CN209132637U - Orient guide mechanism and equipment - Google Patents
Orient guide mechanism and equipment Download PDFInfo
- Publication number
- CN209132637U CN209132637U CN201821684408.5U CN201821684408U CN209132637U CN 209132637 U CN209132637 U CN 209132637U CN 201821684408 U CN201821684408 U CN 201821684408U CN 209132637 U CN209132637 U CN 209132637U
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- CN
- China
- Prior art keywords
- displacement
- wobble ring
- movement
- clamping
- mobile unit
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/02—Means preventing undesired movements of a controlling member which can be moved in two or more separate steps or ways, e.g. restricting to a stepwise movement or to a particular sequence of movements
Abstract
The utility model provides a kind of orientation guide mechanism and equipment, including wobble ring structure, displacement structure, substrate (1)；Wobble ring structure is provided on displacement structure；Substrate is provided with displacement structure on (1)；One end of substrate (1) through-thickness is provided with displacement structure, and either, the both ends of substrate (1) through-thickness are provided with displacement structure；Wobble ring structure setting has rotation preventive mechanism, and the rotation preventive mechanism can lock or unlock the movement of corresponding wobble ring structure；And/or the displacement structure has locking mechanism, the locking mechanism can lock or unlock the movement of corresponding displacement structure.The utility model can be realized the direction of axle construction any point within the scope of particular space, suitable for orienting, positioning process field and space orientation be directed toward the various equipment in field, have a wide range of application, running precision is high.
Description
Technical field
The utility model relates to orient, positioning process field and space orientation be directed toward field, and in particular, to Yi Zhongding
To guide mechanism and apparatus and method for, medium.
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 component of space orientation, pointing system based on complexity that these patent applications propose, especially optical system,
It is at high cost, constitute it is complicated, be difficult to realize minimize.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of orientation guide mechanism and equipment and sides
Method, medium.
According to a kind of orientation guide mechanism provided by the utility model, including wobble ring structure, displacement structure, substrate；
Wobble ring structure is provided on displacement structure；
Displacement structure is provided on substrate；
One end of substrate through-thickness is provided with displacement structure, and either, the both ends of substrate through-thickness are respectively provided with
There is displacement structure；
Wobble ring structure setting has rotation preventive mechanism, and the rotation preventive mechanism can lock or unlock the fortune of corresponding wobble ring structure
It is dynamic；And/or the displacement structure has locking mechanism, the locking mechanism can lock or unlock the fortune of corresponding displacement structure
It is dynamic.
Preferably, the quantity of the displacement structure is one or more；
The displacement structure includes:
X-axis component displacement module: the displacement component of X-direction is provided for the displacement of wobble ring structure；
Y-axis component displacement module: the displacement component of Y direction is provided for the displacement of wobble ring structure；
Wherein, X-axis, Y-axis are mutually perpendicular to.
Preferably, the displacement structure further include:
Z-component displacement module: the displacement component of Z-direction is provided for the displacement of wobble ring structure；
Wherein, X-axis, Y-axis, Z axis are mutually perpendicular to.
It preferably, further include controlled member；
One or more wobble ring structures are connected with controlled member, and multiple wobble ring structures are arranged along controlled member length extending direction.
Preferably, including rotation preventive mechanism；
Wobble ring structure is connected on displacement structure by the rock shaft being arranged, and the rotation preventive mechanism is mounted on rock shaft；
Rotation preventive mechanism includes scotch, retaining spring, holding screw, guide post and backing plate；
The retaining spring is mounted in the axial aperture of guide post；Scotch, guide post, retaining spring, holding screw
It is sequentially connected, holding screw is threadedly coupled with backing plate.
Preferably, the other end of the holding screw along axial both ends relative to retaining spring connecting pin, which is formed, is adjusted
End；
It is provided with interior hex slot on the end face of the adjustable side, is also equipped with the first nut on adjustable side.
Preferably, the rotation preventive mechanism further includes unlock spring and insulation shell；
The unlock spring is socketed in guide post；Guide post is mounted in insulation shell.
Preferably, unlock spring is connect with the annular protrusion structure in rock shaft, guide post respectively along axial both ends；
The unlock spring includes electroluminescent deformation material spring or heat deformation material spring.
