CN108000508B - Motion adjusting device - Google Patents
Motion adjusting device Download PDFInfo
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- CN108000508B CN108000508B CN201810074626.5A CN201810074626A CN108000508B CN 108000508 B CN108000508 B CN 108000508B CN 201810074626 A CN201810074626 A CN 201810074626A CN 108000508 B CN108000508 B CN 108000508B
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- sliding rail
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- motion
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- 230000033001 locomotion Effects 0.000 title claims abstract description 136
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims 2
- 230000000875 corresponding effect Effects 0.000 description 40
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000007849 functional defect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a motion adjusting device which comprises a connecting piece, a first plane motion pair and a second plane motion pair, wherein the connecting piece is fixedly connected between a movable part of the first plane motion pair and a movable part of the second plane motion pair; the motion plane of the first plane motion pair and the motion plane of the second plane motion pair are intersected. Compared with the existing motion adjusting device, the device does not need to use more mechanical equipment and mechanical connection, so that the device is simpler in structure, more convenient to operate and more environment-friendly, and can realize multi-degree-of-freedom steering.
Description
Technical Field
The invention relates to the technical field of motion regulation, in particular to a motion regulating device.
Background
The motion adjusting device has a wider application range, and can be generally used for equipment such as robots, machining and the like, and the existing motion adjusting device has the technical problems of narrower motion adjusting range, more complex operation of the motion adjusting device and the like, so that the corresponding equipment using the motion adjusting device has larger functional defects in the motion adjusting direction.
Disclosure of Invention
The invention provides a motion adjusting device which is used for solving the problems in the prior art: the existing motion adjusting range is narrow, and the operation difficulty of the motion adjusting device is high.
In order to solve the technical problems, the invention is realized by the following technical scheme: the device comprises a connecting piece, a first plane kinematic pair and a second plane kinematic pair, wherein the connecting piece is fixedly connected between a movable part of the first plane kinematic pair and a movable part of the second plane kinematic pair; the motion plane of the first plane motion pair and the motion plane of the second plane motion pair are intersected.
In order to better realize the invention, the first plane kinematic pair further comprises a first sliding rail and a first sliding block which is slidably matched with the first sliding rail, the second plane kinematic pair comprises a second sliding rail and a second sliding block which is slidably matched with the second sliding rail, and the connecting piece is fixedly connected between the first sliding block and the second sliding block.
In order to better realize the invention, further, the motion adjusting device further comprises a base, and the ends of the first sliding rail and the second sliding rail are hinged to the base;
the first sliding rail and the second sliding rail are arc-shaped rails, the rotation axis of the first sliding rail is located on the plane where the arc corresponding to the first sliding rail is located, the rotation axis of the second sliding rail is located on the plane where the arc corresponding to the second sliding rail is located, and the circle center of the arc corresponding to the first sliding rail is overlapped with the circle center of the arc corresponding to the second sliding rail.
In order to better realize the invention, further, the ratio of the arc length of the arc corresponding to the first sliding rail to the circumference of the circle corresponding to the first sliding rail is 1:2, and the ratio of the arc length of the arc corresponding to the second sliding rail to the circumference of the circle corresponding to the second sliding rail is 1:2.
In order to better realize the invention, the ratio of the radius of the largest arc corresponding to the first sliding rail to the radius of the smallest arc corresponding to the second sliding rail is 1:0.5-0.98.
In order to better realize the invention, the motion adjusting device further comprises a driving mechanism, wherein the driving mechanism is arranged on the base, and the driving mechanism is in transmission connection with the first sliding rail and the second sliding rail, so that the first sliding rail rotates along the rotation axis of the first sliding rail, and the second sliding rail rotates along the rotation axis of the second sliding rail.
In order to better realize the invention, further, the two ends of the first sliding rail are provided with first connecting lugs, the two ends of the second sliding rail are provided with second connecting lugs, the axial lead of the first connecting lugs is overlapped with the tangent line of the end part of the first sliding rail, and the axial lead of the second connecting lugs is overlapped with the tangent line of the end part of the second sliding rail;
the motion adjusting device further comprises a driving mechanism, wherein the driving mechanism is in transmission connection with the first connecting lug and the second connecting lug, so that the first sliding rail rotates along the rotation axis of the first sliding rail, and the second sliding rail rotates along the rotation axis of the second sliding rail.
