CN105856921A - Adjustable spherical mechanism plotter - Google Patents
Adjustable spherical mechanism plotter Download PDFInfo
- Publication number
- CN105856921A CN105856921A CN201610385233.7A CN201610385233A CN105856921A CN 105856921 A CN105856921 A CN 105856921A CN 201610385233 A CN201610385233 A CN 201610385233A CN 105856921 A CN105856921 A CN 105856921A
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- CN
- China
- Prior art keywords
- connecting rod
- faller
- frame
- side link
- pin
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
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- Pivots And Pivotal Connections (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to an adjustable spherical mechanism plotter. The adjustable spherical mechanism plotter is characterized by comprising four moving parts, including a rack, a driving member, a driven member and a connecting rod, as well as articulation pieces connected between each two adjacent moving parts, wherein the driving member and the driven member are movably connected with the two ends of the rack by virtue of the articulation pieces and can do fixed-axis rotation around the axes of the articulation pieces at the two ends of the rack, respectively; the two ends of the connecting rod are movably connected with the driving member and the driven member by virtue of the articulation pieces; and the cross section of each articulation piece is circular, and the axes of the four articulation pieces are intersected at a spherical center point. The adjustable spherical mechanism plotter is simple and reasonable in structural design and simple and easy to operate and can achieve experimental verification effect when applied to scientific research of teachers or student experiments.
Description
Technical field
The present invention relates to teaching aid, specifically, be a kind of Adjustable Spherical mechanism drawing instrument, belong to teaching test apparatus technical field of structures.
Background technology
Spherical mechanism refer in mechanism on each moving link the most all mechanisms of motion on concentric spherical.When spherical mechanism moves, on component a little one with the centre of sphere keep constant distance sphere on move.Spherical mechanism is for general in scientific research, teaching, teacher or student is studied or is tested, plays verification the verifying results.
At present, industry there is no this spherical mechanism.
Summary of the invention
It is desirable to provide a kind of have that scientific structure is simple and direct, easy to operate, can be used for instruments used for education, Adjustable Spherical mechanism drawing instrument in research equipment.
For solving the problems referred to above, the technical solution adopted in the present invention is:
A kind of Adjustable Spherical mechanism drawing instrument, is characterized in that, including frame, driving link, driven member and four movable parts of connecting rod, and is connected to the articulated elements 5 between adjacent two movable parts；Wherein, described driving link and driven member are movably connected on the two ends of frame by articulated elements 5, and are able to rotate in fixed axis along the axis of described articulated elements 5 at the two ends of described frame；The two ends of described connecting rod are flexibly connected with described driving link and driven member by articulated elements 5 respectively；The cross section of described articulated elements 5 is circular, and the axis of four articulated elements 5 is intersected in centre of sphere point；
Described frame is to be connected formed by the first frame 3 and the second frame 4；Described driving link is made up of the former dynamic side link 7 of first connected together and the second former dynamic side link 6；Described driven member is made up of the driven side link of first connected together 11 and the second driven side link 10；Described connecting rod is made up of the first connecting rod 9 connected together and second connecting rod 8.
For being fixed by socket between described first frame 3 and the second frame 4, described second frame 4 is intercalated in described first frame 3, described first frame 3 and the second frame 4 is correspondingly provided with pin hole 2, realizes fixing connection therebetween by pin for suppressing metal 1.
It is hinged fixing between described first frame 3 and the second frame 4, described first frame 3 and the second frame 4 abutting end is hinged and realizes fixing connection therebetween by fastening bolt 12.
For being fixed by socket between described first former dynamic side link 7 and the second former dynamic side link 6, described first former dynamic side link 7 is intercalated in described second former dynamic side link 6, it is correspondingly provided with pin hole 2 respectively on first former dynamic side link 7 and the second former dynamic side link 6, realizes fixing connection therebetween by pin for suppressing metal 1.
For being fixed by socket between described first driven side link 11 and the second driven side link 10, described first driven side link 11 is intercalated in described second driven side link 10, it is correspondingly provided with pin hole 2 respectively on first driven side link 11 and the second driven side link 10, realizes fixing connection therebetween by pin for suppressing metal 1.
For being fixed by socket between described first connecting rod 9 and second connecting rod 8, described first connecting rod 9 is intercalated in described second connecting rod 8, and first connecting rod 9 and second connecting rod 8 are correspondingly provided with pin hole 2 respectively, realizes fixing connection therebetween by pin for suppressing metal 1.