Preferably, the wobble ring structure includes interior wobble ring and outer wobble ring；The outer wobble ring is connected to by the rock shaft being arranged
On displacement structure.
Preferably, the displacement structure, 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 wobble ring structure includes clamp structure；
The clamp structure, comprising: cradle portion, clamping part；
Cradle portion is rigid body；
Clamping part is elastomer；
One or more clamping parts are connected in cradle portion；
Clamping part is connected to the inside of cradle portion；
Clamping part forms holding holes or holding tank, wherein the hole wall of holding holes forms clamping face, the cell wall shape of holding tank
At clamping face；
Cradle portion and clamping part form shell, have accommodating chamber in shell, fill adaptive strain in the accommodating chamber
Body；Alternatively, clamping part is solid.
According to a kind of equipment provided by the utility model, including apparatus body, apparatus body is equipped with above-mentioned orientation and leads
Draw mechanism.
According to the control method or above-mentioned equipment of the above-mentioned orientation guide mechanism of one kind provided by the utility model
Control method, comprising:
By the movement of command displacement structure, a wobble ring structure or multiple associated wobble ring structures is driven to generate position
It moves, to control posture and/or the position of the controlled member to match with wobble ring structure.
According to a kind of computer readable storage medium for being stored with computer program provided by the utility model, the calculating
Machine program realizes the step of control method of the above-mentioned control method for orienting guide mechanism or equipment when being executed by processor.
It is further preferred that the quantity of mobile unit component is one；The shell of second mobile unit and locking mechanism it
Between it is relatively fixed.
It is further preferred that the quantity of mobile unit component is multiple, wherein multiple mobile unit components are sequentially connected.
It is further preferred that in sequentially connected multiple mobile unit components, by two adjacent mobile unit components
It is denoted as mobile unit component MOA, mobile unit component MOB respectively, the second mobile unit of mobile unit component MOA is fastenedly connected
The first movement unit of mobile unit component MOB, and the first movement unit of mobile unit component MOB and mobile unit component
It is fastenedly connected between the shell of the locking mechanism of MOA.
It is further preferred that the first movement of the second mobile unit of mobile unit component MOA and mobile unit component MOB
Glide direction between unit forms angle.
It is further preferred that 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.
It is further preferred that 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.
It is further preferred that 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.
It is further preferred that the locked step of 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.
It is further preferred that clamp structure further include: clamped part；
Clamped part, which is through in holding holes, to be clamped；Alternatively, the end of clamped part is embedded in holding tank and is clamped
Firmly.
It is further preferred that clamped part has convex shoulder；Convex shoulder is located in holding holes or holding tank.
It is further preferred that the surface of clamped part is in contact with clamping face.
It is further preferred that further include: nonrigid connector；
Clamped part connects clamping face by nonrigid connector.
It is further preferred that clamped part has convex shoulder；
Convex shoulder is located in holding holes or holding tank；In holding holes or the axial direction of holding tank, the side of convex shoulder or two
Nonrigid connector is distributed in side, and nonrigid connector constitutes the barrier structure or connection structure of convex shoulder.
It is further preferred that nonrigid connector constitutes the barrier structure that convex shoulder moves in the axial direction.
It is further preferred that the granule is rigid particles or elastic granule.
It is further preferred that adaptive deformable body is adaptive deformable material body or adaptive distressed structure body, adaptively
Deformable body can adapt to clamped part position and/or change in shape automatically after being squeezed by external force.
According to a kind of adaptive clamping pendular body provided by the utility model, including above-mentioned clamp structure, wherein pressed from both sides
The different location of gripping member is clamped by different clamp structures respectively.
Compared with prior art, the utility model have it is following the utility model has the advantages that
1, the utility model can be realized the direction of axle construction any point within the scope of particular space, is suitable for orientation, determines
The various equipment in field are directed toward in position manufacture field and space orientation, are had a wide range of application, and running precision is high；
2, the utility model can be used as a modular component, be readily transported, in the application can easily with its
He carries out Assembly And Disassembly at structure；
3, after setting is directed toward in axle construction space, movement can be carried out to axle construction by rotation preventive mechanism and locked, is convenient for
Stablize the work for carrying out next step；
4, the utility model can adapt to the work under magnetic environment by using the non-magnetic materials such as aluminium, titanium alloy structure
Make.
