CN208834187U - Displacement structure - Google Patents
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- CN208834187U CN208834187U CN201821685031.5U CN201821685031U CN208834187U CN 208834187 U CN208834187 U CN 208834187U CN 201821685031 U CN201821685031 U CN 201821685031U CN 208834187 U CN208834187 U CN 208834187U
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Abstract
The utility model provides a kind of displacement structure, comprising: mobile unit component (900)；The mobile unit component (900) includes first movement unit (901), the second mobile unit (902), movement parts (903), locking mechanism；Wherein, relative motion is connect between first movement unit (901) and the second mobile unit (902)；Movement parts (903) are fastenedly connected first movement unit (901), and movement parts (903) connect locking mechanism；The locking mechanism can lock and released movement part (903).The utility model is structurally reasonable, easy to maintain, and self-locking function may be implemented.
Description
Technical field
The utility model relates to Bit andits control fields, and in particular, to displacement structure and its control method and computer can
Read storage medium.The displacement structure and its control method and computer readable storage medium of especially a kind of controllable self-locking.
Background technique
Space orientation direction has a wide range of applications in fields such as industrial automation, aerospace, biologic medicals.It is existing
Space orientation pointing system, as the inertia of the patent document CN104483899A arm-type space solar telescope provided is directed toward control
Method and control system utilize multiple inertial sensors and servo motor, and determining for telescope is realized on the basis of kinetic model
It is directed toward position；The optical profile type pointing system that patent document CN103970262A is provided is realized empty using imaging sensor and reference light source
Between be directed toward.But the reasonability of displacement structure in the prior art needs to be further increased with controllability.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of displacement structure and its control method with
Computer readable storage medium.
According to a kind of displacement structure provided by the utility model, comprising: mobile unit component；
The mobile unit component includes first movement unit, the second mobile unit, movement parts, locking mechanism；Wherein,
Relative motion connects between one mobile unit and the second mobile unit；Movement parts are fastenedly connected first movement unit, and movement parts connect
Connect locking mechanism；The locking mechanism can lock and released movement part.
Preferably, the quantity of mobile unit component is one；It is opposite between second mobile unit and the shell of locking mechanism
It is fixed.
Preferably, the quantity of mobile unit component is multiple, wherein multiple mobile unit components are sequentially connected.
Preferably, in sequentially connected multiple mobile unit components, two adjacent mobile unit components are remembered respectively
For mobile unit component MOA, mobile unit component MOB, the second mobile unit of mobile unit component MOA is fastenedly connected mobile single
The first movement unit of first component MOB, and the lock of the first movement unit of mobile unit component MOB and mobile unit component MOA
It is fastenedly connected between the shell of crash structure.
Preferably, the first movement unit of the second mobile unit of mobile unit component MOA and mobile unit component MOB it
Between glide direction formed angle.
Preferably, the locking mechanism includes clamping institution；
The clamping institution includes clamp chamber, clamp fastener, fastener actuator；
The width of clamp chamber narrows from the width along axial direction, forms wide end, narrow end；Movement parts pass through described through wide end and narrow end
Clamp chamber；Clamp fastener is located in the clamp chamber；
Under the driving of the fastener actuator, clamp fastener can move between wide end and narrow end；
When clamp fastener is located at wide end, clamp fastener is detached from movement parts and/or clamps the cavity wall of chamber, thus movement parts
It can be described axially with respect to clamping institution free movement；
When clamp fastener is located at narrow end, the extruding by movement parts and the cavity wall of clamp chamber simultaneously of clamp fastener makes
Movement parts are obtained mutually to lock with clamping institution.
Preferably, the locking mechanism includes pairs of clamping institution；
Wherein, wide end is oppositely arranged or narrow end between two clamping institutions in the pairs of clamping institution
It is oppositely arranged.
Preferably, the fastener actuator includes that energy causes shape-changing material body, elastic reset body；
Energy causes shape-changing material body that can change between first shape and the second shape:
When energy causes shape-changing material body from first shape to when the second shape deformation, energy causes shape-changing material body to drive pincers
Bit card part overcomes the elastic force of elastic reset body to be moved to wide end；When energy causes shape-changing material body from the second shape to first shape shape
When change, the elastic force driving clamp fastener of elastic reset body is moved to narrow end；Either
When energy causes shape-changing material body from first shape to when the second shape deformation, energy causes shape-changing material body to drive pincers
Bit card part overcomes the elastic force of elastic reset body to be moved to narrow end；When energy causes shape-changing material body from the second shape to first shape shape
When change, the elastic force driving clamp fastener of elastic reset body is moved to wide end.
