CN111152194B - Single-degree-of-freedom infinite turnover mechanism - Google Patents
Single-degree-of-freedom infinite turnover mechanism Download PDFInfo
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- CN111152194B CN111152194B CN202010042950.6A CN202010042950A CN111152194B CN 111152194 B CN111152194 B CN 111152194B CN 202010042950 A CN202010042950 A CN 202010042950A CN 111152194 B CN111152194 B CN 111152194B
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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
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Abstract
一种单自由度无限翻转机构，该机构包括第一至第三反平行四边形单元(A‑a、A‑b、A‑c)，第一与第二反平行四边形单元(A‑a、A‑b)通过第二与第五杆件(A‑a‑2、A‑b‑1)的第二、第三连接关节(A‑a‑2‑3、A‑b‑1‑3)实现转动连接，第二与第三反平行四边形单元(A‑b、A‑c)通过第六与第九杆件(A‑b‑2、A‑c‑1)的第四、第五连接关节(A‑b‑2‑3、A‑c‑1‑3)实现转动连接，第三与第一反平行四边形单元(A‑c、A‑a)通过第十与第一杆件(A‑c‑2、A‑a‑1)的第六、第一连接关节(A‑c‑2‑3、A‑a‑1‑3)实现转动连接；第一至第三反平行四边形单元(A‑a、A‑b、A‑c)对应杆件长度相同，该单自由度机构可实现无限翻转，并可以折叠成一个平面。
A single-degree-of-freedom infinite flip mechanism, the mechanism includes first to third antiparallelogram units (A-a, A-b, A-c), first and second antiparallelogram units (A-a, A ‑b) Realized by the second and third connecting joints (A‑a‑2‑3, A‑b‑1‑3) of the second and fifth rods (A‑a‑2, A‑b‑1) Rotationally connected, the second and third antiparallelogram units (A‑b, A‑c) pass through the fourth and fifth connecting joints of the sixth and ninth rods (A‑b‑2, A‑c‑1) (A-b-2-3, A-c-1-3) realize rotational connection, and the third and first antiparallelogram units (A-c, A-a) are connected to the first rod (A- The sixth and first connecting joints (A-c-2-3, A-a-1-3) of c-2, A-a-1) realize rotational connection; the first to third antiparallelogram units (A-c-2-3, A-a-1-3) ‑a, A‑b, A‑c) have the same length of the corresponding rods, the single-degree-of-freedom mechanism can be turned infinitely and can be folded into a plane.
Description
Technical Field
The invention relates to the field of space folding and unfolding and aerospace, in particular to a single-degree-of-freedom infinite turnover mechanism.
Background
A classic single closed-loop space 6R mechanism, namely a Bricard mechanism, can realize the functions of overturning, folding and the like, and has six rod pieces, six revolute pairs and one degree of freedom. The method is widely applied to daily life and aerospace, for example, Chinese patent CN201810223057.6 discloses a multi-stable state flexible Bricard mechanism and a stable state analysis method thereof, and a flexible mechanism is adopted to form a ring-shaped closed structure by a plurality of Bricard basic units. However, the relative rigidity of the compliant mechanism is poor, the adjacent joints of the Bricard mechanism are in different planes or have complex angles, and the processing and the manufacturing are relatively complex, so that the retaining mechanism is a rigid mechanism, two rod pieces and a rotating pair of the traditional Bricard mechanism are replaced by an anti-parallelogram unit, the space mechanism is simplified into the connection of a plane mechanism, and the mechanism has higher rigidity and is easier to process and manufacture. The obtained space mechanism is a single-degree-of-freedom infinite turnover mechanism and can be folded into a plane.
Disclosure of Invention
The invention aims to provide a single-degree-of-freedom infinite overturning mechanism which can realize infinite overturning, single-degree-of-freedom maintenance and plane folding through the design of a mechanism while maintaining the folding advantage.
The technical scheme of the invention is as follows:
the single-degree-of-freedom infinite turnover mechanism comprises first to third anti-parallelogram units A-a, A-b and A-c, wherein the first and second anti-parallelogram units A-a and A-b are in rotary connection through second and fifth rod pieces A-a-2 and A-b-1 and second and third connecting joints A-a-2-3 and A-b-1-3, the second and third anti-parallelogram units A-b and A-c are in rotary connection through sixth and ninth rod pieces A-b-2 and A-c-1 and fourth and fifth connecting joints A-b-2-3 and A-c-1-3, and the third and first anti-parallelogram units A-c and A-a are in rotary connection through tenth and first rod pieces A-c-2, The sixth and the first connecting joints A-c-2-3 and A-a-1-3 of A-a-1 realize rotary connection; the lengths of the corresponding rod pieces of the first to third anti-parallelogram units A-a, A-b and A-c are the same, and the single-degree-of-freedom mechanism can realize infinite turning and can be folded into a plane.