5, the utility model combination clamp structure and displacement structure lock effect so that mobile platform is locked more stable
Fruit is more preferable.
6, 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.
7, 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.
8, the utility model can be applied under magnetic field environment, without the interference by magnetic field or interfere magnetic field.
9, the utility model is can to power off the included platform rigidly locked.
10, on the one hand clamp structure provided by the utility model itself has rigid structure, can be connected to external other
On the other hand structure has elastic part, can be by deforming the adaptive swing for being clamped part.
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 orientation guide mechanism structural schematic diagram provided by the utility model in embodiment；
Fig. 2 is the utility model and external base connection schematic diagram.
Fig. 3 is orientation guide mechanism structural schematic diagram provided by the utility model in change case；
Fig. 4 is structure of the linear motion actuator schematic diagram；
Fig. 5 is the structural schematic diagram of the embodiment 1 of the utility model displacement structure.
Fig. 6 is the structural schematic diagram of the embodiment 2 of the utility model displacement structure.
Fig. 7 is the structural schematic diagram of the embodiment 3 of the utility model displacement structure.
Fig. 8 is the structural schematic diagram of the embodiment 4 of the utility model displacement structure.
Fig. 9 be Fig. 8 in along A-A to schematic cross-sectional view.
Figure 10 is the structural schematic diagram of clamping institution and the partial enlarged view of Fig. 5 in the utility model.
Figure 11 is the structural schematic diagram of clamp structure provided by the utility model.
Figure 12 is the structural schematic diagram between clamped part and shell.
Figure 13 is the structural schematic diagram being clamped under an angle between part and two shells in swing process.
Figure 14 is the structural schematic diagram being clamped under another angle between part and two shells in swing process.
Figure 15 is the structural schematic diagram being clamped under another angle between part and two shells in swing process.
Figure 16 is the structural schematic diagram being clamped under an angle between part and nonrigid connector in swing process.
Figure 17 is the structural schematic diagram being clamped under another angle between part and nonrigid connector in swing process.
Figure 18 is the structural schematic diagram being clamped under another angle between part and nonrigid connector in swing process.
Figure 19 is the structure being clamped under an angle between the nonrigid connector on part and two shells in swing process
Schematic diagram.
Figure 20 is the knot being clamped under another angle between the nonrigid connector on part and two shells in swing process
Structure schematic diagram.
Figure 21 is the knot being clamped under another angle between the nonrigid connector on part and two shells in swing process
Structure schematic diagram.
Figure 22 is the structural schematic diagram of holding tank.
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, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Orientation guide mechanism provided by the utility model, including axle construction 6, wobble ring structure, displacement structure, substrate 1 and
Rotation preventive mechanism；One or more wobble ring structures are connected with axle construction 6, and multiple wobble ring structures are along 6 length extending direction cloth of axle construction
It sets；The wobble ring structure is connected on displacement structure, and wobble ring structure and displacement structure correspond, and the displacement structure is mounted on
On substrate 1；One or more wobble ring structures are equipped with the rotation preventive mechanism, and the rotation preventive mechanism can lock or unlock corresponding
The movement of wobble ring structure.Preferably, quantitatively there may also be differences with displacement structure for wobble ring structure, such as one of pendulum
Configuration bit does not move structure to ring structure.Preferably, the axle construction 6 can be solid, be also possible to hollow.Preferably, institute
Stating further includes axis nail 8, and axis nail 8 is mounted in wobble ring structure, and axle construction 6 is limited and/or fixed.
As shown in Figure 1, two displacement structures up and down are provided in embodiment, in the utility model, two displacement structures point
Not Wei Yu 1 through-thickness of substrate both ends；Alternatively, only including a displacement structure, the displacement structure is located at 1 edge of substrate
Wherein one end in the both ends of thickness direction.The displacement structure includes linear motor 3, and linear motor 3 is fitted in non-magnetic environment
With, or it is also applicable through magnetic screen.The linear motor 3 can drive the movement of wobble ring structure in the plane, that is, possess flat
Along two freedom degrees of X-axis and Y direction in areal coordinate system.Preferably, axle construction 6 is integrally formed or is fastenedly connected with axis and connects
28, the effect that axis connects 28 is that so that axle construction 6 is carried out initial position with wobble ring structure fixes, and avoids moving.