According to the control method of the above-mentioned displacement structure of one kind provided by the utility model, comprising:
Movement release steps: locking mechanism released movement part is enabled, movement parts are freely transported relative to locking mechanism
It is dynamic, allow for first movement unit being capable of free movement relative to the second mobile unit；
It moves locked step: enabling locking mechanism lock movement parts, so that first movement unit is relative to the second mobile unit
It cannot move, or only can be to a direction free movement.
Preferably, the locked step of the movement includes:
It unidirectionally locks step: enabling in the pairs of clamping institution of locking mechanism, the clamp fastener of a clamping institution is located at
The clamp fastener of wide end, another clamping institution is located at narrow end, so that first movement unit is only capable of relative to the second mobile unit
Enough to a direction free movement；Or
Two-way locked step: enabling in the pairs of clamping institution of locking mechanism, and the clamp fastener of a clamping institution is located at
The clamp fastener of narrow end, another clamping institution is located at narrow end, prevent first movement unit relative to the second mobile unit from
Free movement.
According to a kind of computer readable storage medium for being stored with computer program provided by the utility model, the calculating
When machine program is executed by processor realize claim or any one of described in method the step of.
Compared with prior art, the utility model have it is following the utility model has the advantages that
1, the utility model is structurally reasonable, easy to maintain, and self-locking function may be implemented.
2, the coupling mechanism force of the self-locking function of the utility model can guarantee that the accuracy of displacement, locking state flowering structure are steady
It is fixed, it is particularly suitable for mechanical accurate control.
3, the self-locking function of the utility model can be realized one direction and lock, while allowing to move in one direction,
Ensure that the counter motion to the direction is locked.
4, the utility model can be applied under magnetic field environment, without the interference by magnetic field or interfere magnetic field.
5, the utility model is can to power off the included platform rigidly locked.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of the utility model embodiment 1.
Fig. 2 is the structural schematic diagram of the utility model embodiment 2.
Fig. 3 is the structural schematic diagram of the utility model embodiment 3.
Fig. 4 is the structural schematic diagram of the utility model embodiment 4.
Fig. 5 be Fig. 4 in along A-A to schematic cross-sectional view.
Fig. 6 is the structural schematic diagram of clamping institution and the partial enlarged view of Fig. 1 in the utility model.
It is shown in figure:
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, several changes and improvements can also be made.
These are all within the protection scope of the present invention.
Basic embodiment
According to a kind of displacement structure provided by the utility model, comprising: mobile unit component 900；
The mobile unit component 900 includes first movement unit 901, the second mobile unit 902, movement parts 903, locks
Mechanism；Wherein, relative motion connects between first movement unit 901 and the second mobile unit 902；Movement parts 903 are fastenedly connected
First movement unit 901, movement parts 903 connect locking mechanism, such as in locking mechanism；The locking mechanism can lock
And released movement part 903.
The locked movement parts 903 and released movement part 903 can refer to along its length, such as the movement parts of shaft-like
903 axial direction, two-way locked movement parts 903, two-way released movement part 903 and unidirectional locked movement parts 903, wherein unidirectional
Locked movement parts 903 only unidirectionally the locked direction of motion and unidirectionally discharge it can be appreciated that unidirectional released movement part 903
It is opposite between the direction of motion.
Locking mechanism includes clamping institution.It can use clamping institution in the prior art, such as those skilled in the art
" Electromagnetic clamping mechanism and its linear drive apparatus, combination " [application number 201410387626.2, publication number can be referred to
CN104167957A], it discloses Electromagnetic clamping mechanism, including electromagnet, permanent magnet and deformable body, the magnetic poles of the permanent magnet
It is directly contacted with the magnetic pole of electromagnet or close, forms magnetic circuit, the deformable body and permanent magnet are rigidly connected；The permanent magnetism
Body opposite electromagnet under the driving in magnetic circuit magnetic field moves, and drives deformable body to be deformed, and then realize clamp locking
And release.Those skilled in the art can also refer to " electromagnetic-permanent magnet clamping mechanism for linear motor " [application number
201020603794.8, publication number CN201869079U] and " Electromagnetic clamping mechanism and its stick-slip linear motor " [application
Numbers 201020603955.3, publication number CN201887641U] etc. patent documents realize clamping institution, " electromagnetism can also be referred to
Adaptive clamp clamping device and combined type clamp clamping device " [application number 201610038564.3, publication number
CN105527840A].For example, it is based on " Electromagnetic clamping mechanism and its linear drive apparatus, combination ", the deformable body in clamping institution
It can be locked, be based on " electromagnetic-permanent magnet clamping mechanism for linear motor " tight against locked object is lived as output,
Output rod in clamping institution can be locked as output tight against locked object is lived, based on " Electromagnetic clamping mechanism and
Its stick-slip linear motor ", the output shaft in clamping institution can be locked as output tight against locked object is lived,
Based on " electromagnetism adaptively clamps clamping device and combined type clamp clamping device ", the Clamping elements in clamping institution are used as output
Part can be tightened, relax to live with lock ring, being locked tight against firmly locked object.
