CN101598946B - Full-range space orientation mechanism - Google Patents
Full-range space orientation mechanism Download PDFInfo
- Publication number
- CN101598946B CN101598946B CN2009100437671A CN200910043767A CN101598946B CN 101598946 B CN101598946 B CN 101598946B CN 2009100437671 A CN2009100437671 A CN 2009100437671A CN 200910043767 A CN200910043767 A CN 200910043767A CN 101598946 B CN101598946 B CN 101598946B
- Authority
- CN
- China
- Prior art keywords
- input end
- spherical gear
- output terminal
- partition ring
- revolving shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
A full-range space orientation mechanism is provided. A bracket (9) with double axle holes, a first and second liner motors (10,11) arranged on the bracket (9) and an input and output spherical gears (5,1) which are engaged with each other are arranged on a base (8); an input cross ring (7) is arranged on the input spherical gear (5) and can rotate around the rotary shaft (6) of the input spherical gear; and an output cross ring (2) is arranged on the output spherical gear (1) and can rotate around the rotary shaft (3) of the output spherical gear. The full-range space orientation mechanism is based on an involute annular spherical gear, adopts a simple driving manner to realize the space orientation in large range of output shafts, and has simple structure, high efficiency, no pollution,economy and practicality and good mobility.
Description
Technical field
The present invention relates to a kind of space directing device, especially a kind of full-range space orientation mechanism of the output shaft of controlled change as required spatial direction.
Background technology
Directing mechanism is mechanism's general name that a class is used for determining to carry out the member spatial attitude.It serves many purposes in the aerospace engineering application, for example: the settled date of satellite sun energy battery is followed the tracks of sensing, the bearing direction of spaceborne communication antenna, the missile homer attitude coutrol mechanism of initiative etc., all requires its gear train can realize comprehensive large-scale spatial attitude orientation.As solution, people continue to use a kind of diaxon quadrature tandem directing mechanism so far always, yet this traditional directing mechanism and gear train Hooks coupling universal coupling thereof are subjected to the restriction of structure to cause the beat scope less than normal, are difficult to expand.
Summary of the invention
The technical problem to be solved in the present invention is, at the defective of existing diaxon directing mechanism and Hooks coupling universal coupling, for fields such as space flight, communication, traffic, robot, weapons provide a kind of full-range space orientation mechanism that can realize big beat scope.
Technical solution of the present invention is, described full-range space orientation mechanism, referring to Fig. 1～2, it comprises: be provided with one and have the support 9 in twin shaft hole and be erected at first linear electric motors 10 on the support 9 and second linear electric motors 11, input end spherical gear 5 and output terminal spherical gear 1, input end partition ring 7 and output terminal partition ring 2, tubular tie-rod 4 on a base 8.
Described first linear electric motors 10 are erected on the support 9 one side shaft holes by the first motor ball pivot 12, and second linear electric motors 11 are located at by the second motor ball pivot 13 on the opposite side axis hole of support 9, and this two motor is placed side by side.The first linear electric motors projecting shaft, 101 terminations, the first tie-rod ball pivot 41 of first linear electric motors 10 is connected with tubular tie-rod 4; The second linear electric motors projecting shaft 111 of the second linear electric motors output shaft 11 is connected with tubular tie-rod 4 through the second tie-rod ball pivot 42.
Described input end spherical gear 5 is fixed on the base 8; Described output terminal spherical gear 1 and these input end spherical gear 5 engagements.
The 45 ° of directions in described input end spherical gear 5 upper edges are equipped with input end spherical gear revolving shaft 6, and these input end spherical gear revolving shaft 6 external input end partition rings 7 can rotate input end partition ring 7 around described input end spherical gear revolving shaft 6; Make input end partition ring revolving shaft 71 directions on the input end partition ring 7 vertical, the intersection point of two axis is overlapped with the centre of sphere of input end spherical gear 5 with input end spherical gear revolving shaft 6; Described input end partition ring 7 links to each other with tubular tie-rod 4 by input end partition ring revolving shaft 71.