The wobble ring structure includes interior wobble ring 7 and outer wobble ring 5；The interior wobble ring 7 is connect with axle construction 6, the outer wobble ring 5
It is connected on displacement structure by the rock shaft of setting.Correspondingly, the rock shaft includes upper rock shaft 4 and lower rock shaft 10, embodiment
In, the rotation preventive mechanism is installed only on lower rock shaft 10；Rotation preventive mechanism include scotch 9, retaining spring 13, holding screw 16,
Guide post 11 and backing plate 14；The retaining spring 13 is mounted in the axial aperture of guide post 11；Scotch 9, guide post 11,
Retaining spring 13, holding screw 16 are sequentially connected, and holding screw 16 is threadedly coupled with backing plate 14.Preferably, the rotation preventive mechanism
It can also be installed only on rock shaft 4, or have installation on upper rock shaft 4 and lower rock shaft 10.Preferably, the clamp screw
Nail 16 forms adjustable side relative to the other end of 13 connecting pin of retaining spring along axial both ends；On the end face of the adjustable side
It is provided with interior hex slot, the first nut 17 is also equipped on adjustable side, convenient holding screw 16 is adjusted is consolidated with position
It is fixed.The backing plate 14 is fastenedly connected on lower rock shaft 10, by adjusting holding screw 16, retaining spring 13 can be driven to compress,
And then the movement that scotch 9 will be enabled to lock the relatively interior wobble ring 7 of corresponding outer wobble ring 5, complete the rotation lock to axle construction 6
It is fixed.In addition, the rotation preventive mechanism further includes unlock spring 15 and insulation shell 12；The unlock spring 15 is socketed in guide post 11
On；Guide post 11 is mounted in insulation shell 12.Unlock spring 15 along axial both ends respectively with the annular in rock shaft, guide post 11
Bulge-structure connection；The unlock spring 15 includes electroluminescent deformation material spring or heat deformation material spring, practical application
In, guide post 11 is not contacted with backing plate 14, and the unlock spring 15 extends when being powered, and by guide post 11 to pusher, is realized to pendulum
The unlock of ring structure movement.
Preferably, the utility model is additionally provided with interface board 2, and interface board 2 is securedly mounted on substrate 1；The interface board 2
On be provided with jack assemblies 19.Since above-mentioned linear motor 3 is required to be powered and communicate with electroluminescent deformation material spring
Control, therefore can be easily connected with external cable structure by jack assemblies 19, it is easily assembled and dismantles.Such as Fig. 2 institute
Show, the utility model can be connected to external base by fastener direct convenience, in clamp rail 21.
As described in Figure 3, in change case, further include shield, form article containing space inside shield；The wobble ring structure,
Displacement structure and rotation preventive mechanism are installed in article containing space；The substrate 1 is fastenedly connected on shield；The shield
Be provided with movable span on substrate 1, axle construction 6 runs through the movable span on length extending direction.Preferably, the protection
Cover includes upper outlet body 24 and lower cover 25, and upper outlet body 24, substrate 1, lower cover 25 are sequentially connected.In addition, upper outlet body 24, lower cover
Upper supporting leg 26, lower supporting leg 27 are respectively arranged on 25, the upper supporting leg 26, lower supporting leg 27 can be rigid structure, be also possible to
The elastic construction made of the materials such as rubber effectively absorbs the vibration in work.Preferably, shield can be metal or non-gold
Belong to material to be made, overall structure, which is rigid, to be also possible to flexible, is made for example, by using materials such as canvas, fabrics.
Working principle:
As shown in Figure 1, when the wobble ring structure on top rotates or when the change of plan-position, the inclination angle hair of axle construction 6
Changing, and position change will spatially occur for the lower end of axle construction 6, and the lower end of axle construction 6 needs while fitting at this time
Three motion changes: the 1, variation at inclination angle are answered, which can be adapted to by the wobble ring structure of lower part；2, the change of plan-position
Change, which can be adapted to by the movement of the linear motor 3 of lower part；3, two wobble ring structures are along 6 length of axle construction
The variation of relative distance on extending direction, the variation can by between wobble ring structure and axle construction 6 be slidably installed form into
Row adapts to.The utility model can integrally be made of aluminium, titanium alloy, plastics or other non-magnetic materials, and then can have
It works under magnetic environment.
