CN106355990A - Planar five-bar mechanism demonstration instrument with two degrees of freedom - Google Patents
Planar five-bar mechanism demonstration instrument with two degrees of freedom Download PDFInfo
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- CN106355990A CN106355990A CN201610953900.7A CN201610953900A CN106355990A CN 106355990 A CN106355990 A CN 106355990A CN 201610953900 A CN201610953900 A CN 201610953900A CN 106355990 A CN106355990 A CN 106355990A
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- lifting
- steering wheel
- driving
- rubbing head
- rod
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Transmission Devices (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a planar five-bar mechanism demonstration instrument with two degrees of freedom. The planar five-bar mechanism demonstration instrument comprises a rack base, a control mechanism, a writing board, a five-bar mechanism for fixing a painting tool, a driving mechanism for driving the five-bar mechanism to act and a lifting mechanism for lifting the five-bar mechanism, wherein the control mechanism is respectively connected with the driving mechanism and the lifting mechanism; the writing board is arranged on the rack base; the driving mechanism comprises a driving actuator and a driving actuator bracket; the driving actuator is fixed on the driving actuator bracket and is in transmission connection with the five-bar mechanism; the driving actuator bracket is hinged with the rack base; and the lifting mechanism is arranged on the rack base, and is in transmission connection with the driving mechanism to drive the driving mechanism to swing and control the lifting and falling of the five-bar mechanism. Compared with the prior art, the planar five-bar mechanism demonstration instrument has the advantages of lightweight framework, free programming, strong operability and expansibility and the like.
Description
Technical field
The invention belongs to parallel unit mechanism, especially relate to a kind of double freedom planar five-bar mechanism demonstrator.
Background technology
Parallel unit mechanism is a kind of more new mechanism, and its advantage is to improve the very difficult breakthrough of tandem mechanism
Some basic restrictions, are supplement and the expansion of serial mechanism.Although the research history of existing 80 years of parallel institution, early stage
Research is then concentrated mainly in the research of six degree of freedom, and until the eighties in last century, scholar's lower-mobility that just begins one's study is in parallel
Mechanism, and propose the configuration of some methodology of novel parallel mechanisms so that parallel institution Market Orientation is increased.As can be seen here,
Also in the starting stage, its researching value is higher for the research and development of parallel institution.And in the teaching of plane parallel mechanism, double freedom
Planar five-bar mechanism is a kind of parallel institution the most basic, is the basis of parallel institution teaching, but due to double freedom plane
The analysis of five-rod is complex, and on market, corresponding dynamic demonstration teaching aid is very deficient, leads to teacher in such machine
Movement locus and the forms of motion of this mechanism in the teaching of structure, can only be illustrated by simple explanation and image data, so
Student is not only more difficult, also affects enthusiasm and the creativeness of their study.
Content of the invention
The purpose of the present invention be exactly provide to overcome the defect that above-mentioned prior art exists that a kind of framework is light, can from
By programming, operability and the strong double freedom planar five-bar mechanism demonstrator of expansibility.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of double freedom planar five-bar mechanism demonstrator, including gantry base, controlling organization, board, is used for fixing
Apply the five-rod of painting tool, be used for driving the drive mechanism of five-rod action and the lifting machine for lifting five-rod
Structure, described controlling organization is connected with drive mechanism and lifting mechanism respectively, and described board is arranged in gantry base, institute
The drive mechanism stated includes driving steering wheel and drives steering wheel support, and described driving steering wheel is fixed on driving steering wheel support, and
It is in transmission connection with five-rod, described driving steering wheel support is hinged with gantry base, and described lifting mechanism is arranged on frame
On base, and by being in transmission connection with drive mechanism, drive drive mechanism to swing, control the lifting of five-rod.
As preferred technical scheme, described driving steering wheel is provided with two, is disposed in parallel on driving steering wheel support, institute
The five-rod stated includes the first hinged successively former dynamic connecting rod, the first follower link, the second follower link and the second former dynamic company
Bar, the free end of the first former dynamic connecting rod and the second former dynamic connecting rod is connected with the output shaft of two driving steering wheels respectively, and first is driven
Connecting rod or the second follower link stretch out in the junction of the first follower link and the second follower link, form extension, institute
The extension stated is provided with for the fixing holder applying painting tool.
As preferred technical scheme, described holder is the jack for being connected by interference with painting painting tool.
