CN113531070A

CN113531070A - Elliptical track generator

Info

Publication number: CN113531070A
Application number: CN202110865377.3A
Authority: CN
Inventors: 赵海涛; 彭路南; 张水香
Original assignee: Yichun University
Current assignee: Yichun University
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-10-22

Abstract

The invention discloses an elliptical track generation device, which is based on an elliptical parameter equation and comprises an x-direction movement mechanism, a y-direction movement mechanism, a parallelogram mechanism, a tail end execution mechanism, a rack and a verification plate. The x-direction movement mechanism and the y-direction movement mechanism are both crank slide block mechanisms, the main slide block is composed of three parts which are rigidly connected and respectively comprise a starting end slide block, a connecting rod and a terminal end slide block, and the offset distance between the center of the ellipse and the origin of coordinates is determined by the distance between the starting end slide block and the terminal end slide block. The cranks of the two crank slide block mechanisms can rotate at the same rotation angle and the same angular speed through the parallelogram mechanism, so that the conditions of an elliptic equation are met, and the terminal execution mechanism is driven to generate an elliptic track. Because the elliptical track is generated in the free space and is not influenced by the size of the elliptical radius, the lengths of the two cranks can be independently adjusted, and the required elliptical track can be generated flexibly. The instrument can be used in the fields of teaching instruments or elliptical track processing and the like.

Description

Elliptical track generator

Technical Field

The invention is mainly used for generating the elliptical track, the lengths of the major semi-axis and the minor semi-axis of the ellipse can be independently adjusted, the center of the ellipse is positioned in the space far away from the two slide rails, the elliptical track with infinite small radius can be generated, and the elliptical track in any angle range can be generated according to the requirement.

Background

In the existing elliptical track generator which is mainly made by using a 'card' mechanism principle, for example, in the Chinese patent with publication number CN1078929A, because the center of an ellipse is at the intersection of two slide rails, when the radius of the ellipse is smaller, the slide blocks sliding on the two slide rails are very close to each other, even if the ellipse is divided into an upper plane and a lower plane, the position arrangement of related parts is difficult, interference is easy to generate, the movement is not smooth, and particularly, the elliptical track crossing the slide rails is generated; in addition, the major and minor semiaxes of the ellipse generated by the ellipse trajectory generator based on the kakon principle are related, that is, when one radius length of the ellipse is changed, the other radius length is changed, which sometimes causes inconvenience.

Disclosure of Invention

The invention is evolved according to an ellipse parameter equation, which can be expressed as:

a and b are respectively the semidiameter of the major axis and the semidiameter of the minor axis of the ellipse, the center of the ellipse at the moment is coincident with the origin of coordinates, when the ellipse path is actually realized, the origin of coordinates is usually at the intersection of the slideways in the x direction and the y direction, so that the inconvenience is easily caused when a small ellipse is generated, and the situation can be avoided by respectively offsetting the ellipse equation in the x direction and the y direction. The biased ellipse equation can be expressed as:

at this time, as long as the coordinate origin is not included in the ellipse and the selection is proper, the ellipse track can be realized in a free area without being influenced at all.