Next, carrying out more specific detail to displacement structure by preference.
The basic embodiment of displacement structure
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.
The embodiment 1 of displacement structure
As shown in figure 5, 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 6.
Specifically, as shown in Figure 10, 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 be in wide end 90411 and narrow end 90412
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
From the second shape to when first shape deformation, the elastic force driving clamp fastener 9042 of elastic reset body 90432 moves Material 90431
It moves 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
From the second shape to when first shape deformation, the elastic force driving clamp fastener 9042 of elastic reset body 90432 moves Material 90431
It moves 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 to exist
Flexible equal deformation can be occurred by being endowed energy front and back, so as to drive to clamp fastener 9042.It is described in preference
Energy causes shape-changing material body 90431 to use electroluminescent deformation material bodies, drives clamp fastener 9042 to wide end 90411 after power-up,
Fastener 9042 is clamped after power-off 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. 5:
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.
The embodiment 2 of displacement structure
As shown in fig. 6, being the change case of Fig. 5.Two clamp machines in this change case, in pairs of clamping institution 904
Narrow end 90412 is oppositely arranged between structure 904.
In Fig. 6:
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.
The embodiment 3 of displacement structure
As shown in fig. 7, being the change case of Fig. 5.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. 6, two clamping institutions 904 in pairs of clamping institution 904 can also be respectively positioned on first
The same side of mobile unit 901.
The embodiment 4 of displacement structure
It as shown in Figure 8, Figure 9, is the preference of Fig. 5.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.
Followed by preference, more specific description is carried out to clamp structure.
The basic embodiment of clamp structure
As shown in Figure 11, Figure 12, according to a kind of clamp structure provided by the utility model, comprising: cradle portion 801, clamping
Portion 802；
Cradle portion 801 is rigid body；
Clamping part 802 is elastomer；The surface of clamped part 803 is in contact with clamping face；
Clamping part 802 forms holding holes 8021, and the hole wall of holding holes 8021 forms clamping face.It is connected in cradle portion 801
One or more clamping parts 802.For example, clamping part 802 is in a ring, it is provided on the hole wall of holding holes 8021 and successively divides along axial direction
Multiple clamping parts 802 of cloth；
Clamping part 802 is connected to the inside of cradle portion 801；
Cradle portion 801 and clamping part 802 form shell 800, have accommodating chamber 8001, the accommodating chamber in shell 800
Adaptive deformable body is filled in room 8001, wherein the adaptive deformable body can be granule, clay, any in fluid
Kind is appointed a variety of；The granule is rigid particles or elastic granule.
Specifically, the inner hollow of cradle portion 801, the inner hollow of clamping part 802, and be interconnected, form accommodating chamber
Room 8001, the damping materials such as granule, clay, fluid are filled in accommodating chamber 8001.As shown in figure 12, the clamp structure
It include: clamped part 803；Clamped part 803, which is through in holding holes 8021, to be clamped.Specifically, be clamped part 803 only with folder
The contact connectio of portion 802 is held, since clamping part 802 is elastomer, when clamped part 803 such as Figure 13, Figure 14, Figure 15 is swung
When to different angle, the distribution of the damping material in accommodating chamber 8001 be will be late by the swing of clamped part 803, thus a side
Face provides damping when clamped part 803 is swung, so that swing is more stable, on the other hand, stops swinging in clamped part 803
When, damping material will be late by voluntarily adjusting distribution, so that the swing angle of clamped part 803 maintains more stable.
In change case, as shown in figure 22, clamping part 802 forms holding tank 8022, wherein the cell wall shape of holding tank 8022
At clamping face；The end of clamped part 803, which is embedded in holding tank 8022, to be clamped.
In more change case, clamping part 802 is solid, for example, clamping part 802 uses solid rubber bodies structure
At.
Below by the preference and/or change case of basic embodiment, more specific detail is carried out to the utility model.
The embodiment 1 of clamp structure
As shown in Figure 16, Figure 17, Figure 18, being clamped part 803 has convex shoulder 8031；Convex shoulder 8031 is located at holding holes 8021
Or in holding tank 8022.