In order to better realize the invention, further, the first sliding block is slidably sleeved on the first sliding rail, and the second sliding block is slidably sleeved on the second sliding rail.
In order to better realize the invention, the motion adjusting device further comprises a base, a first guide rail and a second guide rail, wherein the first guide rail and the second guide rail are arranged on the base, the first guide rail is parallel to the second slide rail, and the second guide rail is parallel to the first slide rail; the first sliding rail is slidably matched with the first guide rail so that the first sliding rail can move along the extending direction of the second sliding rail; the second sliding rail is slidably matched with the second guide rail, so that the second sliding rail can move along the extending direction of the first sliding rail.
In order to better realize the invention, further, the motion plane of the first plane motion pair is vertical to the motion plane of the second plane motion pair.
Compared with the prior art, the invention has the following advantages:
at present, the motion adjusting device has serious defects in motion adjusting steering, such as narrow adjusting steering range, such as being capable of adjusting steering only in horizontal or vertical directions and not capable of adjusting steering with multiple degrees of freedom; in particular to a motion adjusting device for an underwater robot, the existing underwater robot controls the heading by adding a propulsion system, but the structure of the robot becomes more complex due to the addition of the propulsion system, which is not beneficial to navigation. In addition, after the propulsion system is added, correspondingly, more steering engines are added, so that the energy consumption of the underwater robot is relatively high, and the environment protection is not facilitated.
In order to solve the technical problems, the invention is provided with the first plane kinematic pair and the second plane kinematic pair, the movable part of the first plane kinematic pair is connected with the movable part of the second plane kinematic pair through the connecting piece, and the movement plane of the first plane kinematic pair is intersected with the movement plane of the second plane kinematic pair, so that the connecting piece can reach the plane moved by the first plane kinematic pair and the plane moved by the second plane kinematic pair; the connecting piece can be connected with a transmission shaft, a rotating shaft or a propeller and other devices, so that the corresponding multi-degree-of-freedom steering is realized.
Compared with the existing motion adjusting device, the device does not need to use more mechanical equipment and mechanical connection, so that the structure of the device is simpler, the operation is more convenient, the steering with multiple degrees of freedom can be realized, and the device is stronger in practicability and more environment-friendly.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a first view of a motion adjustment device according to an embodiment of the present invention;
fig. 2 is a perspective view of a motion adjustment device according to an embodiment of the present invention.
Wherein: 20-a motion adjustment device; 21-a connector; 22-a first slide rail; 23-a second slide rail; 24-base; 26-a first steering engine; 27-a second steering engine; 28-propeller; 29-a first connection lug; 30-a second connecting ear.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, the terms "rotation axis", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
The terms "parallel", "perpendicular", and the like do not denote that the components are required to be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel than "perpendicular" and does not mean that the structures must be perfectly parallel, but may be slightly tilted.
The terms "horizontal", "vertical" and the like do not denote that the component is required to be absolutely horizontal or overhanging, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Furthermore, the terms "substantially," "essentially," and the like, are intended to be limited to the precise form disclosed herein and are not necessarily intended to be limiting. For example: the term "substantially parallel" does not mean absolute parallel, but is difficult to achieve in actual production and operation, and generally has a certain deviation. In other cases, the terms "substantially", "essentially" and the like are used in a similar manner to those described above unless otherwise indicated.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
a motion adjusting device 20, as shown in fig. 1 and 2, comprises a connecting piece 21, a first plane motion pair and a second plane motion pair, wherein the connecting piece 21 is fixedly connected between a movable part of the first plane motion pair and a movable part of the second plane motion pair; the motion plane of the first plane motion pair and the motion plane of the second plane motion pair are intersected.
Further, the first plane kinematic pair includes a first slide rail 22 and a first slider slidably engaged with the first slide rail 22, the second plane kinematic pair includes a second slide rail 23 and a second slider slidably engaged with the second slide rail 23, and the connecting piece 21 is fixedly connected between the first slider and the second slider.
Further, the motion adjusting device 20 further includes a base 24, and the ends of the first slide rail 22 and the second slide rail 23 are hinged to the base 24.
The first sliding rail 22 and the second sliding rail 23 are arc-shaped rails, the rotation axis of the first sliding rail 22 is located in a plane where the arc corresponding to the first sliding rail 22 is located, the rotation axis of the second sliding rail 23 is located in a plane where the arc corresponding to the second sliding rail 23 is located, and the circle center of the arc corresponding to the first sliding rail 22 is overlapped with the circle center of the arc corresponding to the second sliding rail 23.