The output terminal spherical gear revolving shaft 3 parallel with input end spherical gear revolving shaft 6 is housed on the described output terminal spherical gear 1, and these output terminal spherical gear revolving shaft 3 external delivery point partition rings 2 can rotate output terminal partition ring 2 around output terminal spherical gear revolving shaft 3; Make output terminal partition ring revolving shaft 21 directions on the output terminal partition ring 2 vertical and parallel, the intersection point of the axis of output terminal partition ring revolving shaft 21 and output terminal spherical gear revolving shaft 3 is overlapped with the centre of sphere of output terminal spherical gear 1 with input end partition ring revolving shaft 71 with output terminal spherical gear revolving shaft 3; Described output terminal partition ring 2 links to each other with tubular tie-rod 4 by output terminal partition ring revolving shaft 21.
The present invention will be further described below in conjunction with accompanying drawing:
By the full-range space orientation mechanism of the present invention that constitutes with upper member, as shown in Figure 1, adopt a pair of spherical gear---input end spherical gear 5 and 1 transmission of output terminal spherical gear, utilize the spherical gear transmission to have the characteristics of 360 ° of comprehensive beat motions, make the work execution unit that is installed on output terminal spherical gear 1 output shaft realize specific spatial direction.This mechanism can realize 90 ° deflection angle in theory, is subjected to the restriction of structural condition in the reality, and deflection angle can reach 60 °.
This mechanism's drive part adopts two linear motor driving modes.Motionless when second linear electric motors 11, when the first linear electric motors projecting shaft 101 of first linear electric motors 10 stretched, around 6 rotations of input end spherical gear revolving shaft, output terminal spherical gear 1 turned to tubular tie-rod 4 thereupon together with input end partition ring 7; Motionless when first linear electric motors 10, when the second linear electric motors projecting shaft 111 of second linear electric motors 11 stretched, tubular tie-rod 4 was around 71 rotations of input end partition ring revolving shaft, and output terminal spherical gear 1 also turns to thereupon.If two motors of control move according to certain rule, get final product the spatial direction of control output end spherical gear 1 output shaft.
This mechanism has following characteristics:
(1) line of the center of the first tie-rod ball pivot 41 on the tie-rod and the second tie-rod ball pivot 42 and input end spherical gear 5 centre ofs sphere is symmetrically distributed at an angle of 90.
(2) input end spherical gear 5 is connected with output terminal partition ring 2 with corresponding input end partition ring 7 by revolute pair respectively with output terminal spherical gear 1.The center of input end partition ring 7 overlaps with the center of spherical gear 5, and the center of output terminal partition ring 2 overlaps with the center of output terminal spherical gear 1.
(3) input end partition ring 7 is connected with tubular tie-rod 4 by revolute pair respectively with output terminal partition ring 2, the centre of sphere of the first tie-rod ball pivot 41 on the tie-rod and the center of the second tie-rod ball pivot 42 and input end spherical gear 5 is in same plane, and the center of tubular tie-rod 4 on this face overlaps with the centre of sphere.
(4) first linear electric motors 10 link to each other with base 9 with the second motor ball pivot 13 by the first motor ball pivot 12 respectively with second linear electric motors 11.At initial position, the first tie-rod ball pivot 41 and the 42 equidistant contour distributions of the second tie-rod ball pivot on the first motor ball pivot 12 on the base 9 and the second motor ball pivot 13 and the tubular tie-rod 4.At initial position, the centre of sphere line of the centre of sphere line of the first motor ball pivot 12 and the first tie-rod ball pivot 41, the second motor ball pivot 13 and the second tie-rod ball pivot 42 all with the parallel axes of directing mechanism.
In sum, as seen full-range space orientation mechanism of the present invention is a kind of directing mechanism based on involute urve annular tooth spherical gear, adopt linear motor driving, inherited the advantage of universal joint transmission and involute cylindrical gear transmission simultaneously, make the realization of comprehensive continuous beat motion become possibility, and this mechanism has bigger attitude motion scope, and type of drive is succinct.
The invention has the beneficial effects as follows, adopted succinct type of drive, realized output shaft spatial direction in a big way.This mechanism can be applicable to the occasion of spatial direction in a big way and frequent changes, for example can be used for satellite sun can battery in the equipment such as windsurfing, communication antenna bearing direction, missile homer sensing, simple in structure, efficient is high, pollution-free, economical and practical, maneuverability is good.
Description of drawings
Fig. 1 is the structural representation of a specific embodiment of full-range space orientation mechanism of the present invention;
Fig. 2 is the structural representation of the full-range space orientation mechanism behind the tubular tie-rod of dismantling.