The clamp structure, further includes: one or more nonrigid connectors 804；
Clamped part 803 connects clamping face by nonrigid connector 804.
Clamped part 803 has convex shoulder 8031；
Convex shoulder 8031 is located in holding holes 8021 or holding tank 8022；In holding holes 8021 or holding tank 8022
In axial direction, nonrigid connector 804 is distributed in the one or both sides of convex shoulder 8031, and nonrigid connector 804 constitutes the resistance of convex shoulder 8031
Keep off structure.
Nonrigid connector 804 constitutes the barrier structure that convex shoulder 8031 moves in the axial direction.As such as Figure 16, Figure 17, figure
Shown in 18, though clamped part 803 is affected by gravity, because of the restriction relation or connection between nonrigid connector 804
Relationship, and holding position is not fallen.
The embodiment 2 of clamp structure
It is the preference of embodiment 1 as shown in Figure 19, Figure 20, Figure 21.According to provided by the utility model a kind of adaptive
Clamp pendular body, including clamp structure, wherein the different location of clamped part 803 is clamped by different clamp structures respectively.Example
Such as, being clamped part 803 is axis body, wherein there are two clamp structures for installation on the axis body.
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 various deformations or amendments 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 (12)
1. a kind of orientation guide mechanism, which is characterized in that including wobble ring structure, displacement structure, substrate (1)；
Wobble ring structure is provided on displacement structure；
Substrate is provided with displacement structure on (1)；
One end of substrate (1) through-thickness is provided with displacement structure, and either, the both ends of substrate (1) through-thickness are all provided with
It is equipped with displacement structure；
Wobble ring structure setting has rotation preventive mechanism, and the rotation preventive mechanism can lock or unlock the movement of corresponding wobble ring structure；With/
Or the displacement structure has locking mechanism, the locking mechanism can lock or unlock the movement of corresponding displacement structure.
2. orientation guide mechanism according to claim 1, which is characterized in that the quantity of the displacement structure is one or more
It is a；
The displacement structure includes:
X-axis component displacement module: the displacement component of X-direction is provided for the displacement of wobble ring structure；
Y-axis component displacement module: the displacement component of Y direction is provided for the displacement of wobble ring structure；
Wherein, X-axis, Y-axis are mutually perpendicular to.
3. orientation guide mechanism according to claim 2, which is characterized in that the displacement structure further include:
Z-component displacement module: the displacement component of Z-direction is provided for the displacement of wobble ring structure；
Wherein, X-axis, Y-axis, Z axis are mutually perpendicular to.
4. orientation guide mechanism according to claim 1, which is characterized in that further include controlled member；
One or more wobble ring structures are connected with controlled member, and multiple wobble ring structures are arranged along controlled member length extending direction.
5. orientation guide mechanism according to claim 1, which is characterized in that including rotation preventive mechanism；
Wobble ring structure is connected on displacement structure by the rock shaft being arranged, and the rotation preventive mechanism is mounted on rock shaft；
Rotation preventive mechanism includes scotch (9), retaining spring (13), holding screw (16), guide post (11) and backing plate (14)；
The retaining spring (13) is mounted in the axial aperture of guide post (11)；Scotch (9), guide post (11), stop bullet
Spring (13), holding screw (16) are sequentially connected, and holding screw (16) is threadedly coupled with backing plate (14).
6. orientation guide mechanism according to claim 5, which is characterized in that the holding screw (16) is along axial both ends
In relative to retaining spring (13) connecting pin the other end formed adjustable side；
It is provided with interior hex slot on the end face of the adjustable side, the first nut (17) are also equipped on adjustable side.
7. orientation guide mechanism according to claim 5, which is characterized in that the rotation preventive mechanism further includes unlock spring
(15) with insulation shell (12)；
The unlock spring (15) is socketed on guide post (11)；Guide post (11) is mounted in insulation shell (12).
8. orientation guide mechanism according to claim 7, which is characterized in that unlock spring (15) is distinguished along axial both ends
It is connect with the annular protrusion structure in rock shaft, guide post (11)；
The unlock spring (15) includes electroluminescent deformation material spring or heat deformation material spring.
9. orientation guide mechanism according to claim 1, which is characterized in that the wobble ring structure include interior wobble ring (7) with
Outer wobble ring (5)；The outer wobble ring (5) is connected on displacement structure by the rock shaft being arranged.