The first anti-parallelogram unit A-a comprises: a first rod piece A-a-1, a second rod piece A-a-2, a third rod piece A-a-3 and a fourth rod piece A-a-4.
The first anti-parallelogram unit A-a is divided into three layers, the first layer is a third rod A-a-3, the second layer is a first rod A-a-1 and a second rod A-a-2, and the third layer is a fourth rod A-a-4; the first rod piece A-a-1 and the second rod piece A-a-2 are respectively in rotary connection with the third rod piece A-a-3 and the third rod piece A-a-4, the first hole A-a-1-1 of the first rod piece A-a-1 is in rotary connection with the seventh hole A-a-4-1 of the fourth rod piece A-a-4, the second hole A-a-1-2 of the first rod piece A-a-1 is in rotary connection with the sixth hole A-a-3-2 of the third rod piece A-a-3, the third hole A-a-2-1 of the second rod piece A-a-2 is in rotary connection with the fifth hole A-a-3-1 of the third rod piece A-a-3, the fourth hole A-a-2-2 of the second rod A-a-2 is rotatably connected with the eighth hole A-a-4-2 of the fourth rod A-a-4.
The third and fourth rod components A-a-3 and A-a-4 are completely the same and respectively comprise a fifth hole A-a-3-1 and a sixth hole A-a-3-2 and a seventh hole A-a-4-1 and a-4-2.
The first rod piece A-a-1 comprises a first hole A-a-1-1, a-1-2 and a first connecting joint A-a-1-3, the axes of the first hole A-a-1-1 and the second hole A-a-1-2 are parallel, the axis of the first connecting joint A-a-1-3 is perpendicular to the axes of the first hole A-a-1-1 and the second hole A-a-1-2, and the distance from the lower bottom surface of the first connecting joint A-a-1-3 to the first hole A-a-1-1 and the first connecting joint A-a-1-2 is equal.
The second rod piece A-a-2 comprises a third hole A-a-2-1, a-2-2 and a second connecting joint A-a-2-3, the axes of the third hole A-a-2-1 and the fourth hole A-a-2-2 are parallel, the axis of the second connecting joint A-a-2-3 is perpendicular to the axes of the third hole A-a-2-1 and the fourth hole A-a-2-2, and the distance from the lower bottom surface of the second connecting joint A-a-2-3 to the third hole A-a-2-1 and the fourth hole A-a-2-2 is equal.
The second anti-parallelogram unit A-b and the third anti-parallelogram unit A-c have the same shape, mechanical structure and assembly mode as the first anti-parallelogram unit A-a.
The first to third antiparallel quadrilateral units A-a, A-b, A-c are assembled by the above connection.
The invention has the beneficial effects that:
the single-degree-of-freedom infinite overturning mechanism is a single-degree-of-freedom mechanism, can realize infinite overturning and can be folded into a plane. The mechanism only has a revolute pair through the configuration design of the mechanism, and the anti-parallelogram unit has higher rigidity than a pure connecting rod. Compared with the traditional Bricard, the connecting joints between the mechanisms are on the same plane when the adjacent axes are not coplanar or at a certain angle, and the mechanism has simple structure and is relatively easy to machine and manufacture. The mechanism can also be applied to folding and unfolding mechanisms or aerospace aviation and the like.
Drawings
FIG. 1 is an overall three-dimensional view of a single degree of freedom infinite turnover mechanism;
FIG. 2 is a first three-dimensional view of an anti-parallelogram unit;
FIG. 3 is a three-dimensional view II of an anti-parallelogram unit;
FIG. 4 is a three-dimensional view of an intermediate bar of an anti-parallelogram unit;
FIG. 5 is a first three-dimensional view of an end bar of an anti-parallelogram unit;
FIG. 6 is a two-dimensional view of the end bar of the anti-parallelogram unit;
fig. 7 is a schematic view of an infinite flipping motion.
Detailed Description
The invention will be further explained with reference to the drawings.
A single degree-of-freedom infinite tilting mechanism, as shown in fig. 1, comprising: first to third anti-parallelogram units A-a, A-b and A-c, wherein the first and second anti-parallelogram units A-a and A-b are rotationally connected through the second and third connecting joints A-a-2-3 and A-b-1-3 of the second and fifth rod pieces A-a-2 and A-b-1, the second and third anti-parallelogram units A-b and A-c are rotationally connected through the fourth and fifth connecting joints A-b-2-3 and A-c-1 of the sixth and ninth rod pieces A-b-2 and A-c-1, and the third and first anti-parallelogram units A-c and A-a are rotationally connected through the tenth and first rod pieces A-c-2, The sixth and the first connecting joints A-c-2-3 and A-a-1-3 of A-a-1 realize rotary connection; the lengths of the corresponding rod pieces of the first to third anti-parallelogram units A-a, A-b and A-c are the same, and the single-degree-of-freedom mechanism can realize infinite turning and can be folded into a plane.
