RU2674370C1 - Device for spatial orientation of objects - Google Patents

Abstract

FIELD: manufacturing technology.

SUBSTANCE: invention relates to mechanisms used to obtain a given motion of the output link. Device comprises a rack in the form of a closed circular guide, an output link, six kinematic chains containing each carriage mounted for movement along a circular guide, and an intermediate link. Kinematic pairs connecting the intermediate links with the carriages and the output link are spherical. Device is equipped with a central disk, made in the form of a cylindrical gear and connected with the stand by means of a central rotational kinematic pair. Kinematic chain is equipped with a driving gear, made in one piece with the driving disk, which is connected by means of a flexible connection with the driven disk, on which a crank is rigidly mounted, which forms a rotational kinematic pair with a corresponding stone, which is part of a forward kinematic pair, with an initial link mated with a central disk of a rotational kinematic pair, and rigidly connected to the corresponding carriage. Driving gear and the driven disk form rotational kinematic pairs with vertical axes with the support.

EFFECT: invention provides the ability to control the movement of the output link with a single lead link.

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Description

The invention relates to mechanisms used in the art to obtain a given movement of the output link.

Known Delta Robot [Clavel R. Device for the movement and positioning of an element in space, US Patent No. 4976582, Dec. 11, 1990], having a spatial parallel structure and consisting of three levers attached by hinges to the rack. In parallel circuits of the mechanism, parallelograms are used, which allow preserving the spatial orientation of the output link. The disadvantage of this device is the inability to accept heavy loads due to the execution of parallel circuits in the form of parallelograms, as well as a limited number of degrees of freedom of the output link equal to four (linear displacements along each of the three coordinate axes and rotation around an axis perpendicular to the base).

Closest to the proposed device is a rotopod [Coulombe J., Bonev I.A. A New Rotary Hexapod for Micropositioning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany. 2013, pp. 877-880, p. 877, Fig. 2], related to the mechanisms of a parallel structure and including a stand made in the form of a closed circular guide, an output link, six kinematic chains, including each carriage mounted on a circular guide, and an intermediate link made in the form of a rod and connected by means of spherical kinematic pairs with one end with a carriage, and the other end with an output link. The movement of the output link is controlled by six drives that drive the carriage, performing the role of the leading links in the mechanism.

This mechanism is taken as a prototype of the proposed device. The disadvantage of the prototype is the inability to fully control the movements of the platform when using less than six drives, in particular, one drive.

The technical problem is to create such a mechanism of parallel structure in which the movement of the output link could be controlled by a single leading link.

The essence of the claimed device lies in the fact that it is proposed a device for the spatial orientation of objects, including a rack in the form of a closed circular guide, an output link, six kinematic chains containing each carriage mounted for movement along a circular guide, and an intermediate link, moreover, kinematic pairs, connecting the intermediate links with the carriages and the output link are made spherical, while the device is equipped with a central disk made in the form of a cylindrical gears and connected to the rack by means of a central rotary kinematic pair, each kinematic chain is equipped with a leading gear made integrally with a drive disk, which is connected via a flexible connection with a driven disk on which a crank is mounted rigidly forming a rotational kinematic pair with the corresponding stone entering into the translational kinematic pair with the initial link paired with the central disk by the rotational kinematic pair, and is rigidly connected with the corresponding carriage, while the driving gear and the driven disk form rotational kinematic pairs with vertical axes with a support. In addition, in each kinematic chain, the crank is made with holes in the part protruding beyond the diameter of the driven disk.

The technical result obtained by using the present invention is that the movement of the output link is controlled by a single driving link due to the installation of a new single-moving mechanism with a central rotational kinematic pair inside the circular guide, the movable links of which are rigidly connected to the carriages moving along the circular guide and on which are installed six intermediate links orienting the output link in space.

The invention is illustrated in the drawing, where

in FIG. 1 shows a device for spatial orientation of objects,

in FIG. 2 shows a spatial kinematic chain of parallel structure,

in FIG. 3 shows a single-moving flat mechanism,

in FIG. 4 shows a driven disk with a crank.

