CN109448535A - High-freedom degree tests class three-dimensional visual simulation platform - Google Patents
High-freedom degree tests class three-dimensional visual simulation platform Download PDFInfo
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- CN109448535A CN109448535A CN201811629587.7A CN201811629587A CN109448535A CN 109448535 A CN109448535 A CN 109448535A CN 201811629587 A CN201811629587 A CN 201811629587A CN 109448535 A CN109448535 A CN 109448535A
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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
Abstract
The present invention relates to a kind of high-freedom degrees to test class three-dimensional visual simulation platform, including bottom plate, the upper center of bottom plate is provided with space clamping limb, rotary table gripper jaw is connected on the clamping limb of space, annular electro movable slider is installed on bottom plate, plane clamping limb is installed on annular electro movable slider, plectane gripper jaw is connected on plane clamping limb.The present invention can solve existing experiment class gripper three-dimensional visual simulation platform existing following problems in use: a, existing three-dimensional visual simulation gripper are simple spacial flex motion profile, and performance that can not be vivid is distinguished for two-dimensional space motion；B, when for different objects clamping, clamping execution tool is required manual replacement, so that the effect of analogue simulation is influenced, it can not be from the difference experienced in different spaces movement in movement.
Description
Technical field
The present invention relates to experiment analog machine technical field, specifically a kind of high-freedom degree tests class three-dimensional artificial mould
Quasi- platform.
Background technique
Experiment porch is the important tool that fangle and display technique achievement are shown to the people, with science and technology into
Step, experiment class three-dimensional artificial platform can more visual pattern be shown, and are able to carry out and high free shown different motion
Between difference, especially gripper in two dimension and the application of three-dimensional space, can more intuitive understanding different spaces it is mechanical
The handling situations of pawl.
But existing experiment class gripper three-dimensional visual simulation platform existing following problems in use:
A, existing three-dimensional visual simulation gripper is simple spacial flex motion profile, performance that can not be vivid
It is distinguished for two-dimensional space motion.
B, when for different objects clamping, clamping execution tool is required manual replacement, so that the effect of analogue simulation is influenced,
It can not be from the difference experienced in different spaces movement in movement.
In view of the above problems, relevant industries are made that research for how improving three-dimensional experiment station and propose
Specific technical solution, such as a kind of simulation of the Chinese utility model patent of Patent No. 201720382692X or teaching demonstration
Student can be taught to fully understand technical grade machinery with bionic mechanical arm, be conducive to student and understand the worked of industrial robot
The basic composition of journey and electronic circuit.
Comprehensive appeal considers how the movement difference of the displaying three-dimensional space and two-dimensional space of image remains urgent need to resolve
The problem of.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of high-freedom degrees to test class three-dimensional visual simulation platform, this hair
The bright existing experiment class gripper three-dimensional visual simulation platform existing following problems in use that can solve: a, existing
Three-dimensional visual simulation gripper is simple spacial flex motion profile, and performance that can not be vivid is for two-dimensional space motion
Difference；B, when for different objects clamping, clamping execution tool is required manual replacement, to influence the effect of analogue simulation, nothing
Method from experience in movement different spaces movement in difference.Experiment class three-dimensional visual simulation mesa-shaped may be implemented as forcing in the present invention
The function of true simulation job.
To achieve the goals above, the present invention is realized using following technical scheme: a kind of high-freedom degree experiment class is three-dimensional
Analogue simulation platform, including bottom plate, the upper center of bottom plate are provided with space clamping limb, and rotary table folder is connected on the clamping limb of space
Pawl is held, annular electro movable slider is installed on bottom plate, plane clamping limb is installed on annular electro movable slider, is clamped on plane clamping limb
There is plectane gripper jaw, annulus rack is placed on the left of the upper end of bottom plate, is placed with plate rack, bottom on the right side of the upper end of bottom plate
Being staggeredly placed on plate along its circumferential direction has rotary table ring and round block plate.
The space clamping limb includes the rotating mechanism being mounted on bottom plate by bearing, and adjusting is provided on rotating mechanism
Mechanism is equipped with No.1 bindiny mechanism on regulating mechanism；Space clamping limb can simulate is freely rotated adjusting in three dimensions
Track, so as to image displaying high-freedom degree holding action.
