CN209190776U - A kind of crank link mechanism automatically adjusting length - Google Patents
A kind of crank link mechanism automatically adjusting length Download PDFInfo
- Publication number
- CN209190776U CN209190776U CN201822150796.5U CN201822150796U CN209190776U CN 209190776 U CN209190776 U CN 209190776U CN 201822150796 U CN201822150796 U CN 201822150796U CN 209190776 U CN209190776 U CN 209190776U
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- crank
- installation axle
- link mechanism
- gear
- rotatably installed
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Abstract
The utility model discloses the crank link mechanisms that one kind can automatically adjust length, including crank rod structure and link assembly；The crank rod structure includes support unit and the moving cell that is arranged on the support unit, the moving cell includes the ring gear with internal tooth being rotatably installed on the support unit, the planet carrier being rotatably installed on the support unit and the planetary gear with external tooth being rotatably installed on the planet carrier, and the rotation axis of the ring gear and the rotation axis of the planet carrier are conllinear, the internal tooth of the planetary gear and the ring gear is intermeshed.The utility model can automatically adjust the length of crank rod structure in crank link mechanism, to achieve the purpose that crank link mechanism is enable to export more precise trajectory.
Description
Technical field
The utility model relates to drive apparatus, relate in particular to a kind of crank link mechanism that can automatically adjust length.
Background technique
Currently, robot building has become a research hotspot, and in the robot researched and developed, largely require
It is driven using crank link mechanism.But the length of toggle-action lever can not be adjusted in traditional crank link mechanism, or can only hand
Dynamic to be adjusted, this not only leverages the transmission requirement of mechanism, makes mechanism that can not obtain accurate output trajectory, manually into
Row length adjustment also increases the workload of staff, reduces working efficiency.
Therefore, it is particularly important to develop a kind of crank link mechanism that can automatically adjust length.
Utility model content
The technical problem to be solved by the utility model is to provide the crank link mechanisms that one kind can automatically adjust length.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: one kind can automatically adjust length
Crank link mechanism, including crank rod structure and link assembly；
The crank rod structure includes support unit and the moving cell that is arranged on the support unit, the movement
Unit includes the ring gear with internal tooth being rotatably installed on the support unit, is rotatably installed on the support unit
Planet carrier and the planetary gear with external tooth that is rotatably installed on the planet carrier, and the rotation axis of the ring gear
Conllinear with the rotation axis of the planet carrier, the internal tooth of the planetary gear and the ring gear is intermeshed.
It further, further include the sun gear with external tooth being rotatably installed on the support unit, the sun
The rotation axis of gear and the rotation axis of the ring gear are conllinear, and the planetary gear and the sun gear are intermeshed.
Further, the support unit includes support frame, and the first installation axle is rotatably equipped on support frame as described above, described
Sun gear is rotatably installed in first installation axle, and the planet carrier is fixedly mounted in first installation axle, or
The sun gear is fixedly mounted in first installation axle, and the planet carrier is rotatably installed in first installation axle.
Further, support frame as described above includes two pieces of support plates for being spaced apart from each other arrangement, and the top of the support plate is fixed
First bearing seat is installed, first installation axle is rotatably installed in the first bearing seat by bearing.
Further, belt wheel or sprocket wheel or gear are fixedly installed in first installation axle indirectly to described
One installation axle is driven, or directly carries out driving first installation axle by the motor containing deceleration device.
Further, the ring gear with flowering structure by being rotatably installed on the support unit: the annular tooth
The one side of wheel is equipped with the ring-shaped guide rail of coaxial line, is fixed with supporting block on the support unit, opens in the supporting block
There is the guide groove matched with the ring-shaped guide rail, the ring-shaped guide rail is caught in the guide groove.
It further, further include worm screw, the ring gear also has external tooth, and the worm screw is outer with the ring gear
Tooth intermeshing.