And in preference, the utility model provides one kind and can apply under magnetic field environment, without by magnetic field
Interference or interfere magnetic field clamping institution, will hereinafter be specifically described.
Below by each preference of basic embodiment, the utility model is described in more detail.
Embodiment 1
As shown in Figure 1, the quantity of mobile unit component 900 is one；The shell of second mobile unit 902 and locking mechanism
Between it is relatively fixed, such as be securedly mounted on the same rigid support, in another example, the second mobile unit 902 passes through rigidity
Bracket and the shell of locking mechanism be fastenedly connected.
The locking mechanism includes pairs of clamping institution 904；Wherein, two in the pairs of clamping institution 904
Wide end 90411 is oppositely arranged between a clamping institution 904.And two clamps in change case, in pairs of clamping institution 904
Narrow end 90412 is oppositely arranged between mechanism 904, such as shown in Figure 2.
Specifically, as shown in fig. 6, the locking mechanism includes clamping institution 904；The clamping institution 904 includes clamp
Chamber 9041, clamp fastener 9042, fastener actuator 9043；
The width of clamp chamber 9041 narrows from the width along axial direction, forms wide end 90411, narrow end 90412；Movement parts 903 pass through
Wide end 90411 and narrow end 90412 pass through the clamp chamber 9041；Clamp fastener 9042 is located in the clamp chamber 9041；
Under the driving of the fastener actuator 9043, clamp fastener 9042 can wide end 90411 and narrow end 90412 it
Between move；
When clamp fastener 9042 is located at wide end 90411, clamp fastener 9042 is detached from movement parts 903 and/or clamp chamber
9041 cavity wall, so that movement parts 903 can be described axially with respect to 904 free movement of clamping institution；
When clamp fastener 9042 is located at narrow end 90412, clamp fastener 9042 is simultaneously by movement parts 903 and clamp chamber
The extruding of 9041 cavity wall, so that movement parts 903 are locked with 904 phase of clamping institution.
Further specifically, the fastener actuator 9043 includes that energy causes shape-changing material body 90431, elastic reset body
90432；
Energy causes shape-changing material body 90431 that can change between first shape and the second shape:
When energy causes shape-changing material body 90431 from first shape to when the second shape deformation, energy causes shape-changing material body
90431 driving clamp fasteners 9042 overcome the elastic force of elastic reset body 90432 to be moved to wide end 90411；When energy causes deformation material
For Material 90431 from the second shape to when first shape deformation, the elastic force driving clamp fastener 9042 of elastic reset body 90432 is mobile
To narrow end 90412；Either
When energy causes shape-changing material body 90431 from first shape to when the second shape deformation, energy causes shape-changing material body
90431 driving clamp fasteners 9042 overcome the elastic force of elastic reset body 90432 to be moved to narrow end 90412；When energy causes deformation material
For Material 90431 from the second shape to when first shape deformation, the elastic force driving clamp fastener 9042 of elastic reset body 90432 is mobile
To wide end 90411.
Wherein, the energy causes shape-changing material body 90431 to can be heat deformation material bodies, electroluminescent deformation material bodies, if
The influence to locating magnetic field is not considered, can also use magnetostriction material bodies.The energy causes shape-changing material body 90431 in quilt
Flexible equal deformation can be occurred by assigning energy front and back, so as to drive to clamp fastener 9042.In preference, the energy
Amount causes shape-changing material body 90431 to use electroluminescent deformation material bodies, and the driving of fastener 9042 will be clamped after power-up to wide end 90411, is broken
Fastener 9042 is clamped after electricity and is returned to narrow end 90412, so that the included platform rigidly locked can be powered off by realizing.
Clamping fastener 9042 is preferably sphere, can also less preferably cover the annulus in movement parts 903, non-preferentially also
It can be cube, ellipse and the irregular particle of abnormity.
