RU2375619C1 - Trimeric kinematic connection (treks) with seven relative motions - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention refers to machine building and can be used for connection of machine parts. Trimeric kinematic connection with seven relative motions consists of inlet, outlet an intermediary links. The inlet link with intermediary link creates a kinematic pair - a cylinder on plane. The intermediary link interacts with the outlet link via the kinematic pair - a cylinder on plane. The inlet link with outlet link creates a pointed kinematic pair - a cylinder on cylinder.

EFFECT: increased amount of relative motions between links.

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Description

The invention relates to mechanical engineering and can be used to connect machine parts.

Known kinematic pairs of one-, two-, three-, four- and five-moving, that is, the number of degrees of freedom of the link of the kinematic pair in relative motion can vary from 1 to 5 [1, p.23, the first line from the top]. The disadvantage of kinematic pairs is the small number of relative mobility of the links, limited by numbers from one to five. In practice, a greater number of mobilities between the links than one kinematic pair, i.e. more than five, may be required.

Closest to the claimed one is a three-link kinematic compound (track) with six relative movements [2]. In this track, which includes the input and output links, an intermediate link is established between the input and output links, while the input link forms a plane kinematic pair with the intermediate link - a parallelepiped on the plane, the intermediate link with the output link - the kinematic pair - the cylinder is on the plane, and the input the link with the output link forms a point kinematic pair — a cylinder on a cylinder.

However, in some cases, this number of relative movements between the input link and the output is not enough, for example, when the gripper of the robot manipulator is in operation, its movements amounting to dozens are necessary.

The objective of the present invention is to increase the number of relative movements between the links.

The essence of the claimed compound is that it offers a three-link kinematic connection (track) with seven relative movements, including input and output links, in which an intermediate link is established between the input and output links, while the input link forms a kinematic pair with an intermediate link - a cylinder on planes, the intermediate link with the output link also form a kinematic pair - the cylinder on the plane, and the input link with the output link form a point kinematic pair - the cylinder p on the cylinder.

The individual pairs used in the proposed compound are known, namely, a cylinder on the plane [1, p. 24, Fig. 1.5] and a cylinder on the cylinder [3, p. 735, Fig. B], however, their combined use in the proposed device gives a new effect , which consists in increasing the number of relative movements to seven.

A general view of the proposed connection is shown in the drawing.

The connection consists of an input link 1, an output link 2, between which an intermediate link 3 is installed.

The connection works as follows.

If link 1 or link 2 is stopped, then the movable link will receive seven movements relative to the stopped one. This is proved by the following: considering the relativity of the movement, for example, of link 2 relative to link 1, two links (intermediate link 3 and output link 2) remain mobile, that is, n = 2 (n is the number of mobile links). Three kinematic pairs are used in this compound, namely pairs between links 1 and 3, between links 2 and 3, and between links 1 and 2. The first and second of these pairs are a pair of cylinders in the plane, i.e. a pair of second class p ₂ . The third pair between links 1 and 2 - point - the contact of two cylinders, it is a pair of the first class p ₁ .

If we use the well-known formula of A. Malyshev, having the form [1, p. 35, formula (2.4)]

where W - means the mobility of the connection,

n is the number of movable links, n = 2;

p ₅ , p ₄ , p ₃ , p ₂ , p ₁ - the number of kinematic pairs, respectively:

p ₅ - fifth grade (single-moving), p ₄ - fourth grade (two-moving), p ₃ - third grade (three-moving), p ₂ - second grade (four-moving) p ₁ - first grade (five-moving), then for given pairs p ₅ = 0, p ₄ = 0, p ₃ = 0, p ₂ = 2, p ₁ = 1, using this formula we obtain the relative mobility of link 2 relative to link 1, equal to W = 7. This value of mobility confirms that the presented connection (track) has seven relative motions.

Information sources

1. Artobolevsky I.I. Theory of mechanisms and machines. - M .: Nauka, 1975.640 s.

2. Janitors L.T. Popugaev MG, Three-link kinematic connection (track) with six relative movements / Patent of the Russian Federation No. 2332600 dated 05.03.2007. Publ. 08/27/2008. Bull. Number 24.

3. Krainev A.F. Mechanics of cars. Fundamental Dictionary. - M: Engineering, 2000 .-- 904 p., Ill.

Claims (1)

A three-link kinematic connection (track) with seven relative movements, including input, output and intermediate links, characterized in that the input link forms a kinematic pair with the intermediate link - a cylinder on the plane, the intermediate link with the output link also forms a kinematic pair - a cylinder on the plane, and the input link with the output link form a point kinematic pair — a cylinder on a cylinder.