Further, the second installation axle is rotatably equipped on the planet carrier, the planetary gear is fixedly mounted on described
In second installation axle, realize that the planetary gear rotation is mounted on the planet carrier with this.
It further, further include movement output unit, the movement output unit includes crank, output shaft and second bearing
Seat, one end of the crank are fixedly mounted in second installation axle, and the output shaft is fixedly mounted on the another of the crank
One end, the second bearing seat are rotatably installed on the output shaft by bearing, and one end of the link assembly is fixedly connected
In the second bearing seat.
Further, the output shaft is by being fixedly mounted on the other end of the crank with flowering structure: the crank
The other end is provided with notched circular mounting hole, and the other end of the crank is located at the two sides of the notch of the circular mounting hole
Protruding respectively to have clamping plate, a disk to match with the circular mounting hole is placed in the circular mounting hole, two sides
The clamping plate by fishbolt clamp, with this by the disk banding in the circular mounting hole, the output eccentric shaft
It is fixed on the disk.
The beneficial effects of the utility model are embodied in:
The utility model can automatically adjust the length of crank rod structure in crank link mechanism, so that reaching connects crank
Linkage can export the purpose of more precise trajectory.
The utility model structure is simple, is easy production, economical and practical, and operates and be easy, and function is good, and practicability is very
Height in the link mechanism suitable for lower limb rehabilitation robot etc., exports more accurate track, simulates the accurate gait of people, helps
User is helped to get well.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the structural schematic diagram of support unit and planet carrier in an embodiment of the present invention.
Fig. 4 and Fig. 5 is the structural schematic diagram of movement output unit with different view in an embodiment of the present invention respectively.
Fig. 6 is the structural schematic diagram of the first installation axle in an embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the second installation axle in an embodiment of the present invention.
Fig. 8 is the working principle diagram of an embodiment of the present invention.
Fig. 9 is the structural schematic diagram of an embodiment of an embodiment of the utility model without sun gear.
Figure 10 is the working principle diagram of an embodiment of the utility model without sun gear.
The label of each component in attached drawing are as follows: 100 crank rod structures, 200 link assemblies, 11 support plates, 12 first bearing seats,
13 first installation axles, 14 supporting blocks, 141 guide grooves, 15 first end covers, 16,17 flat keys, 21 ring gears, 211 ring-shaped guide rails, 22
Sun gear, 23 planetary gears, 24 planet carriers, 25 second installation axles, 26 second end covers, 31 cranks, 32 output shafts, 33 second axis
Hold seat, 34 disks, 311 circular mounting holes, 31 2 clamping plates, 313 fishbolts, 314 abutting bolts, 315,316 flat keys, 41 bands
Wheel, 42 worm screws.
Specific embodiment
It is described in detail the utility model below with reference to the accompanying drawings.It should be noted that in the absence of conflict, this Shen
Please in embodiment and embodiment in feature can be combined with each other.
Below referring to Fig. 1 to Fig. 7.
The utility model can automatically adjust the crank link mechanism of length, including crank rod structure 100 and link assembly
200；
The crank rod structure 100 includes support unit and the moving cell being arranged on the support unit, described
Moving cell includes the ring gear 21 with internal tooth being rotatably installed on the support unit, is rotatably installed in the support
Planet carrier 24 on unit and the planetary gear 23 with external tooth being rotatably installed on the planet carrier 24, and the annular
The rotation axis of gear 21 and the rotation axis of the planet carrier 24 are conllinear, the internal tooth of the planetary gear 23 and the ring gear 21
Intermeshing.
It in one embodiment, further include the sun gear 22 with external tooth being rotatably installed on the support unit, institute
The rotation axis of the rotation axis and the ring gear 21 of stating sun gear is conllinear, the planetary gear 23 also with the sun gear
22 intermeshings.The sun gear of setting can make each component preferably stress, and overall structure is more reasonable, firm, ensure that
The stability of mechanism.
