CN108406746A - Drive lacking stroke adjustable crank device - Google Patents
Drive lacking stroke adjustable crank device Download PDFInfo
- Publication number
- CN108406746A CN108406746A CN201810227221.0A CN201810227221A CN108406746A CN 108406746 A CN108406746 A CN 108406746A CN 201810227221 A CN201810227221 A CN 201810227221A CN 108406746 A CN108406746 A CN 108406746A
- Authority
- CN
- China
- Prior art keywords
- armed lever
- load platform
- branch arm
- drive
- main shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Abstract
A kind of drive lacking stroke adjustable crank device,Including a fixed platform,One load platform,First drive branch arm (including first active armed lever,First eccentric pin shaft and the driven armed lever of first),Second drive branch arm (including second active armed lever,Second eccentric pin shaft and the driven armed lever of second),One driving motor,One main shaft,The fixed platform connect the load platform by the first drive branch arm with second drive branch arm,Load platform is mounted on the bent axle shaft part of the main shaft,The bent axle shaft part of load platform and main shaft collectively forms a crank,Under the driving of the driving motor,It is driven through first drive branch arm and second drive branch arm,Load platform is set to carry out the movement of two degrees of freedom on the bent axle shaft part of main shaft,To change the non-bent axle shaft part central axis of main shaft at a distance from load platform outer circle central axis,So that the length of crank changes.The apparatus structure is simple and reliable, the structural parameters of crank in mechanical equipment can be adjusted using the mechanism, since the power source in drive lacking structure is far from end movement component, dynamic property is good, suitable for containing crank part and need adjust structural parameters mechanical device.
Description
Technical field
The present invention relates to a kind of crank device, especially a kind of drive lacking stroke adjustable crank device.
Background technology
The parallel institution of two degrees of freedom is defined as moving platform and is connected by two independent kinematic chains with fixed platform, mechanism
There are two degree of freedom for tool, and a kind of close loop mechanism driven with parallel way.Parallel institution has various features, such as is missed without accumulation
Difference, high-precision, driving just installation etc., it is good, compact-sized, rigid that this allows for the motion parts light weight high speed of mechanism, dynamic response
Degree height, large carrying capacity, and full symmetric parallel institution has preferable isotropism.
Activation lacking mechanical structure refers to that the independent control variable number of mechanism is less than the non-linear allusion quotation of degree of freedom in system number
Type mechanism.Compared with complete driving mechanism, underactuatuated drive all more has saving energy, reduce cost, flexible light weight etc.
Advantage, therefore there is important theory significance and practical value to its research.Underactuatuated drive is very common, flies in space flight
It is widely present in the fields such as machine, underwater ships and industrial robot.
The definition of crank is to be connected and can be rotated around the whole circle of the pivot center structure of (i.e. turnover is secondary) with revolute pair with rack
Part, crank are generally referred to as in the common mechanicals structure such as toggle, slider-crank mechanism or crank and rocker mechanism
Crank part.This kind of mechanism can move the particular track line that the convert rotational motion of object is another object, such as straight line
Movement, swing etc., therefore it is widely used in the every field of industrial production and manufacturing.
Crank class component is all a kind of highly important zero in press machine, Forging equipment or even auto manufacturing field
Part, in current conventional mechanical devices, after design and manufacture, structural parameters tend not to change or are difficult to adjust the type component
It is whole.Such as in a press, it in order to which defective workmanship occur in the forming property and prevention that improve material, needs to move end sliding block
Step response optimizes；In cold-heading equipment, in order to adapt to the processing request of various types of materials, need equipment that can export different
Cold-heading power, for various reasons, such many mechanical equipment are required for being adjusted the structural parameters of crank, but adjust hardly possible
Spend larger, the effect of adjustment is also bad.
Invention content
The purpose of the present invention is be directed to it is above-mentioned have defect existing for technology, a kind of drive lacking adjustable crank device is provided.It should
The bent axle shaft part of main shaft collectively forms a crank with load platform in device, and only there are one power sources for band for the device, this is dynamic
Power source connects underactuatuated drive, and load platform tool may make load platform in master there are two degree of freedom by power source drive
The movement that two degrees of freedom is done on the bent axle shaft part of axis, to change in the non-bent axle shaft part central axis of main shaft and load platform outer circle
The distance of mandrel line so that the length of crank changes.The apparatus structure is simple and reliable, and machinery can be adjusted using the mechanism
The structural parameters of crank part in equipment, for the power source in drive lacking structure far from end movement component, dynamic property is good, is applicable in
In containing crank part and need adjust structural parameters mechanical equipment.