Further, the ratio of the arc length of the arc corresponding to the first sliding rail 22 to the circumference of the circle corresponding to the first sliding rail 22 is 1:2, and the ratio of the arc length of the arc corresponding to the second sliding rail 23 to the circumference of the circle corresponding to the second sliding rail 23 is 1:2.
Further, the ratio of the radius of the largest arc corresponding to the first sliding rail 22 to the radius of the smallest arc corresponding to the second sliding rail 23 is 1:0.5-0.98.
Further, the motion adjusting device 20 further includes a driving mechanism, where the driving mechanism is disposed on the base 24, and the driving mechanism is in transmission connection with the first sliding rail 22 and the second sliding rail 23, so that the first sliding rail 22 rotates along a rotation axis of the first sliding rail 22, and the second sliding rail 23 rotates along a rotation axis of the second sliding rail 23.
Further, two ends of the first sliding rail 22 are provided with first connecting lugs 29, two ends of the second sliding rail 23 are provided with second connecting lugs 30, the axial lead of the first connecting lugs 29 is overlapped with the tangent line of the end part of the first sliding rail 22, and the axial lead of the second connecting lugs 30 is overlapped with the tangent line of the end part of the second sliding rail 23;
the motion adjusting device 20 further includes a driving mechanism, where the driving mechanism is in transmission connection with the first connecting lug 29 and the second connecting lug 30, so that the first sliding rail 22 rotates along the rotation axis of the first sliding rail 22, and the second sliding rail 23 rotates along the rotation axis of the second sliding rail 23.
Further, the first sliding block is slidably sleeved on the first sliding rail 22, and the second sliding block is slidably sleeved on the second sliding rail 23.
Further, the motion plane of the first plane motion pair is perpendicular to the motion plane of the second plane motion pair.
The application is a motion adjusting device 20, mainly used for solving the technical problems that in the prior art, the motion adjusting device 20 is narrower in adjusting steering range, the motion steering of the motion adjusting device 20 is not easy to operate, and the like, taking the motion adjusting device 20 as an example, which is suitable for an underwater robot, the motion adjusting device 20 of the underwater robot plays an important role in the whole underwater robot, and the course running of the underwater robot under water is changed through the cooperative action of a transmission device and the motion adjusting device 20, so that the underwater robot can monitor and explore a more comprehensive visual angle, and more accurate detection information is obtained; the motion adjustment device 20 of the existing underwater robot cannot realize a complete motion direction, so that the underwater robot cannot monitor a complete view angle.
The steering of the existing underwater robot is realized by driving a propeller through a plurality of steering gears, and the steering gears are mechanically connected, so that corresponding mechanical equipment is added to the mechanical connection, and the burden of the underwater robot is increased; in order to make the underwater movement steering of the underwater robot more flexible and make the underwater robot more practical, it is more advantageous for the market competition, so the movement adjusting device 20 of the underwater robot needs to be further perfected.
The motion adjusting device 20 of the present invention is mainly used for adjusting steering, and the motion adjusting device 20 may be connected to a rotating member of an underwater robot, and the specific connection manner may be determined according to practical situations. The motion adjusting device 20 specifically comprises a connecting piece 21, a first plane motion pair and a second plane motion pair, wherein the motion plane of the first plane motion pair is intersected with the motion plane of the second plane motion pair, and the movable part of the first plane motion pair is fixedly connected with the movable part of the second plane motion pair through the connecting piece 21. Under the action of the transmission, the connecting piece 21 can reach the movement plane of the first plane movement pair and the movement plane of the second plane movement pair.
The first plane kinematic pair of the motion adjusting device 20 mainly comprises a first slide rail 22 and a first slide block which is slidably matched with the first slide rail 22; the second planar kinematic pair mainly comprises a second slide rail 23 and a second slider slidably matched with the second slide rail 23. Specifically, the movable part of the first plane kinematic pair is a first sliding block, the movable part of the second plane kinematic pair is a second sliding block, and the connecting piece 21 is fixedly connected with the first sliding block and the second sliding block, so that the connecting piece 21 can slide relative to the first sliding rail 22 and the second sliding rail 23.