As preferred technical scheme, described lifting mechanism includes lifting steering wheel, lifting steering wheel rocking arm and lifting connecting rod,
One end of described lifting steering wheel rocking arm is arranged in the drive shaft of lifting steering wheel, and the driving lower swing in lifting steering wheel, lift
The other end, lifting connecting rod and the driving steering wheel support that rise steering wheel rocking arm are articulated and connected successively.
As preferred technical scheme, described controlling organization includes single-chip microcomputer and actuator driving plate, described single-chip microcomputer
It is connected by Serial Port Line with actuator driving plate, described drive mechanism and lifting mechanism are connected with actuator driving plate.
As preferred technical scheme, this demonstrator also includes wiping mechanism, and described erasing mechanism includes rubbing head and inserts
Head folder, described plug holder is arranged in gantry base, and described rubbing head is dismountable to be arranged in plug holder, and rubbing head with
Board contact connects, and rubbing head is provided with for making painting painting tool insert and dragging the hole of rubbing head movement on board.
As preferred technical scheme, described rubbing head folder is semicircular arc, positioned at one jiao of board, described rubbing head
It is to press from both sides, with rubbing head, the cylindrical rubbing head that medial surface matches.
The present invention controls drive mechanism and lifting mechanism action by controlling organization, makes to be fixed on scribbling on five-rod
Instrument track drafting on board, when needing erasing to apply the track that painting tool is drawn, lifting mechanism drives drive mechanism to swing,
Thus lifting five-rod, make painting painting tool leave board, drive mechanism drives five-rod action, so that painting painting tool is moved
To above rubbing head, lifting mechanism drives painting painting tool to fall, and applies the described hole of painting tool insertion, in the driving of drive mechanism
Under, apply painting tool and drag rubbing head disengaging rubbing head folder, and the track erasing that painting tool is drawn will be applied, wipe after finishing, by driving
Rubbing head is playbacked by mechanism and lifting mechanism.
Compared with prior art, the method have the advantages that
(1) double freedom teaching aid: present invention is mainly applied in the teaching of the linkage of colleges and universities and parallel institution, enriching
Original connecting rod teaching aid type.Student can learn the track spy of two degrees of freedom planar five-link mechanism by the understanding of its image
Property, the relevant knowledge such as range of movement.
(2) expansibility is strong: the present invention is not only only applicable to the teaching of linkage and parallel institution, and also can make
For Mechanical ＆ Electrical Transmission and Electromechanical Control, the teaching aid of the subject such as theory of mechanics, there is very strong expansibility.
(3) freely program workable: the present invention can freely program.Student can do it yourself to assemble, and writes him
The program of oneself desired guiding trajectory be conducive to exciting the creativity of student and interest, allow student in the practice writing oneself intention freely and easily
The relevant knowledge of association's double freedom five connecting rod, makes the content of experiment more diversified.
(4) light framework: present configuration is simple, very lightly.Teacher both can with laboratory using it is also possible to non-
Often readily bring in classroom and carry out education activities.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation at another visual angle of the present invention；
Fig. 3 is the decomposing schematic representation with gantry base for the lifting steering wheel of the present invention；
Fig. 4 is the decomposing schematic representation driving steering wheel and gantry base of the present invention；
Fig. 5 is the decomposing schematic representation of the five-rod of the present invention；
Fig. 6 is the second former dynamic connecting rod of the present invention and the side sectional view driving steering wheel.
In figure, 1 is the first follower link, and 2 is the second follower link, and 3 is the first former dynamic connecting rod, and 4 is the second former dynamic connecting rod,
5a, 5b, 5c are five-rod articulated elements, and 5d, 5e are to drive shaft coupling piece, and 6 is to drive steering wheel mounting bracket, and 7 is to drive steering wheel
Pad is installed, 8a, 8b, 8c, 8d are to drive steering wheel securing member, 9 is the first secondary lifting support, lifting support based on 10,11 is the
Second mate's lifting support, 12 is the first driving steering wheel, and 13 is the second driving steering wheel, and 14 is board, and 15 is front panel, and 16 is rubbing head
Folder, 17 is rubbing head, and 18a, 18b, 18c, 18d are drive mechanism articulated elements, and 19 is the first secondary connecting seat, connecting seat based on 20,21
For the second secondary connecting seat, 22 install pad for lifting steering wheel, and 23 is lifting steering wheel, and 24a, 24b are lifting steering wheel securing member, and 25 are
Lifting steering wheel rocking arm, 26 is hinged screw, and 27 is lifting connecting rod, and 28 is marking pen.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of double freedom planar five-bar mechanism demonstrator, as shown in Fig. 1～2, including gantry base, controlling organization, writes
Letter stencil, erasing mechanism, for fixing apply the five-rod of painting tool, for driving the drive mechanism of five-rod action and being used for
The lifting mechanism of lifting five-rod, controlling organization is connected with drive mechanism and lifting mechanism respectively, and board is arranged on frame
On base, drive mechanism includes driving steering wheel and drives steering wheel support, drives steering wheel to be fixed on driving steering wheel support, and with five
Linkage is in transmission connection, drive steering wheel support hinged with gantry base, lifting mechanism is arranged in gantry base, and by with drive
Motivation structure is in transmission connection, and drives drive mechanism to swing, controls the lifting of five-rod.