The plane clamping limb includes the regulating arm being mounted on annular electro movable slider, and execution arm is provided on regulating arm,
It executes and No. two bindiny mechanisms is installed on arm；Plane clamping limb can simulate the motion profile in two-dimensional space.
The rotary table gripper jaw includes the clip-connecting rod being connected on the clamping limb of space, and clip-connecting rod is in cross-shaped structure, clamping
It is equipped on column on clamping pipe, is evenly arranged with holding tank along its circumferential direction on clamping pipe, is arranged in holding tank by pin shaft
There is fixed clamp pawl, is connected with clamp springs between fixed clamp pawl and the inner wall for clamping pipe, clamps and be equipped on the inner wall of pipe
Gripper cylinder, the top of gripper cylinder are equipped with grip block, and grip block is resisted against on fixed clamp pawl.
The plectane gripper jaw includes the clip-connecting rod being connected on plane clamping limb, and clip-connecting rod is in cross-shaped configuration, clamping
Supporting plate is installed on column, auxiliary tube is installed on the side wall of supporting plate, via hole is provided on auxiliary tube, passes through sliding in via hole
Fit system is provided with auxiliary frame, and secondary spring is provided between auxiliary frame and the inner wall of auxiliary tube, is set on the side wall of auxiliary frame
It is equipped with assisted sucking disc, is provided on supporting plate against branch.
Preferably, the rotating mechanism includes the supporting table being mounted on bottom plate, and the section of supporting table is T font structure,
It is arranged with support gear on the outer wall of supporting table, supports and is engaged with driving gear on gear, driving gear is mounted on driving motor
Output shaft on, driving motor is mounted on bottom plate by motor cabinet, and the lower end of supporting table is provided with marking rod, and marking rod passes through
Sliding matching mode is connected with circular rails, and circular rails are mounted on bottom plate, and is evenly arranged in circular rails along its circumferential direction
Angle value.
Preferably, the regulating mechanism includes the support frame being mounted in supporting table, passes through axis between the inner wall of support frame
It holds and is provided with support roller, support plate is installed in support roller, support cylinder is installed in support plate, the top of cylinder is supported to pass through
Flange is mounted on lifter plate, and support limit bar is connected between support plate and lifter plate, is provided on lifter plate by pin shaft
Cursor is connected on the side wall of cursor with the top of rotation cylinder by pin shaft, and the bottom end of rotation cylinder passes through pin shaft installation
On lifter plate, the left end of support roller is provided with driving branch, and the right end of support roller is provided with positioning branch.
Preferably, the regulating arm includes the mounting plate being mounted on annular electro movable slider, and installation is equipped on mounting plate
Frame is provided with oscillating deck by pin shaft between the inner wall of mounting rack, and the lower end of oscillating deck is provided with oscillating roller by bearing, swings
The lower end of roller is resisted against on swinging block, and swinging block is in V-shape structure, and swinging block is connected by sliding matching mode with mounting plate,
Braking branch is provided on swinging block.
Preferably, the execution arm includes the fixed frame for being symmetricly set on oscillating deck upper end, is led between the inner wall of fixed frame
It crosses bearing and is provided with execution frame, the left end for executing frame is mounted on the output shaft of actuating motor, and actuating motor is pacified by motor cabinet
On fixed frame, arc groove is provided on fixed frame, arc groove is interior to be provided with execution column by sliding matching mode, executes column
It is mounted on and executes on frame, be evenly arranged with angle value on the side wall of fixed frame.
Preferably, the No.1 bindiny mechanism is identical structure with No. two bindiny mechanisms, and the No.1 bindiny mechanism includes
It is mounted on the connection motor on cursor by motor cabinet, connects and connecting plate is installed on the output shaft of motor, set on connecting plate
It is equipped with connecting tube, is provided with connection catching groove in connecting tube, its circumferential direction is provided with connection cylinder on connecting plate, connects cylinder
Top be mounted in fastening bracket by flange, fastening slot is provided in fastening bracket.
Preferably, it is described against branch include the vertical plate being uniformly arranged on supporting plate, on vertical plate by pin shaft be provided with to
By frame, it is connected by pin shaft with one end of interlocking bar on the side wall of frame, the other end of interlocking bar is mounted on connection by pin shaft
In moving frame, linkage rack is mounted on the top of linkage air cylinder by flange, and linkage air cylinder is mounted on supporting plate.