As shown in figure 8, wherein sun gear is circle I, planetary gear is circle II, and ring gear is circle III, the first installation axle
Center be O point, the center of the second installation axle is A point, and BC is link assembly, in use, driving planet carrier rotation, due to planet
Gear and ring gear and sun gear are intermeshed, therefore planetary gear can surround the rotation axis O of planet carrier in annular tooth
It moves in a circle, and can be rotated around own rotation axis A between wheel and sun gear, then drive ring gear to rotate simultaneously, then machine
Structure produces two freedom degrees, because in a plane, two freedom degrees can reach any one position, so by different
Eccentric position B, then the length velocity relation by changing planetary gear and ring gear, can export arbitrary trajectory in plane of movement,
And link assembly is hinged on position B, adjustment crank rod structure makes in the output trajectory and crank link mechanism of crank rod structure
Required crank pole length variation track is identical, is equivalent to that toggle-action lever is enable to automatically adjust length, to make crank connecting link machine
Structure obtains more accurate output trajectory.
In one embodiment, the support unit includes support frame, and the first installation axle is rotatably equipped on support frame as described above
13, the sun gear 22 is rotatably installed in first installation axle 13, and the planet carrier 24 is fixedly mounted on described first
In installation axle 13 or the sun gear 22 is fixedly mounted in first installation axle 13, the rotation of planet carrier 24 peace
In first installation axle 13.It designs in this way, it is structurally reasonable, it is reliable and stable, in use, driving the first installation by motor
Revolving speed is passed to planet carrier by axis rotation, the first installation axle, and planet carrier drives planetary gear revolution or the first installation axle that will turn
Speed passes to sun gear, and sun gear drives planetary gear revolution.
Certainly, there is the case where no sun gear, in this case, for above-mentioned support frame, the planet carrier 24 is fixed
It is mounted in the first installation axle 13.
Preferably, for the ease of transmitting driving, be fixedly installed in first installation axle 13 belt wheel 41 or sprocket wheel or
Person's gear.Belt wheel or sprocket wheel or gear can be used as the power input mechanism of mechanism, with indirectly to first installation axle into
Row driving can drive the first installation axle to rotate, revolving speed is higher, mechanism in use, providing a revolving speed to belt wheel by motor
The speed of service it is faster；Or the first installation axle 13 of driving is directly carried out by the motor containing deceleration device.
It is highly preferred that the belt wheel 14 is arranged between two pieces of following support plates 11, active force is more reasonable.
In one embodiment, the ring gear 21 with flowering structure by being rotatably installed on the support unit: described
The one side of ring gear 21 is equipped with the ring-shaped guide rail 211 of coaxial line, is fixed with supporting block 14, institute on the support unit
The guide groove 141 for being provided in supporting block 14 and matching with the ring-shaped guide rail 211 is stated, the ring-shaped guide rail 211 is caught in the guide groove
In 141.This implementation, structure is simple, is easy fabrication and installation, will not cause any interference to the movement of planetary gear, have
Extraordinary practicability.
It in one embodiment, further include worm screw 42, the ring gear 21 also has external tooth, the worm screw 42 and the ring
The external tooth of shape gear 21 is intermeshed.Worm screw is also used as the power input mechanism of mechanism, and worm screw and ring gear constitute turbine snail
Linkage can drive ring gear to rotate, and stopping using in use, providing a revolving speed to worm screw by motor
When mechanism, mechanism can occur it is self-locking, so that the initial phase of the mechanism be avoided to change.
In one embodiment, support frame as described above includes two pieces of support plates 11 for being spaced apart from each other arrangement, the support plate 11
Top is fixedly installed with first bearing seat 12, and first installation axle 13 is rotatably installed in the first bearing by rolling bearing
In seat 12.It designs in this way, as a result advantages of simple, is easy fabrication and installation, while can guarantee the stability of structure again, guarantee first
Installation axle is stable, swimmingly rotates.