Wherein, drive steering wheel to be provided with two, be disposed in parallel on driving steering wheel support, five-rod includes hinged successively
First former dynamic connecting rod, the first follower link, the second follower link and the second former dynamic connecting rod, the first former dynamic connecting rod and the second former dynamic company
The free end of bar is connected with the output shaft of two driving steering wheels respectively, and the first follower link or the second follower link are driven first
The junction of connecting rod and the second follower link stretches out, and forms extension, and extension is provided with for fixing painting painting tool
Holder, this holder is the jack for being connected by interference with painting painting tool.Lifting mechanism includes lifting steering wheel, lifting rudder
Machine rocking arm and lifting connecting rod, one end of lifting steering wheel rocking arm is arranged in the drive shaft of lifting steering wheel, and the drive in lifting steering wheel
Dynamic lower swing, the other end of lifting steering wheel rocking arm, lifting connecting rod and driving steering wheel support are articulated and connected successively.Erasing mechanism includes
Rubbing head and plug holder, plug holder is arranged in gantry base, and rubbing head is dismountable to be arranged in plug holder, and rubbing head with write
Plate contact connects, and rubbing head is provided with for making painting painting tool insert and dragging the hole of rubbing head movement on board, and rubbing head is pressed from both sides
Semicircular arc, positioned at one jiao of board, rubbing head is to press from both sides, with rubbing head, the cylindrical rubbing head that medial surface matches.Controlling organization bag
Include single-chip microcomputer and actuator driving plate, single-chip microcomputer is connected by Serial Port Line with actuator driving plate, drive mechanism and lifting mechanism and rudder
Machine driving plate connects.
Specifically:
As shown in figures 1-4, the gantry base of the present embodiment is by the first secondary connecting seat 19, the secondary connection of main connecting seat 20, second
Seat 21 is parallel to each other and passes sequentially through front panel 15 bonding connection composition；The bonding of board 14 level is arranged on gantry base upper table
Face；Rubbing head folder 16 level bonds on plate 15 forward-mounted, and rubbing head 17 is clamped in rubbing head folder 16 and forms erasing apparatus.Drive
Steering wheel mounting bracket 6 with drive steering wheel that pad 7 bonding is installed to be connected, the secondary lifting support 11 of the first secondary lifting support 9, second and master
Lifting support 10 passes sequentially through steering wheel mounting bracket 6 and drives steering wheel installation pad 7 bonding connection composition to drive steering wheel support, and
Hinged with gantry base by drive mechanism articulated elements (18a, 8b, 18c), wherein drive mechanism articulated elements (18a, 18b, 18c)
Including the hinged screw of drive mechanism (18a1,18b1,18c1) and the hinged stop nut of drive mechanism (18a2,18b2,18c2)；Two
Individual driving steering wheel (first drives steering wheel 12 and the second driving steering wheel 13) is by driving steering wheel securing member (8a, 8b, 8c, 8d) fastening
Be installed on driving steering wheel support on, wherein drive steering wheel securing member (8a, 8b, 8c, 8d) include drive steering wheel fastening screw (8a1,
8b1,8c1,8d1) and drive steering wheel clamp nut (8a2,8b2,8c2,8d2).Lifting steering wheel is installed pad 22 and is bonded in main company
On joint chair 20, lifting steering wheel 23 is securedly mounted on main connecting seat 20 by lifting steering wheel securing member (24a, 24b)；Lifting connecting rod
27 by hinged screw 26 and articulated elements 18d and lifting steering wheel rocking arm 25 and the hinged composition lifting mechanism of main lifting support 10, its
Middle drive mechanism articulated elements 18d includes screw 18d1, packing ring (18d2,18d3) and stop nut 18d4；Lifting steering wheel rocking arm 25
It is arranged in the drive shaft of lifting steering wheel 23, drive shaft can drive lifting steering wheel rocking arm 25 to swing, thus driving lifting machine
Structure makes driving steering wheel support rotate relative to gantry base.First follower link 1, the second follower link 2 and the first former dynamic company
Bar 3 and the second former dynamic connecting rod 4 pass through the hinged composition five-rod of five-rod articulated elements (5a, 5b, 5c), as shown in figure 5, wherein
Five-rod articulated elements (5a, 5b, 5c) includes the hinged screw of five-rod (5a1,5b1,5c1) and the hinged locking spiral shell of five-rod
Female (5a2,5b2,5c2).Sectional view as shown in Figure 6 all pressed by five-rod first former dynamic connecting rod 3 and the second former dynamic connecting rod 4
Shown matching relationship passes through the driving driving shaft coupling piece (5d, 5e) to drive steering wheel 12 and the second driving steering wheel 13 respectively with first
Axle is fastenedly connected, and wherein drives shaft coupling piece (5d, 5e) to include drive shaft connecting screw (5d1,5d2,5e1,5e2) and drive rudder
Machine rocking arm (5d3,5e3), drive shaft can drive two former levers to swing.