Preferably, the driving branch includes the adjustment gear for being mounted on support roller left end, is engaged with and turns in adjustment gear
Moving gear, rotate gear are mounted on the output shaft of rotary electric machine, and rotary electric machine is installed on the support frame by motor cabinet.
Preferably, the positioning branch includes the positioning plate for being mounted on support roller right end, along its circumferential direction on positioning plate
It is evenly arranged with location hole, positioning cylinder is installed in supporting table, the top of positioning cylinder is mounted on locating piece by flange,
It is evenly arranged with positioning column along its circumferential direction on locating piece, cooperate movement between positioning column and location hole.
Preferably, the braking branch includes the oscillating rack for being mounted on swinging block left end, and pendulum is engaged in oscillating rack
Moving gear, wobble gear are mounted on the output shaft of oscillating motor, and oscillating motor is mounted on mounting rack by motor cabinet, are swung
The right end of block is provided with fixing groove at equal intervals from front to back, and the right end of mounting rack is provided with fixed block, fixed block by pin shaft
Fixed cylinder is provided with by pin shaft between mounting rack.
The beneficial effects of the present invention are:
1, the present invention can solve existing experiment class gripper three-dimensional visual simulation platform in use it is existing with
Lower problem:
A, existing three-dimensional visual simulation gripper is simple spacial flex motion profile, performance that can not be vivid
It is distinguished for two-dimensional space motion；
B, when for different objects clamping, clamping execution tool is required manual replacement, so that the effect of analogue simulation is influenced,
It can not be from the difference experienced in different spaces movement in movement.
Experiment class three-dimensional visual simulation mesa-shaped may be implemented as the function of realistic simulation operation in the present invention.
2, the space clamping limb that the present invention designs can simulate the track that adjusting is freely rotated in three dimensions, so as to
The holding action of the displaying high-freedom degree of enough images, plane clamping limb can simulate the motion profile in two-dimensional space, can
Pass through the difference of the vivid displaying different spaces movement in two kinds of different motion tracks.
3, present invention design No.1 bindiny mechanism, can automate connection rotary table gripper jaw and plectane gripper jaw, Neng Goutong
Specific clamping device, the practical clamping operation of the simulation of lifelike image are crossed, to effectively show the reality of different spaces dimension
Operation trace.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is first structure diagram of the invention；
Fig. 2 is the structural schematic diagram between bottom plate of the present invention, space clamping limb and rotary table gripper jaw；
Fig. 3 is the structural schematic diagram between plane clamping limb and plectane gripper jaw of the present invention；
Fig. 4 is the structural schematic diagram between cursor of the present invention, No.1 bindiny mechanism and clip-connecting rod；
Fig. 5 is the cross-sectional view of rotary table gripper jaw of the present invention；
Fig. 6 is the cross-sectional view of plectane gripper jaw of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Shown in Fig. 1 to Fig. 6, a kind of high-freedom degree experiment class three-dimensional visual simulation platform, including bottom plate 1, the upper end of bottom plate 1
Middle part is provided with space clamping limb 2, and rotary table gripper jaw 3 is connected on space clamping limb 2, annular electric sliding is equipped on bottom plate 1
Block 4 is equipped with plane clamping limb 5 on annular electro movable slider 4, is connected with plectane gripper jaw 6 on plane clamping limb 5, bottom plate 1 it is upper
End left side is placed with annulus rack 7, is placed with plate rack 8 on the right side of the upper end of bottom plate 1, along its circumferential direction on bottom plate 1
Being staggeredly placed has rotary table ring 9 and round block plate 10, and annulus rack 7 can place rotary table gripper jaw 3, and annulus rack 7 can be put
Set plectane gripper jaw 6.
The space clamping limb 2 includes the rotating mechanism 21 being mounted on bottom plate 1 by bearing, is arranged on rotating mechanism 21
There is regulating mechanism 22, No.1 bindiny mechanism 23 is installed on regulating mechanism 22, between rotating mechanism 21 and regulating mechanism 22 mutually
Cooperative movement can control to adjust mechanism 22 and carry out freely adjusting operation in three dimensions.