In order to achieve the above objectives, idea of the invention is that：
The drive lacking stroke adjustable crank device of the present invention a, including fixed platform, a load platform, first drive branch
Arm, second drive branch arm, a driving motor, a main shaft.It is characterized in that：Fixed platform passes through first drive branch arm and second
Drive branch arm connects load platform, and load platform is mounted on the bent axle shaft part of the main shaft, the song of load platform and main shaft
Axis shaft part collectively forms a crank, under the driving of regulation motor, is driven, makes through first drive branch arm and second drive branch arm
Load platform can carry out the movement of two degrees of freedom on the bent axle shaft part of main shaft, so that the length of crank is variable.Wherein
First drive branch arm one end connects load platform by ball pair, and the other end is exported with the driving motor on first support base
End is fixedly connected, and second drive branch arm one end connects load platform by ball pair, the other end and is installed on second support base
Supporting pin is hinged, and first drive branch arm is symmetrically distributed with second drive branch arm, load platform and fixed platform all with main shaft phase
Connection.
Conceived according to foregoing invention, the present invention uses following technical proposals：
A kind of drive lacking stroke adjustable crank device, including a fixed platform, a load platform, first drive branch arm (packet
Include first active armed lever, first eccentric pin shaft and the driven armed lever of first), second drive branch arm (including second active armed lever, second eccentric pin shaft and
The driven armed lever of second), a driving motor, a main shaft, it is characterised in that：The fixed platform passes through the first drive branch arm
Connect the load platform with second drive branch arm, load platform is mounted on the bent axle shaft part of the main shaft, load platform with
The bent axle shaft part of main shaft collectively forms a crank, under the driving of the driving motor, is driven through first drive branch arm and second
Branch arm is driven, and load platform is enable to carry out the movement of two degrees of freedom on the bent axle shaft part of main shaft, so that crank
Length is changeable.
Above-mentioned load platform structure is：It is circle outside load platform annulus, middle part is there are one endoporus, but endoporus and annulus
External center line is not coaxial, and the bent axle shaft part of endoporus and main shaft is hinged, and there is a groove in load platform annulus lower surface；First
One end of load platform connecting rod is fixed in the groove of load platform lower surface, and the other end of first load platform connecting rod is straight equipped with first
Axis pin, first are sold axis directly to households and are connect by ball pair with the driven armed lever of first, and one end of second load platform connecting rod is fixed on load platform following table
In the groove in face, the other end of second load platform connecting rod sells axis directly to households equipped with second, and second is sold axis directly to households and connected by ball pair with the driven armed lever of second
It connects；First load platform connecting rod is symmetrically distributed with second load platform connecting rod.
The structure of above-mentioned first drive branch arm is：First drive branch arm include first active armed lever, first eccentric pin shaft and first from
Semaphore, first active armed lever are connect with the driven armed lever of first by first eccentric pin shaft, are connected after constituting revolute pair, and first transmission point is constituted
Support arm, one end of the drive branch arm, i.e. first active armed lever, is fixed with the output end of the driving motor on first supporting rack
Connection, the driven armed lever of the other end of the drive branch arm, i.e. first are sold axis directly to households with the first on first load platform connecting rod and are passed through
Ball pair is connected.
The structure of above-mentioned second drive branch arm is：Second drive branch arm include second active armed lever, second eccentric pin shaft and second from
Semaphore, second active armed lever and the driven armed lever of second are connected by second eccentric pin shaft, are connected after constituting revolute pair, and second transmission point is constituted
Support arm, one end of the drive branch arm, i.e. second active armed lever are hinged with the supporting pin on second supporting rack, the transmission point
The driven armed lever of the other end of support arm, i.e. second sells axis directly to households with the second on second load platform connecting rod and is connected by ball pair.
The structure of above-mentioned fixed platform is：First supporting rack is mounted on fixed platform upper surface, and driving motor is mounted on first branch
In support；Second supporting rack is mounted on fixed platform upper surface, and supporting pin is mounted in second supporting rack, first supporting rack and second supporting rack
It is symmetrically distributed.