After three steering wheels complete angle calibration system, you can painting tool marking pen 28 will be applied and be located at by interference fit insertion
In the installing hole of the first follower link 1.
In field research, three road servos control lines of double freedom planar five-bar mechanism demonstrator may be connected to monolithic
Machine, pre-set programs is imported after single-chip microcomputer, this mechanism can complete to the drafting of desired guiding trajectory point and erasing move in program.Its
In, the lifting action of five-rod drives lifting mechanism to complete by lifting steering wheel 22；During track drafting, two drive steering wheel respectively
Drive two former dynamic connecting rods, thus being further driven to two follower link, the marking pen 28 being arranged in the first follower link 1 can
Corresponding track is drawn out on board 14；During erasing, two steering wheel work, make the hole of the nib insertion rubbing head 17 of marking pen 28
In, rubbing head 17 is hauled out rubbing head folder 16 and after completing to wipe by desired guiding trajectory, rubbing head 17 playbacks in rubbing head folder 16.
The principle of the present embodiment:
Mechanical structure portion includes: gantry base, board, driving steering wheel support, driving steering wheel, lifting mechanism, lifting
Steering wheel, five-rod, erasing apparatus, single-chip microcomputer, actuator driving plate.Described board is horizontally arranged in gantry base；Erasing
Rubbing head folder in device is also horizontally arranged in gantry base, and rubbing head is placed in rubbing head folder；Drive steering wheel support and gantry base
Hinged by screw and nut, drive steering wheel to be securedly mounted to drive on steering wheel support by screw and nut；Lifting steering wheel passes through spiral shell
Silk nut is securedly mounted in gantry base, and lifting connecting rod is shaken with driving steering wheel with lifting steering wheel rocking arm respectively by screw and nut
Arm is hinged；Five-rod includes two former dynamic connecting rods, two follower link, the former dynamic connecting rod of two of which and two follower link it
Between hinged by screw and nut, two former dynamic connecting rods drive steering wheel rocking arms to be tightly connected with two respectively；Marking pen
(the present embodiment is the first follower link 1) is arranged in one of five-rod follower link by interference fit.
Electronic control part includes single-chip microcomputer and actuator driving plate.Single-chip microcomputer is connected by Serial Port Line with actuator driving plate,
The control line of three steering wheels is connected in driving plate.Wherein single-chip microcomputer the tracing point of five-rod is carried out anti-solution obtain drive rudder
Machine and the location parameter of lifting steering wheel, and sent location parameter to actuator driving plate by serial ports, actuator driving plate then basis
Location parameter produces the control signal of three road steering wheels, thus driving three road steering wheels to run to relevant position, to make five bar machines with this
Structure completes the drafting of corresponding track or makes nib dragging rubbing head complete corresponding erasing move.
Claims (7)
1. a kind of double freedom planar five-bar mechanism demonstrator it is characterised in that include gantry base, controlling organization, board,
Apply the five-rod of painting tool, be used for driving the drive mechanism of five-rod action and for lifting five-rod for fixing
Lifting mechanism, described controlling organization is connected with drive mechanism and lifting mechanism respectively, and described board is arranged on frame ground
On seat, described drive mechanism includes driving steering wheel and drives steering wheel support, and described driving steering wheel is fixed on driving steering wheel and props up
On frame, and it is in transmission connection with five-rod, described driving steering wheel support is hinged with gantry base, described lifting mechanism is arranged
In gantry base, and by being in transmission connection with drive mechanism, drive drive mechanism to swing, control the lifting of five-rod.