The device consists of a rack 1, made in the form of a closed circular guide, a central disk 2, made in the form of a cylindrical gears, drive disks 3, rigidly connected to gear cylindrical wheels 4, driven disks 5, cranks 6, stones 7, initial links 8, rigidly connected to the carriages 9, intermediate links 10 and the output link 11.

The central disk 2 forms with the rack 1 a central rotational kinematic pair, as well as gearing with the cylindrical wheels 4. The drive disks 3, rigidly mounted on the wheels 4, are connected to the driven disks 5 by means of flexible connection, and with the rack 1 by means of rotational kinematic pairs. Stones 7 form rotational kinematic pairs with cranks 6 rigidly mounted on the driven discs 5, and translational kinematic pairs with initial links 8. In this case, the initial links 8 form rotational kinematic pairs with the central disk 2. The carriages 9 are included with the rack 1 in the rotational kinematic pair, and with an intermediate link 10 - in the spherical kinematic pair. The axes of the rotational pairs 1-2, 1-3 (1-4), 1-5 (1-6), 6-7, 2-8 and 1-9 are directed perpendicular to the plane of movement of the carriages 9. Output link 11 and intermediate links 10 connected by spherical kinematic pairs.

The device shown in FIG. 1 is formed by connecting the spatial kinematic chain of a parallel structure depicted in. FIG. 2, and the planar single-moving mechanism shown in FIG. 3 by installing intermediate links 10 on carriages 9 through spherical kinematic pairs. The spatial mechanism of the parallel structure thus obtained is set in motion by turning the central disk 2, which completely controls the movement of the output link 11.

Given that the cranks 6 have holes with the possibility of installing rotational kinematic pairs 6-7 at different distances from the center of rotation of the driven discs 5 (Fig. 4), it becomes possible to obtain different movements of the carriages 9 for each kinematic chain of the mechanism, thereby changing trajectory of the output link 11.

The principle of the mechanism is as follows. When the central disk 2 rotates, the movement is transmitted through gears 2-4 to the wheels 4, which will drive the drive disks 3 due to the fact that they are made with the wheels 4 in one piece. Then, through flexible couplings, the movement is transmitted to the driven disks 5, and, accordingly, to the cranks 6 which are rigidly connected to them, which, when rotated, will set in motion stones 7, which, moving along the initial link 8, will deflect it, thereby moving the carriage 9 relative to the rack 1. When this movement from the carriages 9 is transmitted to the intermediate links 10, which drive the output link 11, orienting it to the given angles and distances relative to the rack 1.

The use of the proposed device is advisable for setting spatial orientation and moving objects, as well as for performing cyclic operations that require movement along a given path. The proposed mechanism can be used as the basis of the simulator mechanisms of vehicles, as well as to create medical equipment, for example, used in the construction of horizontal manipulation surfaces for tilting and moving patients or limbs.

Claims (2)

1. Device for spatial orientation of the object, containing a rack in the form of a closed circular guide, an output link, six kinematic chains containing each carriage mounted to move along a circular guide, and an intermediate link, and kinematic pairs connecting the intermediate links with the carriages and the output the link is made spherical, characterized in that the device is equipped with a central disk made in the form of a cylindrical gear and connected to the rack by a central rotational kinematic pair, each kinematic chain is equipped with a drive gear made in one piece with a drive disk, which is connected via flexible coupling to a driven disk on which a crank is rigidly mounted, forming a rotational kinematic pair with a corresponding stone included in the translational kinematic a pair with an initial link conjugated to the central disk by a rotational kinematic pair and rigidly connected to the corresponding carriage, while the leading gear th wheel and drive plate formed with a rack rotational kinematic pairs with vertical axes. 2. The device according to p. 1, characterized in that in each kinematic chain the crank is made with holes in the part protruding beyond the diameter of the driven disk.

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