As shown in fig. 2, the first anti-parallelogram unit a-a includes: a first rod piece A-a-1, a second rod piece A-a-2, a third rod piece A-a-3 and a fourth rod piece A-a-4.
The first anti-parallelogram unit A-a is divided into three layers, the first layer is a third rod A-a-3, the second layer is a first rod A-a-1 and a second rod A-a-2, and the third layer is a fourth rod A-a-4; as shown in FIG. 3, the first and second rods A-a-1 and A-a-2 are rotatably coupled to the third and fourth rods A-a-3 and A-a-4, respectively, the first hole A-a-1-1 of the first rod A-a-1 is rotatably coupled to the seventh hole A-a-4-1 of the fourth rod A-a-4, the second hole A-a-1-2 of the first rod A-a-1 is rotatably coupled to the sixth hole A-a-3-2 of the third rod A-a-3, the third hole A-a-2-1 of the second rod A-a-2 is rotatably coupled to the fifth hole A-a-3-1 of the third rod A-a-3, the fourth hole A-a-2-2 of the second rod A-a-2 is rotatably connected with the eighth hole A-a-4-2 of the fourth rod A-a-4.
As shown in FIG. 4, the third and fourth rod members A-a-3 and A-a-4 are identical and respectively comprise a fifth and sixth hole A-a-3-1 and A-a-3-2 and a seventh and eighth hole A-a-4-1 and A-a-4-2. As shown in FIG. 5, the first rod member A-a-1 includes first and second holes A-a-1-1 and A-a-1-2 and a first connection joint A-a-1-3, the axes of the first and second holes A-a-1-1 and A-a-1-2 are parallel, the axis of the first connection joint A-a-1-3 is perpendicular to the axes of the first and second holes A-a-1-1 and A-a-1-2, and the lower surface of the first connection joint A-a-1-3 is equidistant from the first and second holes A-a-1-1 and A-a-1-2.
As shown in FIG. 6, the second rod member A-a-2 includes third and fourth holes A-a-2-1 and A-a-2-2 and a second connection joint A-a-2-3, the axes of the third and fourth holes A-a-2-1 and A-a-2-2 are parallel, the axis of the second connection joint A-a-2-3 is perpendicular to the axes of the third and fourth holes A-a-2-1 and A-a-2-2, and the lower surface of the second connection joint A-a-2-3 is equidistant from the third and fourth holes A-a-2-1 and A-a-2-2.
The second anti-parallelogram unit A-b and the third anti-parallelogram unit A-c have the same shape, mechanical structure and assembly mode as the first anti-parallelogram unit A-a.
The first to third antiparallel quadrilateral units A-a, A-b, A-c are assembled by the above connection.
The single-degree-of-freedom infinite overturning mechanism is a single-degree-of-freedom mechanism, can realize infinite overturning and can be folded into a plane. The mechanism only has a revolute pair through the configuration design of the mechanism, and the anti-parallelogram unit has higher rigidity than a pure connecting rod. Compared with the traditional Bricard, the connecting joints between the mechanisms are on the same plane when the adjacent axes are not coplanar or at a certain angle, and the mechanism has simple structure and is relatively easy to machine and manufacture. The mechanism can also be applied to folding and unfolding mechanisms or aerospace aviation and the like.
As shown in fig. 7, a schematic diagram of the infinite turning mechanism with single degree of freedom realizing infinite turning motion is shown.
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| CN202010042950.6A CN111152194B (en) | 2020-01-15 | 2020-01-15 | Single-degree-of-freedom infinite turnover mechanism |
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| CN202010042950.6A CN111152194B (en) | 2020-01-15 | 2020-01-15 | Single-degree-of-freedom infinite turnover mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112599185B (en) * | 2020-09-21 | 2022-04-12 | 北京交通大学 | Dual-mode scaling mechanism |
| CN112555371B (en) * | 2020-11-11 | 2022-04-12 | 北京交通大学 | A Class of Single-DOF Dual-Mode Infinite Flip Mechanisms |
| CN112797128B (en) * | 2021-01-19 | 2022-10-04 | 北京航空航天大学 | Single-degree-of-freedom linkage mechanism and method for equivalent gear transmission |
| CN114810970B (en) * | 2022-04-08 | 2024-10-18 | 北京交通大学 | A single-degree-of-freedom spherical flip mechanism |
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| CH617559GA3 (en) * | 1977-12-29 | 1980-06-13 | ||
| CN100549434C (en) * | 2008-05-13 | 2009-10-14 | 北京交通大学 | Utilize the space telescopic mechanism of contra-parallelogram |
| CN104495133B (en) * | 2014-08-08 | 2016-08-17 | 北京交通大学 | A kind of ring-type refuse bag of multifunctional portable |
| CN106402575B (en) * | 2016-05-20 | 2018-05-04 | 北京交通大学 | One kind, which is turned over, gushes motion |
| CN108748098A (en) * | 2018-06-15 | 2018-11-06 | 常州大学 | A kind of parallel manipulator of three translations, one rotation |
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