In specific implementation, the sun gear 22 is rotatably installed in first installation axle 13 also by rolling bearing,
To guarantee sun gear stabilization, swimmingly rotate；Preferably, positioned at the first bearing seat 12 in first installation axle 13
It is respectively equipped with first end cover 15 between two sides and the planet carrier 24 and the sun gear 22, the structure of mechanism can be made more
Compact, end cap can also increase the leakproofness of rolling bearing and the accuracy of bearing positioning.
In one embodiment, the planet carrier 24 and the belt wheel 14 are fixedly mounted on first installation by flat key
On axis 13.This fixed form, it is easy to operate, and install reliable and stable.Specifically, matching is provided in the first installation axle 13
The keyway of conjunction is connected by general flat key 16,17 with the keyway on belt wheel and planet carrier, in this way, the first installation axle, planet
Frame, the revolving speed of belt wheel three are consistent.
In one embodiment, the second installation axle 25 is rotatably equipped on the planet carrier 24, the planetary gear 23 is fixed
It is mounted in second installation axle 25, realizes that the planetary gear 23 is rotatably installed on the planet carrier 24 with this.In this way
Design, structure is simple, mechanism stabilization reliable for operation.
Preferably, second installation axle 25 is rotatably installed on the planet carrier 24 by rolling bearing, to guarantee
Two installation axles are stable, swimmingly rotate；It is highly preferred that the two sides on the planet carrier 24 are respectively equipped with second end cover 26, to increase
Add the leakproofness of rolling bearing and the accuracy of bearing positioning.
It in one embodiment, further include movement output unit, the movement output unit includes crank 31,32 and of output shaft
Second bearing seat 33, one end of the crank 31 are fixedly mounted in second installation axle 25, the fixed peace of the output shaft 32
Mounted in the other end of the crank 31, the second bearing seat 33 is rotatably installed on the output shaft 32 by bearing, described
One end of link assembly 200 is fixedly connected in the second bearing seat 33.Such mechanism, since crank is fixedly mounted at
In second installation axle, therefore the second installation axle, planetary gear, the revolving speed of crank three are consistent, are the equal of integrated movement, output
Axis is in a certain eccentric position of planetary gear.
In one embodiment, the output shaft 32 is by being fixedly mounted on the other end of the crank 31: institute with flowering structure
The other end for stating crank 31 is provided with notched circular mounting hole 311, and the other end of the crank 31 is located at the round peace
The two sides of the notch in dress hole 311 are protruding respectively clamping plate 312, a disk 34 to match with the circular mounting hole 311
It is placed in the circular mounting hole 311, the clamping plates 312 of two sides is clamped by fishbolt 313, with this by the disk 34
In the circular mounting hole 311,32 bias of output shaft is fixed on the disk 34 banding.It designs in this way, as long as loose
Move back fishbolt, so that it may adjust the angle of disk, also be capable of the position of regulation output shaft, the position of output shaft is made to adjust model
Enclose bigger, and after fishbolt is tightened, banding reliable effect can prevent the position of disk from changing, and avoid result in fortune
Dynamic rail mark changes.Preferably, it is provided with threaded hole on the disk 34, for being fixedly connected with output shaft.
Preferably, the other end of the crank 31 is also provided with the more than one spiral shell communicated with the circular mounting hole 311
Line through-hole, the tapped through hole internal screw thread are connected with the abutting bolt 314 for further pushing against the disk.
In one embodiment, one end of the crank 31 is fixedly mounted in second installation axle 25 by flat key.This
Kind fixed form, it is easy to operate, and install reliable and stable.Specifically, be arranged in second installation axle 25 there are two keyway,
Planetary gear and crank and the second installation axle is set to be connected by general flat key 315,316.