10. orientation guide mechanism according to claim 1, which is characterized in that the displacement structure, 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).
11. orientation guide mechanism according to claim 1, which is characterized in that the wobble ring structure includes clamp structure；
The clamp structure, comprising: cradle portion (801), clamping part (802)；
Cradle portion (801) is rigid body；
Clamping part (802) is elastomer；
One or more clamping parts (802) are connected in cradle portion (801)；
Clamping part (802) is connected to the inside of cradle portion (801)；
Clamping part (802) forms holding holes (8021) or holding tank (8022), wherein the hole wall of holding holes (8021) forms folder
Face is held, the cell wall of holding tank (8022) forms clamping face；
Cradle portion (801) and clamping part (802) form shell (800), have accommodating chamber (8001) in shell (800), described
The adaptive deformable body of filling in accommodating chamber (8001)；Alternatively, clamping part (802) is solid.
12. a kind of equipment, including apparatus body, which is characterized in that apparatus body is equipped with any one of claims 1 to 11 institute
The orientation guide mechanism stated.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820717963 | 2018-05-15 | ||
| CN2018207179637 | 2018-05-15 |
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| Publication Number | Publication Date |
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| CN209132637U true CN209132637U (en) | 2019-07-19 |
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ID=67231863
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821684408.5U Active CN209132637U (en) | 2018-05-15 | 2018-10-17 | Orient guide mechanism and equipment |
| CN201811210815.7A Active CN110488910B (en) | 2018-05-15 | 2018-10-17 | Directional guiding mechanism, directional guiding device, directional guiding method and directional guiding medium |
| CN201811210799.1A Pending CN110486396A (en) | 2018-05-15 | 2018-10-17 | Rotation preventive mechanism |
| CN201821685030.0U Active CN209294297U (en) | 2018-05-15 | 2018-10-17 | Rotation preventive mechanism |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811210815.7A Active CN110488910B (en) | 2018-05-15 | 2018-10-17 | Directional guiding mechanism, directional guiding device, directional guiding method and directional guiding medium |
| CN201811210799.1A Pending CN110486396A (en) | 2018-05-15 | 2018-10-17 | Rotation preventive mechanism |
| CN201821685030.0U Active CN209294297U (en) | 2018-05-15 | 2018-10-17 | Rotation preventive mechanism |
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| Country | Link |
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| CN (4) | CN209132637U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488910A (en) * | 2018-05-15 | 2019-11-22 | 杨斌堂 | Orient guide mechanism and apparatus and method for, medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05241657A (en) * | 1992-02-28 | 1993-09-21 | Fuji Electric Co Ltd | Turn steering system for trackless unmanned vehicle |
| DE102008022551B4 (en) * | 2008-04-30 | 2021-05-20 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Switching device for an automatic transmission |
| EP2952994A1 (en) * | 2014-06-03 | 2015-12-09 | GE Energy Power Conversion Technology Ltd | System and method for dynamic positioning |
| CN206411522U (en) * | 2017-01-10 | 2017-08-15 | 南京伶机宜动驱动技术有限公司 | Dismantled and assembled system after precise space pose locating platform and positioning |
| CN209132637U (en) * | 2018-05-15 | 2019-07-19 | 杨斌堂 | Orient guide mechanism and equipment |
-
2018
- 2018-10-17 CN CN201821684408.5U patent/CN209132637U/en active Active
- 2018-10-17 CN CN201811210815.7A patent/CN110488910B/en active Active
- 2018-10-17 CN CN201811210799.1A patent/CN110486396A/en active Pending
- 2018-10-17 CN CN201821685030.0U patent/CN209294297U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488910A (en) * | 2018-05-15 | 2019-11-22 | 杨斌堂 | Orient guide mechanism and apparatus and method for, medium |
| CN110488910B (en) * | 2018-05-15 | 2023-12-08 | 杨斌堂 | Directional guiding mechanism, directional guiding device, directional guiding method and directional guiding medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209294297U (en) | 2019-08-23 |
| CN110488910A (en) | 2019-11-22 |
| CN110486396A (en) | 2019-11-22 |
| CN110488910B (en) | 2023-12-08 |
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