In Fig. 1:
To allow first movement unit 901 to the left and right can be free to slide relative to the second mobile unit 902, then
Clamp fastener 9042 in left side, right side clamping institution 904 is located at wide end 90411, wide end 90411；
To allow first movement unit 901 can only be free to slide to the left relative to the second mobile unit 902, then left side,
Clamp fastener 9042 in right side clamping institution 904 is located at wide end 90411, narrow end 90412；
To allow first movement unit 901 can only be free to slide to the right relative to the second mobile unit 902, then left side,
Clamp fastener 9042 in right side clamping institution 904 is located at narrow end 90412, wide end 90411；
It, to the left and right cannot free skating to lock first movement unit 901 relative to the second mobile unit 902
Dynamic, then left side, the clamp fastener 9042 in right side clamping institution 904 are located at narrow end 90412, narrow end 90412.
Embodiment 2
As shown in Fig. 2, being the change case of Fig. 1.Two clamp machines in this change case, in pairs of clamping institution 904
Narrow end 90412 is oppositely arranged between structure 904.
In Fig. 2:
To allow first movement unit 901 to the left and right can be free to slide relative to the second mobile unit 902, then
Clamp fastener 9042 in left side, right side clamping institution 904 is located at wide end 90411, wide end 90411；
To allow first movement unit 901 can only be free to slide to the left relative to the second mobile unit 902, then left side,
Clamp fastener 9042 in right side clamping institution 904 is located at narrow end 90412, wide end 90411；
To allow first movement unit 901 can only be free to slide to the right relative to the second mobile unit 902, then left side,
Clamp fastener 9042 in right side clamping institution 904 is located at wide end 90411, narrow end 90412；
It, to the left and right cannot free skating to lock first movement unit 901 relative to the second mobile unit 902
Dynamic, then left side, the clamp fastener 9042 in right side clamping institution 904 are located at narrow end 90412, narrow end 90412.
Embodiment 3
As shown in figure 3, being the change case of Fig. 1.Two clamp machines in this change case, in pairs of clamping institution 904
Structure 904 is respectively positioned on the same side of first movement unit 901.
In the change case of Fig. 2, two clamping institutions 904 in pairs of clamping institution 904 can also be respectively positioned on first
The same side of mobile unit 901.
Embodiment 4
It as shown in Figure 4, Figure 5, is the preference of Fig. 1.In this preference, the quantity of mobile unit component 900 be it is multiple,
Wherein, multiple mobile unit components 900 are sequentially connected.In sequentially connected multiple mobile unit components 900, by adjacent two
A mobile unit component 900 is denoted as mobile unit component MOA, mobile unit component MOB respectively, and the of mobile unit component MOA
Two mobile units 902 are fastenedly connected the first movement unit 901 of mobile unit component MOB, and the first of mobile unit component MOB
It is fastenedly connected between the shell of the locking mechanism of mobile unit 901 and mobile unit component MOA.Particular by rigid support
905 connections
The first movement unit 901 of the second mobile unit 902 of mobile unit component MOA and mobile unit component MOB it
Between glide direction formed angle.Especially preferably right angle, so as to realize X-axis respectively, the reversible lock in Y-axis both direction
Extremely, it unidirectionally locks and two-way release, and then forms the compound motion of movement parts 903.
In more preferences, three or more mobile unit components 900 can be cascaded, to realize more complicated answer
Resultant motion.
The utility model also provides the control method of displacement structure described in one kind, comprising:
Movement release steps: locking mechanism released movement part 903 is enabled, enables movement parts 903 relative to locking mechanism
Free movement allows for first movement unit 901 being capable of free movement relative to the second mobile unit 902；
It moves locked step: locking mechanism being enabled to lock movement parts 903, so that first movement unit 901 is moved relative to second
Moving cell 902 cannot move, or only can be to a direction free movement.
The movement locks step
It unidirectionally locks step: enabling in the pairs of clamping institution 904 of locking mechanism, the clamp card of a clamping institution 904
Part 9042 is located at wide end 90411, and the clamp fastener 9042 of another clamping institution 904 is located at narrow end 90412, so that first movement
Unit 901 only can be to a direction free movement relative to the second mobile unit 902；Or
Two-way locked step: enabling in the pairs of clamping institution 904 of locking mechanism, the clamp card of a clamping institution 904
Part 9042 is located at narrow end 90412, and the clamp fastener 9042 of another clamping institution 904 is located at narrow end 90412, so that first movement
Unit 901 is unable to free movement relative to the second mobile unit 902.