It is the schematic diagram for having sun gear mechanism referring to Fig. 8, wherein sun gear is circle I, and planetary gear is circle II,
Ring gear is circle III, and the center of the first installation axle is O point, and the center of the second installation axle is A point, and the center of output shaft is B point,
BC is link assembly, before using mechanism, adjusts the position of disk, then fix disk banding by fishbolt, that is, changes
O point is become to the distance of B point and the size of ∠ OAB.In different eccentric position B, then by changing planetary gear and ring gear
Length velocity relation, so that output block is exported arbitrary trajectory in plane of movement, thus reach acquisition simulation human body lower limbs just
The class elliptical orbit requirement of normal gait.
It can be obtained by schematic diagram, there are four movable part, four low pairs, two higher pairs, according to freedom calculation for the toggle-action lever
Formula F=3n-2PL-PH, the freedom degree that can obtain the toggle-action lever is 2.
Referring to Figure 10, for the schematic diagram of no sun gear mechanism, ring gear is circle I, and planetary gear is circle II, the
The center of one installation axle is O point, and the center of the second installation axle is A point, and the center of output shaft is B point, and BC is link assembly, is made
Before mechanism, adjust the position of disk, then fix disk banding by fishbolt, that is, change O point to B point distance
With the size of ∠ OAB.In different eccentric position B, then the length velocity relation by changing planetary gear and ring gear, make output section
Part can export arbitrary trajectory in plane of movement, want to reach and obtain the class elliptical orbit for simulating human body lower limbs normal gait
It asks.
It can be obtained by schematic diagram, there are three movable part, three low pairs, a higher pairs, according to freedom calculation public affairs for the mechanism
Formula F=3n-2PL-PH, the freedom degree that can obtain the mechanism is 2.
The utility model can be used in lower limb rehabilitation robot, by the toggle-action lever of the link mechanism in lower limb rehabilitation robot
It is converted into crank described in the utility model.When using lower limb rehabilitation robot, crank can be by changing belt wheel and annular
The rotating ratio of gear makes output block export arbitrary trajectory, to make crank that can automatically adjust length, even if link mechanism exports
Accurate normal person's gait track, is more advantageous to the lower limb rehabilitation of user.Using the connecting rod that can automatically adjust length crank
In mechanism, additionally it is possible to play the role of amplifying output trajectory.
It should be understood that example as described herein and embodiment are not intended to limit the utility model only for explanation, this
Field technical staff can make various modifications or variation according to it, within the spirit and principle of the utility model, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this utility model.
Claims (10)
1. the crank link mechanism that one kind can automatically adjust length, it is characterised in that: including crank rod structure and link assembly；
The crank rod structure includes support unit and the moving cell that is arranged on the support unit, the moving cell
Including be rotatably installed on the support unit the ring gear (21) with internal tooth, be rotatably installed on the support unit
Planet carrier (24) and the planetary gear (23) with external tooth that is rotatably installed on the planet carrier (24), and the annular
The rotation axis of gear (21) and the rotation axis of the planet carrier (24) are conllinear, the planetary gear (23) and the ring gear
(21) internal tooth intermeshing.
2. the crank link mechanism of length can be automatically adjusted as described in claim 1, it is characterised in that: further include rotational installation
The sun gear (22) with external tooth on the support unit, the rotation axis and the annular tooth of the sun gear (22)
The rotation axis for taking turns (21) is conllinear, and the planetary gear (23) and the sun gear (22) are intermeshed.
3. the crank link mechanism of length can be automatically adjusted as claimed in claim 2, it is characterised in that: the support unit packet
Support frame is included, is rotatably equipped on support frame as described above the first installation axle (13), the sun gear (22) is rotatably installed in described
In first installation axle (13), the planet carrier (24) is fixedly mounted on first installation axle (13) or the sun tooth
Wheel (22) is fixedly mounted on first installation axle (13), and the planet carrier (24) is rotatably installed in first installation axle
(13) on.
4. the crank link mechanism of length can be automatically adjusted as claimed in claim 3, it is characterised in that: support frame as described above includes
Two pieces of support plates (11) for being spaced apart from each other arrangement are fixedly installed with first bearing seat (12), institute at the top of the support plate (11)
The first installation axle (13) is stated to be rotatably installed in the first bearing seat (12) by bearing.