The device of the invention is composed of a housing (5 'and 5 in the figure), an x-directional motion mechanism (1, 1', etc. in the figure), a y-directional motion mechanism (2, 2 '), a parallelogram mechanism (6, 6' in the figure), an end-effector mechanism (1 ', 2', 3, etc. in the figure) and a proof plate (4 in the figure), which can be selected according to the application). The x-direction motion mechanism and the y-direction motion mechanism both belong to a slider-crank mechanism, and the offset distances are respectively 1 ', 1' and 2 ', 2' spaced in the respective sliding directions). As long as the two cranks of the x-direction motion mechanism and the y-direction motion mechanism rotate by the same initial angle and rotation speed, the intersection of the 1 'and the 2' satisfies the biased elliptic equation, and the parallelogram mechanism in the design can guarantee the purpose. The 1 'and 2' are each provided with a slideway, and the 1 'is passed through the 2' and the terminal actuator 3 is mounted at the intersection of the 1 'and 2' and can slide on the two slideways simultaneously to be always in the intersection position, so as to form a terminal actuator mechanism, and thus the trajectory of the terminal actuator can be ensured to be elliptical. In order to ensure the strength and the rigidity, the frame 5 adopts a frame structure, namely, the x direction and the y direction both adopt a double-guide-rail form, and the distance between the guide rails determines the maximum radius of the elliptical track. In order to ensure that the interference phenomenon does not occur between the motion mechanisms, the main transmission mechanisms are respectively arranged at the upper side and the lower side of the frame 5. The parallelogram mechanism is then arranged above the frame 5'. The crank of the x-direction movement mechanism and one crank of the parallelogram mechanism share a rotating shaft A, and the directions of the two cranks are kept fixed and consistent; similarly, the crank of the y-direction motion mechanism and the other crank of the parallelogram mechanism share the other rotating shaft B, and the orientation between the two cranks is kept fixed and consistent. The rotating shaft A or B can be used as a driving shaft. As the drive shaft rotates, the end effector will move in an elliptical path. The crank of the x-direction motion mechanism and the crank of the y-direction motion mechanism can be independently adjusted and do not influence each other, the length of the crank does not generate different elliptical trajectories, and when the length of one crank is 0, the device degenerates into a linear motion mechanism.

Drawings

FIG. 1 is a schematic view of the present invention; the basic case of elliptical trajectory generation can be seen.

Fig. 2 is a front view, and the arrangement of the layers of the motion mechanisms can be seen.

Fig. 3 is a schematic view with the parallelogram mechanism removed.

The reference numerals in the figures have been described in the previous section.

Detailed Description

First, a part of the housing is processed, which is composed of an upper 5' and a lower 5. The lower layer 5 is basically shaped as a rectangular frame, two x-direction guide rails and two y-direction guide rails are respectively processed on the rectangular frame, a blank area is arranged between the four guide rails and used for generating the elliptical track, and the size of the blank area determines the size of the generated elliptical track. The x-direction movement mechanism and the y-direction movement mechanism are both crank slider mechanisms.

The x-direction movement mechanism is mounted on the left side of the frame (the position shown in fig. 1), and is composed of a crank 1, an auxiliary slider 1 ', a complex slider (1 ', 1 ' and 1 ') and a frame (5 and 5 '). Two ends of the crank 1 are designed with rotating shaft holes, one end of the crank is installed on the rack 5 'through a rotating shaft A, the other end of the crank is connected with an auxiliary sliding block, and the auxiliary sliding block is installed in a 1' component of the composite sliding block. The composite sliding block is fixedly connected by 1 ' and 1 ' or 1 ' and can also be designed into an integral type so as to improve the precision of the composite sliding block. The guide rail on the 1 '-member is parallel to the guide rail on the 1' -member, on which the end effector slides, and is perpendicular to the x-direction guide rail (left-right direction shown in fig. 1) on the rack. To avoid the interference phenomenon, 1 'is coupled to 1' under the housing 5. The auxiliary sliding block can slide in the 1 ' component of the composite sliding block and can rotate around the rotating shaft on the crank, and when the crank rotates, the 1 ' component of the composite sliding block is driven by the auxiliary sliding block, so that the 1 ' component can be moved left and right on the rack x-direction guide rail.