It is a servo motor that said one, which drives power source, and referred to as regulation motor, driving motor is fixed on first supporting rack
In, the output end of driving motor is fixedly connected with first active armed lever.
The structure of above-mentioned main shaft is：Main shaft is divided into multiple shaft parts, and main shaft is connected with fixed platform and load platform simultaneously,
The one end of main shaft far from bent axle shaft part is mounted in the interior circular hole at fixed platform center, and the bent axle shaft part of main shaft is mounted on load and puts down
In the endoporus of platform, bent axle shaft part and the load platform of main shaft collectively form an adjustable crank of eccentricity.
The present invention compared with prior art, has following obvious prominent substantive distinguishing features and remarkable advantage：
The present invention makees two degree-of-freedom motion using the two-freedom-degree parallel mechanism of single power source drive, and driving number is few, light weight spirit
Living, reliable operation, the underactuatuated drive can be used for adjusting the length of crank part in all kinds of mechanical devices, to various to cope with
Different process requirements, reduce cost.
Description of the drawings
Fig. 1 is that a kind of drive lacking of the present invention can be changed the front view of crank device embodiment；
Fig. 2 is that a kind of drive lacking of the present invention can be changed the right view of crank device embodiment；
Fig. 3 is that a kind of drive lacking of the present invention can be changed the left view of crank device embodiment；
Fig. 4 is that a kind of drive lacking of the present invention can be changed the vertical view of crank device embodiment.
Specific implementation mode
Details are as follows for the preferred embodiment of the present invention combination attached drawing：
Embodiment one：Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, this drive lacking can be changed crank device, including fixed platform (17), one
A load platform (8), first drive branch arm (including first active armed lever (3), first eccentric pin shaft (4) and driven armed lever of first (5)), second
Drive branch arm (including second active armed lever (14), second eccentric pin shaft (13) and driven armed lever of second (12)), a driving motor
(2), a main shaft (9), it is characterised in that：The fixed platform is connect by the first drive branch arm with second drive branch arm
The load platform, load platform are mounted on the bent axle shaft part of the main shaft, and the bent axle shaft part of load platform and main shaft is common
A crank is constituted, under the driving of the driving motor, is driven through first drive branch arm and second drive branch arm, keeps load flat
Platform can carry out the movement of two degrees of freedom on the bent axle shaft part of main shaft, so that the length of crank is variable.
Embodiment two：Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the load platform structure is：Outside load platform (8) annulus
For circle, there are one endoporus at middle part, but endoporus and the center line outside annulus be not coaxial, and the bent axle of endoporus and main shaft (9)
Shaft part is hinged, and there is a groove in load platform (8) annulus lower surface；One end of first load platform connecting rod (7) is fixed on load platform
(8) in the groove of lower surface, the other end of first load platform connecting rod (7) sells axis (6) directly to households equipped with first, first sell directly to households axis (6) and first from
Semaphore (5) is connected by ball pair, and one end of second load platform connecting rod (10) is fixed on the groove of load platform (8) lower surface
In, the other end of second load platform connecting rod (10) sells axis (11) directly to households equipped with second, and it is logical with the driven armed lever of second (12) that second sells axis (11) directly to households
Cross the connection of ball pair；First load platform connecting rod (7) is symmetrically distributed with second load platform connecting rod (10).
The structure of the first drive branch arm is：First drive branch arm includes first active armed lever (3), first eccentric pin shaft
(4) it is connect by first eccentric pin shaft (4) with the driven armed lever of first (5) with the driven armed lever of first (5), first active armed lever (3), constitutes rotation
It connects after pair, constitutes first drive branch arm, one end of the drive branch arm, i.e. first active armed lever (3), and mounted on first supporting rack
(1) output end of the driving motor (2) on is fixedly connected, the driven armed lever of the other end of the drive branch arm, i.e. first (5), with peace
First on first load platform connecting rod (7) sells axis (6) directly to households and is connected by ball pair.