5. the crank link mechanism of length can be automatically adjusted as claimed in claim 3, it is characterised in that: first installation axle
(13) be fixedly installed on belt wheel (41) either sprocket wheel or gear to be driven indirectly to first installation axle (13), or
Person directly carries out driving first installation axle (13) by the motor containing deceleration device.
6. the crank link mechanism for automatically adjusting length as described in any one of claims 1 to 5, it is characterised in that: institute
Ring gear (21) is stated by being rotatably installed on the support unit with flowering structure: the one side of the ring gear (21) is set
There is the ring-shaped guide rail (211) of coaxial line, be fixed with supporting block (14) on the support unit, is opened on the supporting block (14)
There is the guide groove (141) matched with the ring-shaped guide rail (211), the ring-shaped guide rail (211) is caught in the guide groove (141).
7. the crank link mechanism for automatically adjusting length as described in any one of claims 1 to 5, it is characterised in that: also
Including worm screw (42), the ring gear (21) also has external tooth, the external tooth of the worm screw (42) and the ring gear (21)
Intermeshing.
8. the crank link mechanism for automatically adjusting length as described in any one of claims 1 to 5, it is characterised in that: institute
It states and is rotatably equipped on planet carrier (24) the second installation axle (25), the planetary gear (23) is fixedly mounted on second installation
On axis (25), realize that the planetary gear (23) is rotatably installed on the planet carrier (24) with this.
9. the crank link mechanism of length can be automatically adjusted as claimed in claim 8, it is characterised in that: further include movement output
Unit, the movement output unit include crank (31), output shaft (32) and second bearing seat (33), and the one of the crank (31)
End is fixedly mounted on second installation axle (25), and the output shaft (32) is fixedly mounted on the another of the crank (31)
End, the second bearing seat (33) are rotatably installed on the output shaft (32) by bearing, and the one of the link assembly (200)
End is fixedly connected on the second bearing seat (33).
10. the crank link mechanism of length can be automatically adjusted as claimed in claim 9, it is characterised in that: the output shaft
(32) by being fixedly mounted on the other ends of the crank (31) with flowering structure: the other end of the crank (31) is provided with band notch
Circular mounting hole (311), and the other end of the crank (31) is located at the two sides point of the notch of the circular mounting hole (311)
Not protruding to have clamping plate (312), a disk (34) to match with the circular mounting hole (311) is placed in the circular mounting
In hole (311), the clamping plates (312) of two sides by fishbolt (313) clamping, with this by the disk (34) banding in institute
It states in circular mounting hole (311), output shaft (32) bias is fixed on the disk (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150796.5U CN209190776U (en) | 2018-12-18 | 2018-12-18 | A kind of crank link mechanism automatically adjusting length |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150796.5U CN209190776U (en) | 2018-12-18 | 2018-12-18 | A kind of crank link mechanism automatically adjusting length |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190776U true CN209190776U (en) | 2019-08-02 |
Family
ID=67429787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822150796.5U Active CN209190776U (en) | 2018-12-18 | 2018-12-18 | A kind of crank link mechanism automatically adjusting length |
Country Status (1)
| Country | Link |
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| CN (1) | CN209190776U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366479A (en) * | 2018-12-18 | 2019-02-22 | 合肥工业大学 | A kind of crank link mechanism automatically adjusting length |
| CN114586659A (en) * | 2022-04-08 | 2022-06-07 | 成都长城金山绿化工程有限公司 | Track watering lorry that municipal afforestation engineering used |
-
2018
- 2018-12-18 CN CN201822150796.5U patent/CN209190776U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366479A (en) * | 2018-12-18 | 2019-02-22 | 合肥工业大学 | A kind of crank link mechanism automatically adjusting length |
| CN114586659A (en) * | 2022-04-08 | 2022-06-07 | 成都长城金山绿化工程有限公司 | Track watering lorry that municipal afforestation engineering used |
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