RU2566323C1 - Spatial six-link mechanism with rotary kinematic pairs - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: spatial six-link mechanism with rotary kinematic pairs consists of six links (1) mutually joined by means of six hinges (4). One link is composite and consists of two parts (2) and (3) which form mobile cylindrical joint with a possibility of mutual movement of parts in the longitudinal direction and rotations in the cross direction with the subsequent fixing with reference to each other.

EFFECT: ability of the mechanism to get folded into flat and line structure.

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Description

The invention relates to mechanical engineering and can be used as a spatial six-link mechanism with three-dimensional movement.

Spatial six-link articulated systems have the unique ability to fold into a flat structure. Obtaining new mobile spatial mechanisms is an urgent task.

It is known that a kinematic closed chain with six rotational kinematic pairs is generally a rigid system (Verkhovsky A.V. Six-dimensional spatial articulated mechanisms // Bulletin of the Tomsk Polytechnic Institute named after S.M. Kirov, vol. 61, issue 1. 1947. - S. 47-52). It is also known from the source of information that, subject to certain particular conditions, a six-link articulated system composed of a simple closed kinematic chain acquires one degree of mobility, i.e. is a mechanism. So, for example, there is a six-link mechanism with rotational kinematic pairs, in which the axis of the hinges form two beams of intersecting axes, three axes in each.

A disadvantage of the known six-link spatial mechanism is the lack of guarantee that during the synthesis of the mechanism after closing the kinematic chain, the six-link articulated system will gain one degree of mobility, i.e. will become a mechanism.

The known spatial mechanism with rotational kinematic pairs (Bricard mechanism), consisting of six links interconnected by six hinges (I. Galiullin. Synthesis of mobile six-link mechanisms [Text] / I. A. Galiullin, M. G. Yarullin / / Problems and Prospects for the Development of Aviation, Land Transport and Energy "ANTE-2013": International Scientific and Technical Conference, November 19-21, 2013: Collection of reports, Kazan: Kazan, State Technical University, 2013 . - C 23-31). The basic figure on which the Brikar mechanism is built is a cube.

A disadvantage of the known six-link spatial mechanism is the lack of guarantee that during the synthesis of the mechanism after closing the kinematic chain, the six-link articulated system will gain one degree of mobility, i.e. will become a mechanism. It is also known from this information source that a kinematic closed circuit with seven rotational kinematic pairs of links has one degree of mobility.

The object of the invention is the creation of a moving spatial six-link mechanism with rotational kinematic pairs.

The technical result, which the invention is directed to, is to create a movable spatial six-link mechanism capable of folding in a flat and linear design.

The technical result is achieved by the fact that the spatial six-link mechanism with rotational kinematic pairs, consisting of links in the form of rods with hinges, contains at least one link, consisting of two parts, forming a movable cylindrical connection with the possibility of mutual movement of the parts in the longitudinal direction and rotation in the transverse direction and their subsequent fixation relative to each other.

The proposed spatial six-link articulated system in accordance with the technical solution of the invention has mobility and therefore is a mechanism.

To clarify the technical nature, consider the drawings, in which:

figure 1 - schematic representation of a spatial six-link mechanism with rotational kinematic pairs;

figure 2 - schematic representation of the spatial seven-link mechanism;

figure 3 - schematic representation of a spatial six-link mechanism with rotational kinematic pairs, folded into a linear structure, where:

1 - links;

2 - one part of the sixth link;

3 - another part of the sixth link;

4 - hinges.

Spatial six-link mechanism with rotational kinematic pairs, shown in figure 1, consists of five identical links 1, interconnected by hinges 4. The basic figure on which the mechanism is built is a cube. The sixth link is composite and consists of two parts: 2 and 3. Parts 2 and 3 of the composite link form a movable cylindrical connection with the possibility of moving part 2 in the longitudinal direction and rotate in the transverse direction relative to part 3. The connection of parts 2 and 3 of the composite link is made with the possibility fixing parts 2 and 3 in any intermediate position relative to each other.

The work of the spatial six-link mechanism with rotational kinematic pairs is performed as follows. A closed spatial kinematic chain is made, which is shown in FIG. 2 until the parts 2 and 3 of the component link are fixed in their specific position relative to each other. In fact, the composed kinematic chain is seven-chain, and therefore it has one degree of mobility. After fixing parts 2 and 3 of the component link in a certain position relative to each other, the kinematic chain becomes six-link, but the kinematic chain remains mobile.

The position of parts 2 and 3 of the component link, in which the six-link spatial joint system remains mobile and is a mechanism, is determined from the following conditions:

- the length of the composite link should be equal to the length of the other five links;

- the axis of the hinges of the component link should be mutually perpendicular.

It should be noted that there are two options for the existence of a six-link spatial mechanism:

- the usual (expanded) option presented in figure 1;

- folded (packaged) option, presented in figure 3.

To move from one embodiment of the spatial six-link mechanism to another, it is enough to rotate one part of the component link, for example, part 2, relative to the other part 3 of the component link by 180 degrees.

Thus, the proposed hinge system, after fixing parts 2 and 3 of the component link in the required position, will become a single-moving six-link spatial mechanism.

Spatial six-link mechanism can be folded into a flat design.

Compared with the known analogues, the proposed six-link spatial mechanism in the usual (unfolded) variant of existence in accordance with its design features allows to obtain a movable mechanism with a unique ability to fold in a flat and linear design.

Claims (1)

Spatial six-link mechanism with rotational kinematic pairs, consisting of links in the form of rods with hinges, characterized in that it contains at least one link, consisting of two parts, forming a movable cylindrical connection with the possibility of mutual movement of parts in the longitudinal direction and rotation in transverse direction and their subsequent fixation relative to each other.

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