The rotating mechanism 21 includes the supporting table 211 being mounted on bottom plate 1, and the section of supporting table 211 is T font knot
Structure is arranged with support gear 212 on the outer wall of supporting table 211, supports and is engaged with driving gear 213 on gear 212, drives gear
213 are mounted on the output shaft of driving motor 214, and driving motor 214 is mounted on bottom plate 1 by motor cabinet, supporting table 211
Lower end is provided with marking rod 215, and marking rod 215 is connected by sliding matching mode with circular rails 216, and circular rails 216 are mounted on
On bottom plate 1, and it being evenly arranged with angle value along its circumferential direction in circular rails 216, driving motor 214 is one of motor,
Belong to the prior art, the work of driving motor 214 is by driving gear 213 and the mutual cooperation between gear 212 is supported to drive branch
Support platform 211 is rotated, and reads specific rotation angle according to the angle value that marking rod 215 indicates.
The regulating mechanism 22 includes the support frame 221 being mounted in supporting table 211, is led between the inner wall of support frame 221
It crosses bearing and is provided with support roller 222, support plate 223 is installed in support roller 222, support cylinder is installed in support plate 223
224, the top of support cylinder 224 is mounted on lifter plate 225 by flange, is connected between support plate 223 and lifter plate 225
Support limit bar 228 is provided with cursor 226 by pin shaft on lifter plate 225, on the side wall of cursor 226 by pin shaft with
The top of rotation cylinder 227 is connected, and the bottom end of rotation cylinder 227 is mounted on lifter plate 225 by pin shaft, support roller 222
Left end is provided with driving branch 24, and the right end of support roller 222 is provided with positioning branch 25, support cylinder 224 and rotation cylinder 227
It is one of existing cylinder, belongs to the prior art, support cylinder 224 can controls under the auxiliary of support limit bar 228
Lifter plate 225 carries out telescopic adjustment operation, and driving branch 24 and rotation cylinder 227 can control cursor 226 and carry out angle tune
Operation is saved, positioning branch 25 can ensure that cursor 226 carries out stable operation in specified angle position.
The driving branch 24 includes the adjustment gear 241 for being mounted on 222 left end of support roller, is engaged in adjustment gear 241
There is rotate gear 242, rotate gear 242 is mounted on the output shaft of rotary electric machine 243, and rotary electric machine 243 is pacified by motor cabinet
On support frame 221, rotary electric machine 243 is one of existing motor, belongs to the prior art, and the work of rotary electric machine 243 is logical
The mutual cooperation Operation control support roller 222 crossed between rotate gear 242 and adjustment gear 241 carries out rotation operation.
The positioning branch 25 includes being mounted on the positioning plate 251 of 222 right end of support roller, along its circumferential direction on positioning plate 251
Direction is evenly arranged with location hole, and positioning cylinder 252 is equipped in supporting table 211, and the top of positioning cylinder 252 is pacified by flange
On locating piece 253, positioning column 254, positioning column 254 and location hole are evenly arranged with along its circumferential direction on locating piece 253
Between cooperate movement, positioning cylinder 252 is one of cylinder, belongs to the prior art, and positioning cylinder 252 controls positioning column
Grafting between 254 and location hole can ensure the stability of support roller 222 during exercise with separating.
The plane clamping limb 5 includes the regulating arm 51 being mounted on annular electro movable slider 4, is provided with and holds on regulating arm 51
Row arm 52 executes and is equipped with No. two bindiny mechanisms 53 on arm 52, and annular electro movable slider 4 controls to adjust arm 51 and carries out circular motion,
The movement that cooperates between regulating arm 51 and execution arm 52 can control No. two bindiny mechanisms 53 and planar carry out any angle
Adjusting operation.
The regulating arm 51 includes the mounting plate 511 being mounted on annular electro movable slider 4, is equipped on mounting plate 511
It shelves 512, oscillating deck 513 is provided with by pin shaft between the inner wall of mounting rack 512, the lower end of oscillating deck 513 is set by bearing
It is equipped with oscillating roller 514, the lower end of oscillating roller 514 is resisted against on swinging block 515, and swinging block 515 is in V-shape structure, swinging block 515
It is connected by sliding matching mode with mounting plate 511, braking branch 54 is provided on swinging block 515.