The rotation axis of the first sliding rail 22 is located in the plane of the arc corresponding to the first sliding rail 22, and the rotation axis of the second sliding rail 23 is located in the plane of the arc corresponding to the second sliding rail 23, so that the connecting piece 21 can slide relative to the first sliding rail 22 and the second sliding rail 23, and the movement direction of the connecting piece 21 is turned.
In order to enable the first and second planar kinematic pairs to move, a drive assembly is therefore also provided, which is provided on the base 24 and is in driving connection with the first and second slide rails 22, 23. The drive assembly mainly comprises a steering engine, which may be one steering engine or two or more steering engines, preferably two steering engines, namely a first steering engine 26 and a second steering engine 27.
The axis of the output shaft of the first steering engine 26 is the same as the axis of rotation of the first slide rail 22, and the axis of the output shaft of the second steering engine 27 is the same as the axis of rotation of the second slide rail 23; the first slide rail 22 rotates along the rotation axis of the first slide rail 22, which corresponds to the rotation axis of the output shaft of the first steering engine 26, and the second slide rail 23 rotates along the rotation axis of the second slide rail 23, which corresponds to the rotation axis of the output shaft of the second steering engine 27.
The shapes of the first slide rail 22 and the second slide rail 23 in the present motion adjusting device 20 may be determined according to practical needs, such as an arc-shaped rail, a straight rail, etc., and the difference of the shapes determines the shape formed by the motion of the connecting member 21 on the first slide rail 22 and the second slide rail 23. Such as an arc-shaped rail, the shape formed by movement is a sphere; in the case of a straight rail, the movement forms a square shape. The shape of the first slide rail 22 and the second slide rail 23 may be determined according to various factors such as use conditions or market conditions.
In this case, an arc-shaped rail is preferable, as shown in the drawing, a rotating shaft is provided on the connecting piece 21, a propeller 28 is provided on the rotating shaft, and the first sliding rail 22 and the second sliding rail 23 in the shape of the arc-shaped rail enable the propeller 28 on the connecting piece 21 to reach more areas, and the range of the motion curved surface of the connecting piece 21 is approximately a hemispherical surface, so that the propeller 28 can be turned in more directions, and the underwater robot can be turned in more directions.
The motion adjusting device 20 further includes a base 24, where the first slide rail 22 and the second slide rail 23 are hinged to the base 24, and the center of the arc corresponding to the first slide rail 22 and the center of the arc corresponding to the second slide rail 23 are overlapped, so that the relative rotation of the first slide rail 22 and the second slide rail 23 can be ensured.
The arc length corresponding to the first slide rail 22 is half of the circumference of the whole circle corresponding to the first slide rail 22, and the arc length corresponding to the second slide rail 23 is half of the circumference of the whole circle corresponding to the second slide rail 23; in this way, the steering track of the propeller 28 on the connecting piece 21 falls on a sphere which is close to the size of a hemispherical surface, and compared with the existing steering device, the steering range of the motion adjusting device 20 is wider, so that the motion of the underwater robot with more degrees of freedom is realized.
As shown in the figure, the radii of the arcs of the first slide rail 22 and the second slide rail 23 are different, and in order to realize motion with more degrees of freedom, the ratio of the radius of the largest arc corresponding to the first slide rail 22 to the radius of the smallest arc corresponding to the second slide rail 23 is preferably between 1:0.5 and 0.98. When the ratio of the radius of the largest arc corresponding to the first sliding rail 22 to the radius of the smallest arc corresponding to the second sliding rail 23 is 1:0.5, a larger rotational output torque can be realized, but the rotational speed is relatively low.
When the ratio of the radius of the largest arc corresponding to the first sliding rail 22 to the radius of the smallest arc corresponding to the second sliding rail 23 is 1:0.98, the first sliding rail 22 and the second sliding rail 23 are relatively close, the rotation is flexible, and most preferably, the ratio of the radius of the largest arc corresponding to the first sliding rail 22 to the radius of the smallest arc corresponding to the second sliding rail 23 is 1:0.8-0.9, so that the ratio can more efficiently utilize energy, and the ratio is more suitable for the transmission and the steering of the underwater robot by utilizing space.
In order to enable the driving mechanism of the motion adjusting device 20 to be better connected with the first plane motion pair and the second plane motion pair, therefore, the first connecting lugs 29 are arranged at two ends of the first sliding rail 22, the axial lead of the first connecting lugs 29 is overlapped with the tangent line of the end part of the first sliding rail 22, as shown in the figure, the axial lead of the second connecting lugs 30 is overlapped with the tangent line of the end part of the second sliding rail 23, as shown in the figure, the first steering engine 26 is connected with the first connecting lugs 29, and the second steering engine 27 is connected with the second connecting lugs 30, so that the connection mode is more favorable for realizing corresponding curved surface motion of the first sliding rail 22 and the second sliding rail 23.