2. a kind of double freedom planar five-bar mechanism demonstrator according to claim 1 is it is characterised in that described driving
Steering wheel is provided with two, is disposed in parallel on driving steering wheel support, described five-rod includes the first hinged successively former dynamic company
Bar, the first follower link, the second follower link and the second former dynamic connecting rod, the free end of the first former dynamic connecting rod and the second former dynamic connecting rod
It is connected with the output shaft of two driving steering wheels respectively, the first follower link or the second follower link are in the first follower link and second
The junction of follower link stretches out, and forms extension, and described extension is provided with for the fixing fixation applying painting tool
Device.
3. a kind of double freedom planar five-bar mechanism demonstrator according to claim 2 is it is characterised in that described fixation
Device is the jack for being connected by interference with painting painting tool.
4. a kind of double freedom planar five-bar mechanism demonstrator according to claim 1 is it is characterised in that described lifting
Mechanism includes lifting steering wheel, lifting steering wheel rocking arm and lifting connecting rod, and one end of described lifting steering wheel rocking arm is arranged on elevator
In the drive shaft of machine, and the driving lower swing in lifting steering wheel, the other end of lifting steering wheel rocking arm, lifting connecting rod and driving steering wheel
Support is articulated and connected successively.
5. a kind of double freedom planar five-bar mechanism demonstrator according to claim 1 is it is characterised in that described control
Mechanism includes single-chip microcomputer and actuator driving plate, and described single-chip microcomputer is connected by Serial Port Line with actuator driving plate, described driving
Mechanism and lifting mechanism are connected with actuator driving plate.
6. a kind of double freedom planar five-bar mechanism demonstrator according to claim 1 it is characterised in that this demonstrator also
Including erasing mechanism, described erasing mechanism includes rubbing head and plug holder, and described plug holder is arranged in gantry base, described
Rubbing head dismountable be arranged in plug holder, and rubbing head contacts connection with board, and rubbing head is provided with for making Tu painter
Tool inserts and drags the hole of rubbing head movement on board.
7. a kind of double freedom planar five-bar mechanism demonstrator according to claim 6 is it is characterised in that described rubbing head
Folder is semicircular arc, and positioned at one jiao of board, described rubbing head is to press from both sides, with rubbing head, the cylindrical rubbing head that medial surface matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953900.7A CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953900.7A CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106355990A true CN106355990A (en) | 2017-01-25 |
| CN106355990B CN106355990B (en) | 2023-05-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610953900.7A Active CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Country Status (1)
| Country | Link |
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| CN (1) | CN106355990B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
| CN108437663A (en) * | 2018-06-11 | 2018-08-24 | 深圳市盖范教育科技有限公司 | A kind of mechanical arm drawing mechanism |
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
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| WO2003055653A1 (en) * | 2001-12-31 | 2003-07-10 | Tianjin University | Planar parallel robot mechanism with two translational degrees of freedom |
| CN203746335U (en) * | 2014-01-13 | 2014-07-30 | 浙江水利水电学院 | Dynamic controllable hinge four-bar mechanism teaching aid |
| CN204516170U (en) * | 2015-02-13 | 2015-07-29 | 付琛 | A kind of resultant motion track demo platform of multi-configuration plane mechanism point |
| CN206322412U (en) * | 2016-10-27 | 2017-07-11 | 上海建桥学院 | A kind of double freedom planar five-bar mechanism demonstrator |
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2016
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| WO2003055653A1 (en) * | 2001-12-31 | 2003-07-10 | Tianjin University | Planar parallel robot mechanism with two translational degrees of freedom |
| CN203746335U (en) * | 2014-01-13 | 2014-07-30 | 浙江水利水电学院 | Dynamic controllable hinge four-bar mechanism teaching aid |
| CN204516170U (en) * | 2015-02-13 | 2015-07-29 | 付琛 | A kind of resultant motion track demo platform of multi-configuration plane mechanism point |
| CN206322412U (en) * | 2016-10-27 | 2017-07-11 | 上海建桥学院 | A kind of double freedom planar five-bar mechanism demonstrator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
| CN108437663A (en) * | 2018-06-11 | 2018-08-24 | 深圳市盖范教育科技有限公司 | A kind of mechanical arm drawing mechanism |
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
| CN108748096B (en) * | 2018-06-11 | 2020-06-02 | 深圳市小怪兽教育科技有限公司 | Drawing mechanical arm and control system thereof |
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| Publication number | Publication date |
|---|---|
| CN106355990B (en) | 2023-05-02 |
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