Being denoted as in Fig. 1～2:
1-output terminal spherical gear,
2-output terminal partition ring,
21-output terminal partition ring revolving shaft,
3-output terminal spherical gear revolving shaft,
4-tubular tie-rod,
The 41-first tie-rod ball pivot,
The 42-second tie-rod ball pivot,
5-input end spherical gear
6-input end spherical gear revolving shaft
7-input end partition ring
71-input end partition ring revolving shaft,
The 8-base,
The 9-support,
10-first linear electric motors,
The 101-first linear electric motors projecting shaft,
11-second linear electric motors,
The 111-second linear electric motors projecting shaft,
The 12-first motor ball pivot,
The 13-second motor ball pivot.
Embodiment
Referring to accompanying drawing 1～2, this embodiment of the present invention draw materials precision aluminium-alloy casting system base 8, support 9, first linear electric motors 10 and second linear electric motors 11, output terminal spherical gear 1 and input end spherical gear 5, output terminal partition ring 2 and input end partition ring 7, tubular tie-rod 4.Base 8 is rectangular, long 125mm, and wide 108mm, thickness are 10mm.Support 9 is installed on the base 8, high 100mm, and the top has two axis holes, aperture Φ 30mm.It is 35H4K-05-019 that first linear electric motors 10 and second linear electric motors 11 adopt model, and power is Hayden's linear stepping motor (Changzhou) of 5.7w.First linear electric motors 10 are erected on the support 9 by the first motor ball pivot 12, and its first linear electric motors projecting shaft 101 is by the first tie-rod ball pivot 41 and tie-rod 4 ball-joints; Second linear electric motors 11 are erected on the support 9 by the second motor ball pivot 13, and its projecting shaft 111 is by the second tie-rod ball pivot 42 and 4 ball-joints of tubular tie-rod, and two motor projecting shafts are parallel to each other during initial position.
Input end spherical gear 5 is fixed on the base 8, and output terminal spherical gear 1 is meshed with it.Two spherical gears are crossed the centre of sphere and are fixed input end spherical gear revolving shaft 6 parallel to each other and output terminal spherical gear revolving shaft 3 respectively, input end spherical gear revolving shaft 6 and output terminal spherical gear revolving shaft 3 overcoats input end partition ring 7 and output terminal partition ring 2, and input end partition ring 7 and output terminal partition ring 2 can rotate around input end spherical gear revolving shaft 6 and output terminal spherical gear revolving shaft 3 respectively.Tubular tie-rod 4 is erected on input end partition ring 7 and the output terminal partition ring 2 by input end partition ring revolving shaft 71 and output terminal partition ring revolving shaft 21, tube external diameter Φ 96mm, internal diameter Φ 80mm, long 77mm.
On probation to be proved to be effect remarkable through manufacturing experimently for the full-range space orientation mechanism of the present invention of Gou Chenging thus, reaches designing requirement fully.
Claims (1)
1. full-range space orientation mechanism, it is characterized in that, it comprises: have the support (9) in twin shaft hole and be erected at first linear electric motors (10) and second linear electric motors (11) on the support (9) being provided with one on the base (8), input end spherical gear (5) and output terminal spherical gear (1), input end partition ring (7) and output terminal partition ring (2), tubular tie-rod (4), described first linear electric motors (10) are erected on support (9) the one side shaft holes by the first motor ball pivot (12), second linear electric motors (11) are located on the opposite side axis hole of support (9) by the second motor ball pivot (13), this two motor is placed side by side, and first linear electric motors projecting shaft (101) termination, the first tie-rod ball pivot (41) of first linear electric motors (10) is connected with tubular tie-rod (4); The second linear electric motors projecting shaft (111) of the second linear electric motors output shaft (11) is connected with tubular tie-rod (4) through the second tie-rod ball pivot (42), and described input end spherical gear (5) is fixed on the base (8); Described output terminal spherical gear (1) and this input end spherical gear (5) engagement, the 45 ° of directions in described input end spherical gear (5) upper edge are equipped with input end spherical gear revolving shaft (6), this external input end partition ring of input end spherical gear revolving shaft (6) (7) can rotate input end partition ring (7) around described input end spherical gear revolving shaft (6); Make input end partition ring revolving shaft (71) direction on the input end partition ring (7) vertical, the intersection point of two axis is overlapped with the centre of sphere