The utility model also provides a kind of computer readable storage medium for being stored with computer program, the computer journey
The step of control method of the displacement structure is realized when sequence is executed by processor.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims,
This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment
Sign can be arbitrarily combined with each other.
Claims (8)
1. a kind of displacement structure characterized by comprising mobile unit component (900)；
The mobile unit component (900) include first movement unit (901), the second mobile unit (902), movement parts (903),
Locking mechanism；Wherein, relative motion is connect between first movement unit (901) and the second mobile unit (902)；Movement parts
(903) it is fastenedly connected first movement unit (901), movement parts (903) connect locking mechanism；The locking mechanism can lock and
Released movement part (903).
2. displacement structure according to claim 1, which is characterized in that the quantity of mobile unit component (900) is one；The
It is relatively fixed between two mobile units (902) and the shell of locking mechanism.
3. displacement structure according to claim 1, which is characterized in that the quantity of mobile unit component (900) be it is multiple,
In, multiple mobile unit components (900) are sequentially connected.
4. displacement structure according to claim 3, which is characterized in that in sequentially connected multiple mobile unit components
(900) in, two adjacent mobile unit components (900) are denoted as mobile unit component MOA, mobile unit component MOB respectively,
The second mobile unit (902) of mobile unit component MOA is fastenedly connected the first movement unit (901) of mobile unit component MOB,
And it is fastened between the shell of the locking mechanism of the first movement unit (901) and mobile unit component MOA of mobile unit component MOB
Connection.
5. displacement structure according to claim 4, which is characterized in that the second mobile unit of mobile unit component MOA
(902) glide direction between the first movement unit (901) of mobile unit component MOB forms angle.
6. displacement structure according to claim 1, which is characterized in that the locking mechanism includes clamping institution (904)；
The clamping institution (904) includes clamp chamber (9041), clamp fastener (9042), fastener actuator (9043)；
The width of clamp chamber (9041) narrows from the width along axial direction, forms wide end (90411), narrow end (90412)；Movement parts
(903) the clamp chamber (9041) is passed through through wide end (90411) and narrow end (90412)；Fastener (9042) are clamped positioned at described
It clamps in chamber (9041)；
Under the driving of the fastener actuator (9043), clamp fastener (9042) can be in wide end (90411) and narrow end
(90412) it is moved between；
When clamp fastener (9042) is located at wide end (90411), clamp fastener (9042) is detached from movement parts (903) and/or clamps
The cavity wall of chamber (9041), so that movement parts (903) can be described axially with respect to clamping institution (904) free movement；
When clamp fastener (9042) is located at narrow end (90412), clamp fastener (9042) is simultaneously by movement parts (903) and clamp
The extruding of the cavity wall of chamber (9041), so that movement parts (903) are mutually locked with clamping institution (904).
7. displacement structure according to claim 6, which is characterized in that the locking mechanism includes pairs of clamping institution
(904)；
Wherein, wide end (90411) is opposite between two clamping institutions (904) in the pairs of clamping institution (904) sets
It sets or narrow end (90412) is oppositely arranged.
8. displacement structure according to claim 6, which is characterized in that the fastener actuator (9043) includes that energy causes shape
Become material bodies (90431), elastic reset body (90432)；
Energy causes shape-changing material body (90431) can change between first shape and the second shape:
When energy causes shape-changing material body (90431) from first shape to when the second shape deformation, energy causes shape-changing material body
(90431) driving clamp fastener (9042) overcomes the elastic force of elastic reset body (90432) to be moved to wide end (90411)；Work as energy
Cause shape-changing material body (90431) from the second shape to when first shape deformation, the elastic force of elastic reset body (90432) drives clamp
Fastener (9042) is moved to narrow end (90412)；Either
When energy causes shape-changing material body (90431) from first shape to when the second shape deformation, energy causes shape-changing material body
(90431) driving clamp fastener (9042) overcomes the elastic force of elastic reset body (90432) to be moved to narrow end (90412)；Work as energy
Cause shape-changing material body (90431) from the second shape to when first shape deformation, the elastic force of elastic reset body (90432) drives clamp
Fastener (9042) is moved to wide end (90411).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821685031.5U CN208834187U (en) | 2018-10-17 | 2018-10-17 | Displacement structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821685031.5U CN208834187U (en) | 2018-10-17 | 2018-10-17 | Displacement structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111061302A (en) * | 2018-10-17 | 2020-04-24 | 杨斌堂 | Displacement structure, control method thereof and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111061302A (en) * | 2018-10-17 | 2020-04-24 | 杨斌堂 | Displacement structure, control method thereof and computer readable storage medium |
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