UA32393U - Six-link articulation linkage for object translational motion - Google Patents

Abstract

A six-link articulation linkage of object translational motion of has a crank, con-rods, slides, object that forms articulated joints with con-rods and sliding pair with slide. The object by one end is hinged to con-rod of slider-crank mechanism, and by the other end it is hinged to the other con-rod that forms articulated joint with the slide. Lines connecting the centers of the object articulated joints to the con-rods and lines connecting the con-rods to the slide form parallelogram.

Description

The useful model refers to the field of mechanical engineering, namely to mechanisms for the translational movement of an object along connecting rod curves and which are used in stepping machines, in grippers of robots and manipulators, in devices for metal cutting machines, foundry machines, in vending machines for food, light industries, etc.

Known lever and gear-lever mechanisms in which an object, rigidly connected to one of the connecting rods of the mechanism, reproduces a given translational movement along a complex trajectory | see, for example, R. V. Ambartsumyants. Gear-lever mechanism for reproducing plane-parallel movement of an object. Sat. Theory of mechanisms and machines, Kharkov, Me26, 1979.|. However, in these mechanisms, the translational movement of the object is carried out only on some part of the angle of rotation of the input link, and approximately, and most often with a large error, especially at large intervals of the angle of rotation of the input link. In them, it is absolutely impossible to move the object forward along the connecting rod curve.

The closest solution is a six-link lever mechanism | see Yu. L. Sargsyan. About the reproduced translational movement of the link along the trajectories of the original four-links. Mashinovedenie, M., issue 5, 1965, 6.33, fig. 2a), in which the connecting rod, which forms one translational and two rotational (hinged) pairs with other links of the mechanism, makes a translational movement along the connecting rod curve, describing the point M of the articulated four-link mechanism | see the same fig. 1 a, p. 32)|.

The mechanism works as follows. The movement from the external source of movement is transmitted to the input crank MO "B". From the input crank through connecting rods СО and В'А, the movement is transmitted to connecting rod BS'А". Due to the presence of two translational pairs, connecting rod CA" makes a translational movement along the connecting rod curve.

The disadvantages of this mechanism are: 1 "The presence of two translational kinematic pairs, which lead to a complication of the manufacturing technology and, therefore, an increase in the cost of the product. 2. Relatively large losses to overcome frictional forces in translational kinematic pairs and especially in a translational pair with the base of the mechanism due to a large console.

C. The complexity of the very design of the mechanism, which does not allow the use of simple engineering methods for their research, which limits the areas of its application.

The task of the useful model is to create a construction of a six-link lever mechanism based on the well-known and widespread in various areas of the national economy crank-slider mechanism. To solve the problem, the object is hinged at one end to the connecting rod, which is hinged at the other end to the slider of the crank-slider mechanism.

The other end of the object is connected to the connecting rod of the crank-slider mechanism, which at the same time forms a hinged connection with the crank and the slider. The center of the hinged connection of the object with the connecting rod of the crank-slider mechanism is selected in such a way that the contour formed by the centers of the hinged connections of the object with the connecting rods and the slider is a parallelogram.

This implementation of the six-link lever mechanism allows the object 1. to move forward along the connecting rod curve described by the center of the hinged connection of the object with the connecting rod of the crank-slider mechanism. 2. To reduce the number of translational kinematic pairs, which leads to the simplification of the manufacturing technology of individual parts and the reduction of the cost of the product. 3. Reduce frictional losses and, therefore, energy costs for overcoming frictional forces as a result of reducing the number of translational kinematic pairs. 4. Use well-known and simple engineering methods of researching the proposed design of the mechanism, which will significantly reduce the costs of designing this mechanism and its research.

The design of the mechanism is shown in Fig.

The mechanism consists of housing 1. In housing 1 there is a drive shaft with a rigidly fixed crank 2. Crank 2 is connected to connecting rod Z of the crank-sliding mechanism by hinge B. The connecting rod Z is connected to the slider 4 by the hinge E. The object 5 is connected to the other connecting rod 6 by the hinge C at one end, and the other end is connected to the slider 4 by the hinge O. The object 5 is connected to the slider 4 by the other end by the hinge E with connected to connecting rod 3.

The distance between the centers of the hinges E and C is strictly equal to the distance between the centers of the hinges E and O. The distance between the centers of the hinges C and O (the length of the connecting rod 6) is strictly equal to the distance between the centers of the hinges E and E. The RESO contour formed by the lines connecting the centers of hinges PE, E, B, 0) is a parallelogram.

The mechanism works as follows.

The movement from an external source (not shown in Fig. 1) is given through the drive shaft of the crank 2. From the crank 2, the movement through the connecting rod C is transmitted to the slider 4 and the object 5. The connecting rod 6 receives the movement from the slider 4 and transmits the movement to the object 5. The movements of connecting rods C and 6 are absolutely identical, since the RESO contour is a parallelogram. In this case, the trajectory of the center of the hinge C is absolutely identical to the trajectory of the center of the hinge E. Therefore, the object Z makes a translational movement along the trajectory of the connecting rod point E.

Field of application - stepping machines, clamping devices of robots and manipulators, devices for metal cutting machines, foundry machines, automatic machines of food, light industry, etc.

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Fig. 1

Claims (1)

A six-link articulated-lever mechanism for the translational movement of an object, containing a crank, connecting rods, sliders, an object that forms hinged connections with connecting rods and a translational pair with a slider, which is distinguished by the fact that the object is hinged at one end with connected to the connecting rod of the crank-slider mechanism, and the other end is hinged to another connecting rod, which forms a hinged connection with the slider, and the lines connecting the centers of the hinges of the object with the connecting rods, and the connecting rods with the slider, form a parallelogram .