CN105083406A

CN105083406A - Magnetic composite spherical hinge-based five-cell mechanism

Info

Publication number: CN105083406A
Application number: CN201510357532.5A
Authority: CN
Inventors: 姚燕安; 王志瑞; 李锐明
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2015-06-25
Filing date: 2015-06-25
Publication date: 2015-11-25
Anticipated expiration: 2035-06-25
Also published as: CN105083406B

Abstract

The invention relates to a magnetic composite spherical hinge-based five-cell mechanism. The mechanism comprises first, second, third, fourth and fifth spherical hinges (1, 2, 3, 4 and 5) which are identical and first, second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth telescopic rods (6, 7, 8, 9, 10, 11, 12, 13, 14 and 15) which are identical, and thus the space five-cell mechanism is formed. The mechanism can run through a plane defined by the rest three composite spherical hinges to complete one time of run-through movement along any two composite spherical hinges, the process is endlessly repeated, and thus the mechanism can perform continuous movements under the condition of the active telescopic rods. The magnetic composite spherical hinge-based five-cell mechanism can provide understanding of geometric shapes and mobile mechanisms for primary and middle school students, can be used for manufacturing mechanism teaching tools, toys, and can also be used for manufacturing military detecting robots.

Description

A kind of five cell space mechanisms based on magnetic coupling ball pivot

Technical field

The present invention relates to a kind of five cell space mechanisms, is a kind of compound spherical hinge connected based on magnetic concretely, and based on the one five cell space mechanism that this builds.

Background technology

Spherical hinge structure is various informative, be usually used in two components and there are three situations in relative rotation, because relative motion situation is comparatively complicated, so be connected to same point realizing the junction of many rod members, and realize each rod member the Design of Mechanical Structure that connects of ball pivot is actually rare each other mutually simultaneously.Spatial linkage, compact conformation, utilize self structure to be out of shape, mode of motion is various.

Chinese patent CN203035739U discloses one " ball pivot assembly ", which proposes a kind of two bar spherical hinge connecting structures for motor turning.This organization plan is simple, adds the dust boot with rigidity draw-in groove and rigidity fastening support, increases dust boot service life.But this structure is only limitted to two bars to be connected with ball pivot form, and between its two bar, range of relative motion is less.

Chinese patent CN101973319A discloses one " rolling hexahedral walking mechanism ", which proposes a kind of hexahedron travel mechanism of walking of rolling.This mechanism is made up of 4 side chains and 2 cross roves, and each cross rod is connected with one end of four side chains respectively, and is driven by 2 motors, but this deformation is less.

Summary of the invention

The problem to be solved in the present invention is to provide one and is connected to a bit with ball pivot junction for many rod members, and provides the connection mode of grand movement; And based on this, construct a kind of five cell space mechanisms.

Technical scheme of the present invention:

Based on five cell space mechanisms of magnetic coupling ball pivot, this mechanism comprises: the identical first to the 5th compound spherical hinge and the identical first to the tenth expansion link.

First compound spherical hinge comprises hollow iron ball, two identical class joints, two identical two class joints; One class joint and two class joints by magnetic-adsorption in hollow iron ball surface; Second to the 5th compound spherical hinge is identical with the first compound spherical hinge connection mode.

One class joint comprises: little end connection, cylindrical magnet, sleeve, ball; Annexation is: cylindrical magnet is positioned over sleeve ends, and in the middle part of sleeve mounting screw in tapped bore, in order to cylindrical magnet is fixed on sleeve ends; Little end connection is screwed in sleeve ends tapped bore, and makes little end connection connecting bore one end outwardly; Ball by magnetic-adsorption between sleeve and hollow iron ball.

Two class joints comprise: though-hole connections, cylindrical magnet, sleeve, ball; Two class joint connection manners are identical with a class joint annexation, and though-hole connections and sleeve are fixed, and aperture one end outwardly.

The annexation of the first expansion link and a class joint and two class joints is: the first expansion link small end inserts the little end connection of a class joint, realizes being connected; The though-hole connections of large end and two class joints is connected by screw; Second to the tenth expansion link is identical with the connection mode of two class joints with a class joint with the first expansion link with corresponding joint connection manner.

The present invention compares the beneficial effect had with prior art:

The present invention utilizes magnetic ball pivot to construct one to have the five cell space mechanisms of self passing through motion.Magnetic coupling ball pivot of the present invention, achieves many rod members and is connected to a bit with ball pivot junction, and realizes rod member free motion on a large scale each other on this basis, and structure is simple, connects provide a kind of actv. solution to the junction of many rod members.Meanwhile, the five cell space mechanisms constructed based on this benefit from the characteristic of compound spherical hinge, and what achieve a kind of solid figure mechanism self passes through motion.For students in middle and primary schools provide the understanding to geometrical body and travel mechanism, can be used for manufacturing mechanism teaching aid, toy, also can be used for making military.

Accompanying drawing explanation

Fig. 1 five cell space whole mechanism graphics;

Fig. 2 compound spherical hinge graphics;

Fig. 3 mono-class joint and two class joint explosive views;

Fig. 4 mono-class joint inner connecting way schematic diagram;

Fig. 5 sleeve cutaway view;

The little end connection cutaway view of Fig. 6;

Fig. 7 though-hole connections cutaway view;

Fig. 8 expansion link graphics;

Fig. 9 passes through motion gait sequential schematic;

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.

A kind of five cell space mechanisms based on magnetic coupling ball pivot, as shown in Figure 1, five cell space mechanisms comprise: the identical first to the 5th compound spherical hinge the 1,2,3,4,5 and identical first to the tenth expansion link 6,7,8,9,10,11,12,13,14,15.