The braking branch 54 includes the oscillating rack 541 for being mounted on 515 left end of swinging block, is engaged in oscillating rack 541
There is wobble gear 542, wobble gear 542 is mounted on the output shaft of oscillating motor 543, and oscillating motor 543 is pacified by motor cabinet
On mounting rack 512, the right end of swinging block 515 is provided with fixing groove 544, the right side of mounting rack 512 at equal intervals from front to back
End is provided with fixed block 545 by pin shaft, and pin shaft is provided with fixed cylinder 546 between fixed block 545 and mounting rack 512,
Oscillating motor 543 and fixed cylinder 546 are one kind of existing driving part, belong to the prior art, oscillating motor 543 passes through pendulum
Mutual cooperation control swinging block 515 between moving gear 542 and oscillating rack 541 is moved, and is driven in the movement of swinging block 515
Swinging block 515 carries out angular adjustment operation, and fixed cylinder 546 controls fixed block 545 and is embedded into fixing groove 544, guarantees to swing
The stability that plate 513 works in specified angle.
The arm 52 that executes includes being symmetricly set on the fixed frame 521 of 513 upper end of oscillating deck, the inner wall of fixed frame 521 it
Between by bearing be provided with execute frame 522, execute frame 522 left end be mounted on the output shaft of actuating motor 523, actuating motor
523 are mounted on fixed frame 521 by motor cabinet, and arc groove is provided on fixed frame 521, passes through the side of being slidably matched in arc groove
Formula, which is provided with, executes column 524, executes column 524 and is mounted on execution frame 522, is uniformly arranged on the side wall of fixed frame 521 angled
Value, actuating motor 523 are one of motor, belong to the prior art, execute 522 turns of frame by the control of actuating motor 523
Dynamic to adjust operation, observation executes movement position of the column 524 in arc groove, to read the angle value of rotation.
The No.1 bindiny mechanism 23 is identical structure with No. two bindiny mechanisms 53, and the No.1 bindiny mechanism 23 includes logical
The connection motor 231 that motor cabinet is mounted on cursor 226 is crossed, connects and connecting plate 232 is installed on the output shaft of motor 231,
It is provided with connecting tube 233 on connecting plate 232, is provided with connection catching groove in connecting tube 233, along its circumferential direction on connecting plate 232
It is provided with connection cylinder 234, the top of connection cylinder 234 is mounted in fastening bracket 235 by flange, is arranged in fastening bracket 235
There is fastening slot.
The connection catching groove that connection motor 231 controls in connecting tube 233 is clamped with clip-connecting rod 31, and connection cylinder 234 is controlled
Fastening bracket 235 processed is stretched, and is locked so that clip-connecting rod 31 be made to be embedded into fastening slot.
The plectane gripper jaw 6 includes the clip-connecting rod 31 being connected on plane clamping limb 5, and clip-connecting rod 31 is in cross knot
Structure is equipped with supporting plate 61 on clip-connecting rod 31, auxiliary tube 62 is equipped on the side wall of supporting plate 61, auxiliary is provided on auxiliary tube 62
Hole, via hole is interior to be provided with auxiliary frame 63 by sliding matching mode, is provided between auxiliary frame 63 and the inner wall of auxiliary tube 62
Secondary spring 64 is provided with assisted sucking disc 65 on the side wall of auxiliary frame 63, is provided on supporting plate 61 against branch 66, assisted sucking disc
65 external existing air pumps, cooperating between auxiliary frame 63 and secondary spring 64 can make assisted sucking disc 65 closely against in round block
On plate 10, assisted sucking disc 65 adsorbs round block plate 10 under the action of air pump, can be to round block plate 10 against branch 66
Lower end is supported.
Described against branch 66 includes the vertical plate 661 that is uniformly arranged on supporting plate 61, is provided on vertical plate 661 by pin shaft
Against frame 662, it is connected by pin shaft with one end of interlocking bar 663 on the side wall of frame 662, the other end of interlocking bar 663 is logical
It crosses pin shaft to be mounted on linkage rack 664, linkage rack 664 is mounted on the top of linkage air cylinder 665, linkage air cylinder 665 by flange
It is mounted on supporting plate 61, linkage air cylinder 665 is one of cylinder, belongs to the prior art, and linkage air cylinder 665 controls linkage rack
664 liftings, linkage rack 664 are controlled by interlocking bar 663 and are supported and separate against lower end of the frame 662 to round block plate 10.