The y-direction movement mechanism is similar in structure to the x-direction movement mechanism, and is installed at a position on the lower side of the frame (the position shown in fig. 1), and is composed of a crank 2, an auxiliary slider 2 ', a composite slider (2 ', 2 ' and 2 ') and a frame (5 and 5 '). Two ends of the crank 2 are designed with rotating shaft holes, one end of the crank is installed on the rack 5 'through a rotating shaft B, the other end of the crank is connected with an auxiliary sliding block, and the auxiliary sliding block is installed in a 2' component of the composite sliding block. The composite sliding block is fixedly connected by 2 ' and 2 ' or 2 ' and can also be designed into an integral type so as to improve the precision of the composite sliding block. The guide rail on the 2 '-component is parallel to the guide rail on the 2' -component on which the end effector slides, and is perpendicular to the y-direction guide rail (the up-down direction shown in fig. 1) on the rack. To avoid interference, the 2 ' is coupled to the 2 ' between the chassis 5 and the 5 '. The auxiliary sliding block can slide in the 2 ' component of the composite sliding block and can rotate around the rotating shaft on the crank, and when the crank rotates, the 2 ' component of the composite sliding block is driven by the auxiliary sliding block, so that the 2 ' component can be made to move up and down on the guide rail in the y direction of the rack.

The composite slider 1' component and the "2" component are provided with an elongated slot and a slide, and the "1" and the "2" are mutually perpendicularly traversed and slide relatively, and the end effector 3 is mounted at the intersection of the "1" and the "2" and can slide on the tracks of the "1" and the "2" simultaneously, and, when the crank 1 and the crank 2 are kept in parallel rotation, they are driven together by the "1" and the "2" and the "end effector moves in an elliptic trajectory.

In order to ensure that the crank 1 and the crank 2 always keep parallel rotation, a parallelogram mechanism is adopted to drive the crank 1 and the crank 2. The parallelogram mechanism is mounted 5 'above the frame, its two cranks (6, 6') being parallel to the

cranks

1 and 2, respectively, and mounted on the shafts a and B. The transmission gear or the belt pulley is arranged on the rotating shaft A or the rotating shaft B to transmit power without interference.

The terminal actuator 3 is provided with an installation platform, different tools such as painting brushes can be installed according to functional requirements, the invention can be used as an elliptic plotter to draw elliptic curves with any combination of long and short radiuses, and the elliptic curves in any angle range can be controlled to be generated by controlling the rotation angle of a crank of the parallelogram mechanism; if the power drill bit is installed, drilling can be carried out at different positions of the elliptical track; if the power milling cutter is installed, an oval profile shape can be machined.

Claims

1. An elliptical track generator is based on an offset elliptical equation, and is formed by combining an x-direction motion mechanism and a y-direction motion mechanism into elliptical motion, and is characterized in that: the generated elliptical track is in a free space, no track and fixed parts exist in the elliptical range, the x-direction movement mechanism and the y-direction movement mechanism are both crank slider mechanisms, and the cranks of the two crank slider mechanisms are ensured to keep the same rotating speed and rotating angle state by the parallelogram mechanism.

2. An elliptical trajectory generator as claimed in claim 1, and further comprising: the x-direction movement mechanism, the y-direction movement mechanism and the parallelogram mechanism are arranged in three layers, the rack is arranged in two layers, and the three-layer movement mechanism and the two-layer rack are arranged alternately.

3. An elliptical trajectory generator as claimed in claim 1, and further comprising: the x-direction movement mechanism and the y-direction movement mechanism are respectively arranged in two directions perpendicular to each other, and the crank 1 and the crank 2 are always kept parallel.

4. An elliptical trajectory generator as claimed in claim 1, and further comprising: the '1' part of the composite sliding block of the x-direction movement mechanism and the '2' part of the composite sliding block of the y-direction movement mechanism are provided with long grooves, are mutually perpendicular to penetrate and can move oppositely, the long grooves are provided with slideways, the end effector 3 is installed at the intersection of the two slideways, and the end effector is always positioned at the intersection along with the relative movement of the '1' part and the '2' part, so that the '1' part and the '2' part are jointly driven to drive the end effector to move along an elliptical path.

5. An elliptical trajectory generator as claimed in claim 1, and further comprising: the fixed beam (the straight line connecting the centers of the two crank rotating shafts) of the parallelogram mechanism and the two slide ways form an included angle, and the included angle is not parallel to or perpendicular to any direction of the two slide ways.