of input end spherical gear (5) with input end spherical gear revolving shaft (6); Described input end partition ring (7) links to each other with tubular tie-rod (4) by input end partition ring revolving shaft (71), the output terminal spherical gear revolving shaft (3) parallel with input end spherical gear revolving shaft (6) is housed on the described output terminal spherical gear (1), this output terminal spherical gear revolving shaft (3) external delivery point partition ring (2) can rotate output terminal partition ring (2) around output terminal spherical gear revolving shaft (3); Make output terminal partition ring revolving shaft (21) direction on the output terminal partition ring (2) vertical with output terminal spherical gear revolving shaft (3) and parallel, the intersection point of the axis of output terminal partition ring revolving shaft (21) and output terminal spherical gear revolving shaft (3) is overlapped with the centre of sphere of output terminal spherical gear (1) with input end partition ring revolving shaft (71); Described output terminal partition ring (2) links to each other with tubular tie-rod (4) by output terminal partition ring revolving shaft (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100437671A CN101598946B (en) | 2009-06-26 | 2009-06-26 | Full-range space orientation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100437671A CN101598946B (en) | 2009-06-26 | 2009-06-26 | Full-range space orientation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101598946A CN101598946A (en) | 2009-12-09 |
| CN101598946B true CN101598946B (en) | 2010-12-29 |
Family
ID=41420415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100437671A Expired - Fee Related CN101598946B (en) | 2009-06-26 | 2009-06-26 | Full-range space orientation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101598946B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252568B (en) * | 2011-04-28 | 2013-06-19 | 北京航空航天大学 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
| CN103743543B (en) * | 2013-12-20 | 2016-05-04 | 河北汉光重工有限责任公司 | Target seeker complete machine boat appearance benchmark test frock |
| CN104816224B (en) * | 2015-04-13 | 2017-08-25 | 福州弘博工艺有限公司 | A kind of six-freedom motion angle grinder |
| CN106322961A (en) * | 2015-06-23 | 2017-01-11 | 胡妍 | Drying devices of white spirit bottle drying machine |
| CN106002928B (en) * | 2016-07-19 | 2018-01-19 | 安徽理工大学 | A kind of multi-arm rotary conveying device |
| CN115213032B (en) * | 2022-07-15 | 2023-10-27 | 江苏科技大学 | Bionic image spraying robot and spraying control method |
-
2009
- 2009-06-26 CN CN2009100437671A patent/CN101598946B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101598946A (en) | 2009-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101598946B (en) | Full-range space orientation mechanism | |
| CN101423074B (en) | Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction | |
| CN103433916A (en) | Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism | |
| CN201566718U (en) | Spherical robot | |
| CN202292114U (en) | Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts | |
| CN105058413B (en) | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism | |
| CN106364259B (en) | The robot of reduced speed drive wheel and the application reduced speed drive wheel | |
| CN101116971A (en) | Movement decoupling spherical surface rotating paralleling mechanism can be used as the robot wrist joint | |
| CN104742151A (en) | Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method | |
| CN102431605A (en) | Sphere-wheel compound transformable mobile robot | |
| CN1332787C (en) | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module | |
| CN103407508B (en) | Ten two degrees of freedom tetrahedron robots | |
| WO2023005033A1 (en) | Joint module and robot leg | |
| CN100500389C (en) | Novel arc welding robot gyroscopic motion transmission gear | |
| US20130081499A1 (en) | Trochoid drive system | |
| CN202539952U (en) | Three-freedom-degree parallel mechanism with two vertical interested rotating shafts | |
| US10951105B2 (en) | Geared spherical electromagnetic machine with two-axis rotation | |
| US3789625A (en) | Bisecting plane rotary motion transmission device | |
| CN201537917U (en) | Modular double-wheel driven moving robot of which the wheel distance and the wheel direction can be changed | |
| CN209224063U (en) | A kind of five axis stacking bispin articulated robots | |
| CN115783080A (en) | Module walking automobile | |
| CN211029977U (en) | Mobile device of education robot | |
| CN110510024A (en) | A kind of fold-playing variable diameter ball shape robot | |
| CN112606625B (en) | Deformation wheel based on four-bar mechanism | |
| CN216991983U (en) | Novel robot joint based on hooke joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101229 Termination date: 20130626 |