The structure of the second drive branch arm is：Second drive branch arm includes second active armed lever (14), second eccentric pin shaft
(13) it is connected by second eccentric pin shaft (13) with the driven armed lever of second (12), second active armed lever (14) and the driven armed lever of second (12), structure
At connecting after revolute pair, constitute second drive branch arm, one end of the drive branch arm, i.e. second active armed lever (14), with mounted on
Supporting pin (15) on second supporting rack (16) is hinged, the driven armed lever of the other end of the drive branch arm, i.e. second (12), with mounted on
Second on second load platform connecting rod (10) sells axis (11) directly to households and is connected by ball pair.
The structure of the fixed platform is：First supporting rack (1) is mounted on fixed platform (17) upper surface, driving motor
(2) it is mounted in first supporting rack (1)；Second supporting rack (16) is mounted on fixed platform (17) upper surface, and supporting pin (15) is mounted on
In second supporting rack (16), first supporting rack (1) is symmetrically distributed with second supporting rack (16).
One driving motor is a servo motor, and referred to as regulation motor, driving motor (2) is fixed on first supporting rack
(1) in, the output end of driving motor (2) is fixedly connected with first active armed lever (3).
The structure of the main shaft is：Main shaft (9) is divided into multiple shaft parts, main shaft (9) and meanwhile with fixed platform (17) and negative
Carrying platform (8) is connected, and the one end of main shaft (9) far from bent axle shaft part is mounted in the interior circular hole at fixed platform (17) center, main
The bent axle shaft part of axis (9) is mounted in the endoporus of load platform (8), bent axle shaft part and load platform (8) common structure of main shaft (9)
At the crank of a variable-length.
Above-mentioned specific implementation mode is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, to any modifications and changes that the present invention makes, the protection model of the present invention is both fallen within
It encloses.
Claims (7)
1. a kind of drive lacking stroke adjustable crank device, including a fixed platform (17), a load platform (8), first transmission
Branch arm (including first active armed lever (3), first eccentric pin shaft (4) and driven armed lever of first (5)), second drive branch arm (including second master
Semaphore (14), second eccentric pin shaft (13) and the driven armed lever of second (12)), a driving motor (2), a main shaft (9), feature
It is：The fixed platform connect the load platform, load platform by the first drive branch arm with second drive branch arm
On the bent axle shaft part of the main shaft, the bent axle shaft part of load platform and main shaft collectively forms a crank, in the drive
Under the driving of dynamic motor, it is driven through first drive branch arm and second drive branch arm, enables load platform in the bent axle axis of main shaft
The movement of two degrees of freedom is carried out in section, so that the length of crank is variable.
2. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that the load platform structure
It is：It is circle outside load platform (8) annulus, there are one endoporus at middle part, but endoporus and the center line outside annulus be not coaxial, and
And the bent axle shaft part of endoporus and main shaft (9) is hinged, there is a groove in load platform (8) annulus lower surface；First load platform connecting rod (7)
One end be fixed in the groove of load platform (8) lower surface, the other end of first load platform connecting rod (7) sells axis directly to households equipped with first
(6), first is sold axis (6) directly to households and is connect by ball pair with the driven armed lever of first (5), and one end of second load platform connecting rod (10) is fixed on load
In the groove of platform (8) lower surface, the other end of second load platform connecting rod (10) sells axis (11) directly to households equipped with second, and second sells axis (11) directly to households
It is connect by ball pair with the driven armed lever of second (12)；First load platform connecting rod (7) is symmetrically distributed with second load platform connecting rod (10).
3. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that the first drive branch arm
Structure be：First drive branch arm includes first active armed lever (3), first eccentric pin shaft (4) and the driven armed lever of first (5), first master arm
Bar (3) is connect with the driven armed lever of first (5) by first eccentric pin shaft (4), is connected after constituting revolute pair, and first drive branch arm is constituted,
One end of the drive branch arm, i.e. first active armed lever (3), the output end with the driving motor (2) on first supporting rack (1)
It is fixedly connected, the driven armed lever of the other end of the drive branch arm, i.e. first (5), with the first on first load platform connecting rod (7)
Axis (6) is sold directly to households by ball pair to be connected.
4. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that the second drive branch arm
Structure be：Second drive branch arm includes second active armed lever (14), second eccentric pin shaft (13) and the driven armed lever of second (12), and second is actively
Armed lever (14) and the driven armed lever of second (12) are connected by second eccentric pin shaft (13), are connected after constituting revolute pair, and second transmission point is constituted
Support arm, one end of the drive branch arm, i.e. second active armed lever (14) are cut with scissors with the supporting pin (15) on second supporting rack (16)
It connects, the driven armed lever of the other end of the drive branch arm, i.e. second (12), is sold directly to households with the second on second load platform connecting rod (10)
Axis (11) is connected by ball pair.
5. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that the knot of the fixed platform
Structure is：First supporting rack (1) is mounted on fixed platform (17) upper surface, and driving motor (2) is mounted in first supporting rack (1)；Second branch
Support (16) be mounted on fixed platform (17) upper surface, supporting pin (15) be mounted on second supporting rack (16) in, first supporting rack (1) with
Second supporting rack (16) is symmetrically distributed.
6. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that one driving motor is
One servo motor, referred to as regulation motor, driving motor (2) are fixed in first supporting rack (1), the output end of driving motor (2)
It is fixedly connected with first active armed lever (3).
7. drive lacking stroke adjustable crank device according to claim 1, it is characterised in that the structure of the main shaft is：
Main shaft (9) is divided into multiple shaft parts, main shaft (9) while being connected with fixed platform (17) and load platform (8), and main shaft (9) is separate
One end of bent axle shaft part is mounted in the interior circular hole at fixed platform (17) center, and the bent axle shaft part of main shaft (9) is mounted on load and puts down
In the endoporus of platform (8), bent axle shaft part and the load platform (8) of main shaft (9) collectively form the crank of a variable-length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810227221.0A CN108406746A (en) | 2018-03-19 | 2018-03-19 | Drive lacking stroke adjustable crank device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810227221.0A CN108406746A (en) | 2018-03-19 | 2018-03-19 | Drive lacking stroke adjustable crank device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406746A true CN108406746A (en) | 2018-08-17 |
Family
ID=63132315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810227221.0A Pending CN108406746A (en) | 2018-03-19 | 2018-03-19 | Drive lacking stroke adjustable crank device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406746A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4892010A (en) * | 1987-07-02 | 1990-01-09 | 501 Normetex | Sealed transmission device using metal bellows, suitable for quarterturn valves |
| DE102007063401A1 (en) * | 2007-12-31 | 2009-07-02 | Fev Motorentechnik Gmbh | Parallel crank drive for use in internal combustion engine i.e. reciprocating piston engine, of vehicle, has coupling unit with eccentric retainer for crankshaft and outer geometry, where retainer and geometry are connected with one another |
| CN102009414A (en) * | 2010-12-29 | 2011-04-13 | 上海大学 | Wrist device for three degree of freedom (TDOF) underactuated robot |
| CN102554914A (en) * | 2012-01-06 | 2012-07-11 | 上海大学 | Novel three-degrees-of-freedom under-actuated mechanism |
| JP2014079793A (en) * | 2012-10-17 | 2014-05-08 | Nippon Spindle Mfg Co Ltd | Rotation plastic processing apparatus |
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN105598996A (en) * | 2016-02-21 | 2016-05-25 | 上海大学 | Novel under-actuated robot wrist device based on nonholonomic constraint |
-
2018
- 2018-03-19 CN CN201810227221.0A patent/CN108406746A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4892010A (en) * | 1987-07-02 | 1990-01-09 | 501 Normetex | Sealed transmission device using metal bellows, suitable for quarterturn valves |
| DE102007063401A1 (en) * | 2007-12-31 | 2009-07-02 | Fev Motorentechnik Gmbh | Parallel crank drive for use in internal combustion engine i.e. reciprocating piston engine, of vehicle, has coupling unit with eccentric retainer for crankshaft and outer geometry, where retainer and geometry are connected with one another |
| CN102009414A (en) * | 2010-12-29 | 2011-04-13 | 上海大学 | Wrist device for three degree of freedom (TDOF) underactuated robot |
| CN102554914A (en) * | 2012-01-06 | 2012-07-11 | 上海大学 | Novel three-degrees-of-freedom under-actuated mechanism |
| JP2014079793A (en) * | 2012-10-17 | 2014-05-08 | Nippon Spindle Mfg Co Ltd | Rotation plastic processing apparatus |
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN105598996A (en) * | 2016-02-21 | 2016-05-25 | 上海大学 | Novel under-actuated robot wrist device based on nonholonomic constraint |
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Application publication date: 20180817 |