Preferably, the movement plane of the first plane movement pair and the movement plane of the second plane movement pair intersect, the included angle is 0-90 degrees, and the steering adjustment range is wider at the moment, so that the steering is more beneficial.
The specific embodiment is as follows: the motion adjustment device 20 comprises a first planar motion pair and a second planar motion pair, wherein the first planar motion pair comprises a first slide rail 22 and a first slide block; the second planar kinematic pair comprises a second slide 23 and a second slider.
The first slide rail 22 and the second slide rail 23 are arc-shaped rails, the second slide rail 23 comprises 2 second arc-shaped sliding frames with the same radius, and the second slide rail is formed by the 2 arc-shaped sliding frames; the first slide rail 22 includes 4 first arc carriages, two of the 4 first arc carriages have a smaller arc radius than the second arc carriage, and the other 2 first arc carriages have a larger arc radius than the second arc carriage, as shown in the figure, and the average value of the sum of the arc radii of the 4 first arc carriages is the arc radius value of the second arc carriage.
The screw 28 is arranged on the connecting piece 21, the first steering engine 26 drives the first sliding rail 22, the second steering engine 27 drives the second sliding rail 23, and the first sliding rail 22 and the second sliding rail 23 are all in curved-surface motion, so that the screw 28 on the first rotating piece 11 is driven to turn, and further multi-degree-of-freedom motion of the screw 28 is realized.
Example 2:
further optimizing the present embodiment based on the above embodiment, as shown in the figure, the motion adjusting device 20 further includes a base 24, a first guide rail and a second guide rail, where the first guide rail and the second guide rail are both disposed on the base 24, the first guide rail is disposed parallel to the second slide rail 23, and the second guide rail is disposed parallel to the first slide rail 22; the first slide rail 22 is slidably matched with the first guide rail, so that the first slide rail 22 can move along the extending direction of the second slide rail 23; the second slide rail 23 is slidably engaged with the second guide rail, so that the second slide rail 23 can move along the extending direction of the first slide rail 22.
The motion adjusting device 20 of the present device may further have more forms, where the first sliding rail 22 and the second sliding rail 23 are straight rails, and the motion adjusting device 20 further includes a first guiding rail and a second guiding rail, where the first guiding rail is parallel to the second sliding rail 23, and the second guiding rail is parallel to the first sliding rail 22. The first slide rail 22 is slidably fitted to the first rail and slides in the extending direction of the first rail, and the second slide rail 23 is slidably fitted to the second rail and slides in the extending direction of the second rail. By utilizing the sliding of the first sliding rail 22 and the second sliding rail 23, the steering of the propeller 28 on the connecting piece 21 in the multi-degree-of-freedom direction is realized.
Other portions of this embodiment are the same as those of embodiment 1 described above, and will not be described in detail.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A motion adjustment device characterized by: the device comprises a connecting piece, a first plane kinematic pair and a second plane kinematic pair, wherein the connecting piece is fixedly connected between a movable part of the first plane kinematic pair and a movable part of the second plane kinematic pair; the motion plane of the first plane motion pair is intersected with the motion plane of the second plane motion pair;
the first plane kinematic pair comprises a first sliding rail and a first sliding block which is slidably matched with the first sliding rail, the second plane kinematic pair comprises a second sliding rail and a second sliding block which is slidably matched with the second sliding rail, and the connecting piece is fixedly connected between the first sliding block and the second sliding block;
the motion adjusting device further comprises a base, and the end parts of the first sliding rail and the second sliding rail are hinged to the base;
the first sliding rail and the second sliding rail are arc-shaped rails, the rotation axis of the first sliding rail is positioned on the plane where the arc corresponding to the first sliding rail is positioned, the rotation axis of the second sliding rail is positioned on the plane where the arc corresponding to the second sliding rail is positioned, and the circle center of the arc corresponding to the first sliding rail is overlapped with the circle center of the arc corresponding to the second sliding rail;
the first sliding block is slidably sleeved on the first sliding rail, and the second sliding block is slidably sleeved on the second sliding rail;
the motion adjusting device comprises a first plane motion pair and a second plane motion pair, wherein the first plane motion pair comprises the first sliding rail and the first sliding block; the second plane kinematic pair comprises the second sliding rail and the second sliding block;