The rotary table gripper jaw 3 includes the clip-connecting rod 31 being connected on space clamping limb 2, and clip-connecting rod 31 is in cross knot
Structure is equipped on clip-connecting rod 31 on clamping pipe 32, is clamped and is evenly arranged with holding tank along its circumferential direction on pipe 32, in holding tank
Pin shaft is provided with fixed clamp pawl 33, is connected with clamp springs 34 between fixed clamp pawl 33 and the inner wall for clamping pipe 32,
Clamp and gripper cylinder 35 be installed on the inner wall of pipe 32, the top of gripper cylinder 35 is equipped with grip block 36, grip block 36 against
On fixed clamp pawl 33, gripper cylinder 35 is one of cylinder, belongs to the prior art, is controlled and is clamped by gripper cylinder 35
Plate 36 squeezes fixed clamp pawl 33, between grip block 36 and clamp springs 34 cooperate control fixed clamp pawl 33 into
Row rotates flexible operation, carries out automatically lock so as to the inner wall to rotary table ring 9.
When simulated three-dimensional space grabs rotary table ring 9:
Rotation is adjusted, the work of driving motor 214 is by driving gear 213 and supports the mutual cooperation band between gear 212
Dynamic supporting table 211 is rotated, and support cylinder 224 can control lifter plate 225 under the auxiliary of support limit bar 228 and be stretched
Contracting adjusts operation, and the work of rotary electric machine 243 passes through the mutual cooperation Operation control between rotate gear 242 and adjustment gear 241
Support roller 222 is rotated, and is clamped between No.1 bindiny mechanism 23 and rotary table gripper jaw 3 to control.
Space clamping limb 2 controls rotary table gripper jaw 3 and grabs to rotary table ring 9, and simulation grabs rotary table in three dimensions
The movement of ring 9.
Simulated three-dimensional space grab round block plate 10 when: space clamping limb 2 by above-mentioned adjusting rotate step in movement and
It is clamped between plectane gripper jaw 6, the movement of round block plate 10 is grabbed in simulated three-dimensional space.
When simulating two-dimensional space grabs rotary table ring 9:
Execute adjusting: annular electro movable slider 4 controls to adjust arm 51 and moves to suitable position, and oscillating motor 543 controls
Swinging block 515 is moved, and swinging block 515 is driven to carry out angular adjustment operation in the movement of swinging block 515, and actuating motor 523 is controlled
System executes frame 522 and carries out rotation adjusting operation, to be clamped between No. two 53 rotary table gripper jaws 3 of bindiny mechanism of control.
Plane clamping limb 5 controls rotary table gripper jaw 3 and grabs to rotary table ring 9, and simulation planar grabs rotary table ring 9
Movement.
Simulating two-dimensional space grab round block plate 10 when: plane clamping limb 5 by above-mentioned execution adjusting in movement and plectane
It is clamped between gripper jaw 6, the movement of crawl round block plate 10 in simulation plane.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of high-freedom degree tests class three-dimensional visual simulation platform, including bottom plate (1), it is characterised in that: the upper end of bottom plate (1)
Middle part is provided with space clamping limb (2), is connected on space clamping limb (2) rotary table gripper jaw (3), and bottom plate is equipped with ring on (1)
The electronic sliding block of shape (4) is equipped with plane clamping limb (5) on annular electro movable slider (4), and plane clamping limb is connected with plectane on (5)
The upper end left side of gripper jaw (6), bottom plate (1) is placed with annulus rack (7), is placed with plate on the right side of the upper end of bottom plate (1) and is put
It sets frame (8), being staggeredly placed on bottom plate (1) along its circumferential direction has rotary table ring (9) and round block plate (10)；
The space clamping limb (2) includes the rotating mechanism (21) being mounted on bottom plate (1) by bearing, on rotating mechanism (21)
It is provided with regulating mechanism (22), No.1 bindiny mechanism (23) is installed on regulating mechanism (22)；
The plane clamping limb (5) includes the regulating arm (51) being mounted on annular electro movable slider (4), and regulating arm is arranged on (51)
Have execution arm (52), executes and No. two bindiny mechanisms (53) are installed on arm (52)；
The rotary table gripper jaw (3) includes the clip-connecting rod (31) being connected on space clamping limb (2), and clip-connecting rod (31) is in cross
Structure is equipped on clip-connecting rod (31) on clamping pipe (32), is evenly arranged with holding tank along its circumferential direction on clamping pipe (32),
It is provided with fixed clamp pawl (33) in holding tank by pin shaft, is connected between fixed clamp pawl (33) and the inner wall of clamping pipe (32)
Have clamp springs (34), is equipped with gripper cylinder (35) on the inner wall of clamping pipe (32), the top of gripper cylinder (35) is equipped with
Grip block (36), grip block (36) are resisted against on fixed clamp pawl (33)；
The plectane gripper jaw (6) includes the clip-connecting rod (31) being connected on plane clamping limb (5), and clip-connecting rod (31) is in cross
Structure is equipped with supporting plate (61) on clip-connecting rod (31), is equipped on the side wall of supporting plate (61) auxiliary tube (62), on auxiliary tube (62)
It is provided with via hole, is provided with auxiliary frame (63) in via hole by sliding matching mode, auxiliary frame (63) and auxiliary tube (62)
Inner wall between be provided with secondary spring (64), be provided on the side wall of auxiliary frame (63) assisted sucking disc (65), on supporting plate (61)
It is provided with against branch (66).
2. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: the rotating machine
Structure (21) includes the supporting table (211) being mounted on bottom plate (1), and the section of supporting table (211) is T font structure, supporting table
(211) it is arranged with support gear (212) on outer wall, driving gear (213) is engaged in support gear (212), drives gear
(213) it is mounted on the output shaft of driving motor (214), driving motor (214) is mounted on bottom plate (1) by motor cabinet, branch
The lower end of support platform (211) is provided with marking rod (215), and marking rod (215) passes through sliding matching mode and circular rails (216) phase
Even, circular rails (216) are mounted on bottom plate (1), and are evenly arranged with angle value along its circumferential direction in circular rails (216).
3. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: the adjusting machine
Structure (22) includes the support frame (221) being mounted on supporting table (211), is arranged between the inner wall of support frame (221) by bearing
Have support roller (222), be equipped in support roller (222) support plate (223), support plate is equipped with support cylinder on (223)
(224), the top of cylinder (224) is supported to be mounted on lifter plate (225) by flange, support plate (223) and lifter plate (225)
Between be connected with support limit bar (228), be provided with cursor (226) on lifter plate (225) by pin shaft, cursor (226)
Side wall on be connected with the top of rotation cylinder (227) by pin shaft, the bottom end of rotation cylinder (227) is mounted on liter by pin shaft
It drops on plate (225), the left end of support roller (222) is provided with driving branch (24), and the right end of support roller (222) is provided with positioning branch
Chain (25).
4. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: the regulating arm
(51) include the mounting plate (511) being mounted on annular electro movable slider (4), mounting rack (512) be installed on mounting plate (511),
It is provided with oscillating deck (513) between the inner wall of mounting rack (512) by pin shaft, the lower end of oscillating deck (513) is arranged by bearing
Have oscillating roller (514), the lower end of oscillating roller (514) is resisted against on swinging block (515), and swinging block (515) is in V-shape structure, pendulum
Motion block (515) is connected by sliding matching mode with mounting plate (511), and braking branch (54) is provided on swinging block (515).
5. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: the execution arm
(52) include the fixed frame (521) for being symmetricly set on oscillating deck (513) upper end, pass through bearing between the inner wall of fixed frame (521)
It is provided with and executes frame (522), the left end for executing frame (522) is mounted on the output shaft of actuating motor (523), actuating motor
(523) it is mounted on fixed frame (521) by motor cabinet, arc groove is provided on fixed frame (521), passes through sliding in arc groove
Fit system, which is provided with, executes column (524), executes column (524) and is mounted in execution frame (522), on the side wall of fixed frame (521)
It is evenly arranged with angle value.
6. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: the No.1 connects
Connection mechanism (23) is identical structure with No. two bindiny mechanisms (53), and the No.1 bindiny mechanism (23) includes being installed by motor cabinet
Connection motor (231) on cursor (226) is connected and is equipped with connecting plate (232) on the output shaft of motor (231), is connected
It is provided on plate (232) connecting tube (233), is provided with connection catching groove in connecting tube (233), along its circumferential direction on connecting plate (232)
Direction is provided with connection cylinder (234), and the top of connection cylinder (234) is mounted on fastening bracket (235) by flange, fastening bracket
(235) fastening slot is provided on.