As shown in Figure 2, each compound spherical hinge comprises hollow iron ball 1-1, two identical class joint 1-2, two identical two class joint 1-3; One class joint 1-2 and two class joint 1-3 is surperficial in hollow iron ball 1-1 by magnetic-adsorption; Second to the 5th compound spherical hinge 2,3,4,5 is identical with the first compound spherical hinge 1 connection mode.

As shown in Figure 3, a class joint 1-2 comprises: little end connection 1-2-1, cylindrical magnet 1-2-2, sleeve 1-2-3, ball 1-2-4; As shown in Figure 4, annexation is: cylindrical magnet 1-2-2 is positioned over sleeve 1-2-3 end, and in the middle part of sleeve 1-2-3 mounting screw in tapped bore 1-2-3-b, in order to cylindrical magnet 1-2-2 is fixed on sleeve 1-2-3 end; Little end connection 1-2-1 is screwed in sleeve 1-2-3 end thread hole 1-2-3-a, and makes little end connection 1-2-1 connecting bore one end outwardly; Ball 1-2-4 by magnetic-adsorption between sleeve 1-2-3 and hollow iron ball 1-1.

Two class joint 1-3 comprise: though-hole connections 1-3-1, cylindrical magnet 1-2-2, sleeve 1-2-3, ball 1-2-4; Two class joint 1-3 connection modes are identical with a class joint 1-2 annexation, and though-hole connections 1-3-1 and sleeve 1-2-3 fixes, and aperture one end outwardly.

The annexation of the first expansion link 6 and a class joint 1-2 and two class joint 1-3 is: the first expansion link 6 small end inserts the little end connection 1-2-1 of a class joint 1-2, realizes being connected; The though-hole connections 1-3-1 of large end and two class joint 1-3 is connected by screw; Second to the tenth expansion link 7,8,9,10,11,12,13,14,15 is identical with the connection mode of two class joint 1-3 with a class joint 1-2 with the first expansion link 6 with corresponding joint connection manner.

After first to the tenth expansion link is connected to first the 5th compound spherical hinge, then form five cell space mechanisms as shown in Figure 1.

When mechanism's initial configuration as shown in Figure 1, keep the mutual alignment between the first compound spherical hinge 1 and the 3rd compound spherical hinge 3 constant, make the first compound spherical hinge 1, the 3rd compound spherical hinge 3 and the first expansion link 6 entirety perpendicular to the second compound spherical hinge 2, the 4th compound spherical hinge 4 and the 5th compound spherical hinge 5 form the direction of plane, to planar movement, as illustrated in fig. 9.And progressively experiencing the 3rd compound spherical hinge 3 and described co-planar, Fig. 9 b, the 3rd compound spherical hinge 3 entirety are through described plane, and Fig. 9 c, the first compound spherical hinge 1 and described co-planar, Fig. 9 d, the first compound spherical hinge 1 entirety pass described plane, Fig. 9 e.After completing a circulation shown in Fig. 9, we say that five cell space mechanisms complete and once pass through motion.Five cell space mechanisms can pass through another three planes that compound spherical hinge is formed and complete once to pass through and move along any two compound spherical hinge directions, this process is infinite loop, be also realize mechanism when expansion link be initiatively, complete the basis of motion continuously.

Claims

1. based on five cell space mechanisms of magnetic coupling ball pivot, it is characterized in that: five cell space mechanisms comprise the identical first to the 5th compound spherical hinge (1,2,3,4,5) and the identical first to the tenth expansion link (6,7,8,9,10,11,12,13,14,15);

First compound spherical hinge (1) comprises hollow iron ball (1-1), two identical class joints (1-2), two identical two class joints (1-3); One class joint (1-2) and two class joints (1-3) by magnetic-adsorption in hollow iron ball (1-1) surface; Second to the 5th compound spherical hinge (2,3,4,5) is identical with the first compound spherical hinge (1) connection mode;

One class joint (1-2) comprising: little end connection (1-2-1), cylindrical magnet (1-2-2), sleeve (1-2-3), ball (1-2-4); Annexation is: cylindrical magnet (1-2-2) is positioned over sleeve (1-2-3) end, and in sleeve (1-2-3) middle part tapped bore (1-2-3-b) mounting screw, in order to cylindrical magnet (1-2-2) is fixed on sleeve (1-2-3) end; Little end connection (1-2-1) is screwed in sleeve (1-2-3) end thread hole (1-2-3-a), and makes little end connection (1-2-1) connecting bore one end outwardly; Ball (1-2-4) by magnetic-adsorption between sleeve (1-2-3) and hollow iron ball (1-1);

Two class joints (1-3) comprising: though-hole connections (1-3-1), cylindrical magnet (1-2-2), sleeve (1-2-3), ball (1-2-4); Two class joint (1-3) connection modes are identical with class joint (1-2) annexation, and though-hole connections (1-3-1) is fixed with sleeve (1-2-3), and aperture one end outwardly;

First expansion link (6) with the annexation of a class joint (1-2) and two class joints (1-3) is: the first expansion link (6) small end inserts the little end connection (1-2-1) of a class joint (1-2), realizes being connected; The though-hole connections (1-3-1) of large end and two class joints (1-3) is connected by screw; Second to the tenth expansion link (7,8,9,10,11,12,13,14,15) is identical with the connection mode of two class joints (1-3) with a class joint (1-2) with the first expansion link (6) with corresponding joint connection manner.