the motion adjusting device further comprises a base, a first guide rail and a second guide rail, wherein the first guide rail and the second guide rail are both arranged on the base, the first guide rail is parallel to the second slide rail, and the second guide rail is parallel to the first slide rail; the first sliding rail is slidably matched with the first guide rail so that the first sliding rail can move along the extending direction of the second sliding rail; the second sliding rail is slidably matched with the second guide rail so that the second sliding rail can move along the extending direction of the first sliding rail;
the first sliding rail and the second sliding rail are arc-shaped rails, the second sliding rail comprises 2 second arc sliding carriages with the same radius, and the first sliding rail is formed by the 2 second arc sliding carriages; the first sliding rail comprises 4 first arc sliding frames, the second sliding rail is formed by the 4 first arc sliding frames, the arc radius of two first arc sliding frames in the 4 first arc sliding frames is smaller than that of the second arc sliding frame, the arc radius of the other 2 first arc sliding frames is larger than that of the second arc sliding frame, and the average value of the sum of the arc radii of the 4 first arc sliding frames is the arc radius value of the second arc sliding frame;
the first sliding rail is composed of an upper layer of first arc sliding frames and a lower layer of first arc sliding frames, and the second sliding rail is arranged between the upper layer of first arc sliding frames and the lower layer of first arc sliding frames in a sliding and penetrating mode;
the first sliding rail is composed of a front layer of first arc sliding frames and a rear layer of first arc sliding frames, and the connecting piece and the second sliding block penetrate out from between the front layer of first arc sliding frames and the rear layer of first arc sliding frames; the second slide rail comprises left and right 2 second circular arc sliding frames, and the connecting piece and the first sliding block are arranged between the left and right 2 second circular arc sliding frames in a sliding penetrating mode.
2. The motion adjustment device of claim 1, wherein: the ratio of the arc length of the arc corresponding to the first sliding rail to the circumference of the circle corresponding to the first sliding rail is 1:2, and the ratio of the arc length of the arc corresponding to the second sliding rail to the circumference of the circle corresponding to the second sliding rail is 1:2.
3. The motion adjustment device of claim 1, wherein: the ratio of the radius of the largest arc corresponding to the first sliding rail to the radius of the smallest arc corresponding to the second sliding rail is 1:0.5-0.98.
4. The motion adjustment device of claim 1, wherein: the motion adjusting device further comprises a driving mechanism, the driving mechanism is arranged on the base and is in transmission connection with the first sliding rail and the second sliding rail, so that the first sliding rail rotates along the rotation axis of the first sliding rail, and the second sliding rail rotates along the rotation axis of the second sliding rail.
5. The motion adjustment device of claim 1, wherein: the two ends of the first sliding rail are provided with first connecting lugs, the two ends of the second sliding rail are provided with second connecting lugs, the axial lead of the first connecting lugs is overlapped with the tangent line of the end part of the first sliding rail, and the axial lead of the second connecting lugs is overlapped with the tangent line of the end part of the second sliding rail;
the motion adjusting device further comprises a driving mechanism, wherein the driving mechanism is in transmission connection with the first connecting lug and the second connecting lug, so that the first sliding rail rotates along the rotation axis of the first sliding rail, and the second sliding rail rotates along the rotation axis of the second sliding rail.
6. The motion adjustment device according to any one of claims 1 to 5, characterized in that: the motion plane of the first plane motion pair is perpendicular to the motion plane of the second plane motion pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074626.5A CN108000508B (en) | 2018-01-25 | 2018-01-25 | Motion adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074626.5A CN108000508B (en) | 2018-01-25 | 2018-01-25 | Motion adjusting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108000508A CN108000508A (en) | 2018-05-08 |
| CN108000508B true CN108000508B (en) | 2024-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810074626.5A Active CN108000508B (en) | 2018-01-25 | 2018-01-25 | Motion adjusting device |
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| CN112847177A (en) * | 2020-12-16 | 2021-05-28 | 宁波职业技术学院 | Fixing mechanism convenient to multi-angle is adjusted |
| CN113594698B (en) * | 2021-07-30 | 2023-09-05 | 杭州永谐科技有限公司 | Spherical surface adjusting device for antenna |
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