7. high-freedom degree according to claim 1 tests class three-dimensional visual simulation platform, it is characterised in that: described against branch
Chain (66) includes the vertical plate (661) being uniformly arranged on supporting plate (61), and vertical plate is provided with by pin shaft against frame on (661)
(662), it is connected by pin shaft with one end of interlocking bar (663) on the side wall of frame (662), the other end of interlocking bar (663)
It is mounted on linkage rack (664) by pin shaft, linkage rack (664) is mounted on the top of linkage air cylinder (665) by flange, linkage
Cylinder (665) is mounted on supporting plate (61).
8. high-freedom degree according to claim 3 tests class three-dimensional visual simulation platform, it is characterised in that: the driving branch
Chain (24) includes the adjustment gear (241) for being mounted on support roller (222) left end, and adjustment gear is engaged with rotate gear on (241)
(242), rotate gear (242) is mounted on the output shaft of rotary electric machine (243), and rotary electric machine (243) is installed by motor cabinet
On support frame (221).
9. high-freedom degree according to claim 3 tests class three-dimensional visual simulation platform, it is characterised in that: the positioning branch
Chain (25) includes the positioning plate (251) for being mounted on support roller (222) right end, and positioning plate is uniformly set on (251) along its circumferential direction
It is equipped with location hole, is equipped in supporting table (211) positioning cylinder (252), the top of positioning cylinder (252) is mounted on by flange
It on locating piece (253), is evenly arranged with positioning column (254) on locating piece (253) along its circumferential direction, positioning column (254) and fixed
Cooperate movement between the hole of position.
10. high-freedom degree according to claim 4 tests class three-dimensional visual simulation platform, it is characterised in that: the braking
Branch (54) includes the oscillating rack (541) for being mounted on swinging block (515) left end, and oscillating rack is engaged with swing tooth on (541)
It takes turns (542), wobble gear (542) is mounted on the output shaft of oscillating motor (543), and oscillating motor (543) is pacified by motor cabinet
On mounting rack (512), the right end of swinging block (515) is provided with fixing groove (544), mounting rack at equal intervals from front to back
(512) right end is provided with fixed block (545) by pin shaft, is arranged between fixed block (545) and mounting rack (512) by pin shaft
There are fixed cylinder (546).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811629587.7A CN109448535A (en) | 2018-12-28 | 2018-12-28 | High-freedom degree tests class three-dimensional visual simulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811629587.7A CN109448535A (en) | 2018-12-28 | 2018-12-28 | High-freedom degree tests class three-dimensional visual simulation platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109448535A true CN109448535A (en) | 2019-03-08 |
Family
ID=65539372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811629587.7A Withdrawn CN109448535A (en) | 2018-12-28 | 2018-12-28 | High-freedom degree tests class three-dimensional visual simulation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109448535A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916720A (en) * | 2019-04-09 | 2019-06-21 | 张彩虹 | A kind of each component connectivity robustness detection device of anaesthetic mask |
| CN110286265A (en) * | 2019-07-24 | 2019-09-27 | 四川电器集团股份有限公司 | Contact arm measure annular device for vacuum circuit breaker |
| CN110412875A (en) * | 2019-08-11 | 2019-11-05 | 哈尔滨理工大学 | A kind of gas nozzle and a kind of adaptive stabilizing platform |
| CN110286265B (en) * | 2019-07-24 | 2024-05-10 | 河北杰能电气设备有限公司 | Contact arm measuring ring device for vacuum circuit breaker |
-
2018
- 2018-12-28 CN CN201811629587.7A patent/CN109448535A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916720A (en) * | 2019-04-09 | 2019-06-21 | 张彩虹 | A kind of each component connectivity robustness detection device of anaesthetic mask |
| CN109916720B (en) * | 2019-04-09 | 2021-06-25 | 张彩虹 | Device for detecting connection firmness of components of anaesthetic mask |
| CN110286265A (en) * | 2019-07-24 | 2019-09-27 | 四川电器集团股份有限公司 | Contact arm measure annular device for vacuum circuit breaker |
| CN110286265B (en) * | 2019-07-24 | 2024-05-10 | 河北杰能电气设备有限公司 | Contact arm measuring ring device for vacuum circuit breaker |
| CN110412875A (en) * | 2019-08-11 | 2019-11-05 | 哈尔滨理工大学 | A kind of gas nozzle and a kind of adaptive stabilizing platform |
| CN110412875B (en) * | 2019-08-11 | 2022-08-23 | 哈尔滨理工大学 | Air faucet |
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Application publication date: 20190308 |