 is that development mechanism of the present invention launches to put in place view.
Embodiment
As Figure 1-3, one dimension development mechanism of the present invention comprises center train 1, drive amplification train 2-3, launches arm 4, locking lever 5, locking shelves pin 6, control fast train 7～9,11～12, ride wheel 13, balance wheel 14 and fitting seat 10; Center train 1 comprises central shaft, central shaft be connected arm 4 and connect by bearing, can relatively rotate; Drive amplification train 2-3, locking shelves pin 6, control fast train 7～9,11～12, the wheel 13 of riding, balance wheel 14 are installed on the fitting seat 10; Locking lever 5 is installed in and launches on the arm 4.Driving force is applied to central gear and fastens, the moving drive amplification train 2-3 of central gear frenulum amplifies driving force, final-stage gear 2 by the drive amplification train imposes on expansion arm 4 with driving force again, promoting to launch arm 4 is rotated by free state shown in Figure 5, in the time of near the expansion arm turns to position shown in Figure 6, locking shelves pin 6 position-limiting action limitation lock fixed poles 5 are rotated further, and launch arm and launch to put in place.In expansion process, ride wheel 13 the gear teeth in rotation process, stirring balance wheel 14 swings, the swing of balance wheel 14 swung according to the natural period, therefore limited the rotational velocity of the wheel 13 of riding, gear engagement on wheel 12 and the wheel 13 of riding has been played the effect of control speed by the rotational velocity of control fast train 12～11,9～7, constraint central shaft 1.
The quantity of described drive amplification train 23 requires according to moment amplification and the installing space of fitting seat determines, is not limited to diagram quantity.
The fast train 7～9 of described control, 11～12 number determine according to the installing space of the fast time requirement of control and fitting seat, are not limited to diagram quantity.
The profile of locking lever 5 and locking shelves pin 6 and material are not limited to shape shown according to spatial requirement and requirement of strength selection.
As shown in Figure 4, expansion arm 4 of the present invention rotate in place after the locking, form planar pair flat pair for the plane between the locking shelves pin pin 6 of locking framework and the locking lever 5, locking shelves pin 6 power that impose on locking lever 5 are F2, be revolute pair between centre of expansion axle 1 and expansion arm 4 attachment holes, the centre of expansion axle imposes on the power of launching arm can be decomposed into Fx, Fy.Launch arm 4 internal gear Surface of action and also forming a planar pair flat pair under the effect of the thrust of power source and between the final-stage gear 2 of drive amplification train, it is F1 that final stage drive amplification train 2 imposes on the power of launching arm 4, three kinds of kinematic pair are at the triangle that is distributed as in space, therefore so that launch the stress sealing of arm, has stable structure rigidity, therefore there is not location error when causing putting in place state because of the intrinsic gap of mechanism, has the higher repeatability precision that puts in place.
The above; only be the embodiment of the best of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
The content that is not described in detail in the specification of the present invention belongs to related domain professional and technical personnel's known technology.
Claims (3)
1. an one dimension development mechanism is characterized in that: comprise center train (1), drive amplification train, expansion arm (4), locking lever (5), locking shelves pin (6) and a fitting seat (10); Center train (1) comprises central shaft, central shaft be connected arm (4) and connect by bearing, can relatively rotate; Drive amplification train, locking shelves pins (6) are installed on the fitting seat (10); Locking lever (5) is installed in and launches on the arm (4); The driving force of driving source output is applied to central gear and fastens, the moving drive amplification train of central gear frenulum is amplified driving force, final-stage gear (2) by the drive amplification train is applied to expansion arm (4) with the internal gear engagement that launches arm (4) with driving force again, promote to launch arm (4) and locking lever (5) rotation, position-limiting action limitation lock fixed pole (5) by locking shelves pins (6) is rotated further, the locking so that the expansion arm rotate in place; After expansion arm (4) puts in place and locks, form the first planar pair flat pair for the plane between the locking lever of locking framework (5) and the locking shelves pins (6); Be revolute pair between central shaft and the expansion arm; The internal gear Surface of action that launches arm (4) and driving force are amplified between the final-stage gear (2) of train and form the second planar pair flat pair under the effects of driving source thrust-drag margin, the active force that the first planar pair flat pair, the second planar pair flat pair, revolute pair are applied to expansion arm (4) spatially be distributed as a triangle.
2. a kind of one dimension development mechanism according to claim 1, it is characterized in that: described drive amplification train comprises two gears.
3. a kind of one dimension development mechanism according to claim 1 is characterized in that: described one dimension development mechanism also comprises the control speed train (7-9,11-12) that is installed on the fitting seat (10), ride wheel (13) and balance wheel (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310210036.8A CN103322148B (en) | 2013-05-30 | 2013-05-30 | A kind of one dimension development mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310210036.8A CN103322148B (en) | 2013-05-30 | 2013-05-30 | A kind of one dimension development mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103322148A true CN103322148A (en) | 2013-09-25 |
| CN103322148B CN103322148B (en) | 2015-09-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310210036.8A Active CN103322148B (en) | 2013-05-30 | 2013-05-30 | A kind of one dimension development mechanism |
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| Country | Link |
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| CN (1) | CN103322148B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH254907A (en) * | 1947-04-17 | 1948-05-31 | Frener Max | Device for eliminating the dead gear during the transmission of motion by means of a toothed pinion and a toothed segment or a toothed rack. |
| JPH09318863A (en) * | 1996-05-30 | 1997-12-12 | Minolta Co Ltd | Photographic optical device |
| CN1579835A (en) * | 2003-07-31 | 2005-02-16 | 株式会社利富高 | Damper device |
| CN201173277Y (en) * | 2008-02-03 | 2008-12-31 | 信华精机有限公司 | Gear drive turning plate device |
| CN101586646A (en) * | 2009-05-29 | 2009-11-25 | 马燕翔 | Gear rack reciprocating motion mechanism and engine thereof |
| CN101925444A (en) * | 2008-01-22 | 2010-12-22 | 松下电器产业株式会社 | Robot arm |
-
2013
- 2013-05-30 CN CN201310210036.8A patent/CN103322148B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH254907A (en) * | 1947-04-17 | 1948-05-31 | Frener Max | Device for eliminating the dead gear during the transmission of motion by means of a toothed pinion and a toothed segment or a toothed rack. |
| JPH09318863A (en) * | 1996-05-30 | 1997-12-12 | Minolta Co Ltd | Photographic optical device |
| CN1579835A (en) * | 2003-07-31 | 2005-02-16 | 株式会社利富高 | Damper device |
| CN101925444A (en) * | 2008-01-22 | 2010-12-22 | 松下电器产业株式会社 | Robot arm |
| CN201173277Y (en) * | 2008-02-03 | 2008-12-31 | 信华精机有限公司 | Gear drive turning plate device |
| CN101586646A (en) * | 2009-05-29 | 2009-11-25 | 马燕翔 | Gear rack reciprocating motion mechanism and engine thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103322148B (en) | 2015-09-23 |
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