Connecting rod faller it is equipped with on described connecting rod, described connecting rod faller is installed on outside the articulated elements 5 of connecting rod one end or in pin hole by faller fastening bolt 13, described connecting rod faller includes first connecting rod faller 15 and the second connecting rod faller 14 being fixed by socket, it is correspondingly provided with pin hole 2 respectively on described first connecting rod faller 15 and second connecting rod faller 14, realizes fixing connection therebetween by pin for suppressing metal 1.
The spherical mechanism of the present invention is mainly by frame, driving link, connecting rod and driven member are constituted, connecting rod faller can be installed as required additional, in whole mechanism, frame, driving link, driven member, the length (being equivalent to arc length) of connecting rod and connecting rod faller can telescopic adjustment as required, frame is fixed the spherical shell that is centre of sphere point with articulated elements axis joint, the drawing instruments such as pencil can be installed additional in arbitrfary point on connecting rod or connecting rod faller, so that the track of arbitrfary point can be drawn out on spherical shell on connecting rod or connecting rod faller, this type of movement locus put is applied in scientific research, in teaching, for teachers ' scientific research or student experimenting, the effect of experimental verification can be played.
A kind of Adjustable Spherical mechanism drawing instrument of the present invention, simple structural design is reasonable, easy to operate, only need to be by adjusting the position of two adjacent rod members, install pin for suppressing metal additional, just the length of this component of adjustable, frame therein, driving link, driven member, connecting rod and connecting rod faller each centre of gravity adjustment, to the centre of sphere, can make self-balancing platform.
Accompanying drawing explanation
A kind of Adjustable Spherical mechanism drawing instrument structural representation of Fig. 1: the embodiment of the present invention 1；
A kind of Adjustable Spherical mechanism drawing instrument structural representation of Fig. 2: the embodiment of the present invention 2；
A kind of Adjustable Spherical mechanism drawing instrument structural representation of Fig. 3: the embodiment of the present invention 3；
In the drawings, 1, pin for suppressing metal, 2, pin hole, 3, the first frame, the 4, second frame, 5, articulated elements, 6, the second driving link hack lever, the 7, first driving link hack lever, 8, second connecting rod, 9, first connecting rod, the 10, second driven side link, the 11, first driven side link, 12, fastening bolt, 13, faller fastening bolt, 14, second connecting rod faller, 15, first connecting rod faller.
Detailed description of the invention
Below one Adjustable Spherical mechanism drawing instrument of the present invention is described in detail below by accompanying drawing 1-3.
Embodiment 1
A kind of Adjustable Spherical mechanism drawing instrument, including a frame and three movable parts, three movable parts are driving link, driven member and connecting rod respectively, the two ends of described frame are connected by articulated elements 5 respectively to be had driving link and driven member, described driving link and driven member to be able at the two ends of described frame to rotate in fixed axis along the axis of described articulated elements 5；The two ends of described connecting rod are flexibly connected with described driving link and driven member by articulated elements 5 respectively；The cross section of described articulated elements 5 is circular, and the axis of four articulated elements 5 is intersected in centre of sphere point；Described frame is to be connected formed by the first frame 3 and the second frame 4；Described driving link is made up of the former dynamic side link 7 of first connected together and the second former dynamic side link 6；Described driven member is made up of the driven side link of first connected together 11 and the second driven side link 10；Described connecting rod is made up of the first connecting rod 9 connected together and second connecting rod 8.It is fixed by socket for sleeve between described first frame 3 and the second frame 4, can slide each other, described second frame 4 is intercalated in described first frame 3, can be capable of expansion and contraction, it is correspondingly provided with pin hole 2 in described first frame 3 and the second frame 4, selects suitable position, pin hole 2 inserts pin for suppressing metal 1, make the two consolidation be integrated, constitute frame.After adding pin for suppressing metal 1 in pin hole 2, the two just consolidates and is integrated.For being fixed by socket between described first former dynamic side link 7 and the second former dynamic side link 6, described first former dynamic side link 7 is intercalated in described second former dynamic side link 6, it is correspondingly provided with pin hole 2 respectively on first former dynamic side link 7 and the second former dynamic side link 6, realizes fixing connection therebetween by pin for suppressing metal 1.For being fixed by socket between described first driven side link 11 and the second driven side link 10, described first driven side link 11 is intercalated in described second driven side link 10, it is correspondingly provided with pin hole 2 respectively on first driven side link 11 and the second driven side link 10, realizes fixing connection therebetween by pin for suppressing metal 1.For being fixed by socket between described first connecting rod 9 and second connecting rod 8, described first connecting rod 9 is intercalated in described second connecting rod 8, and first connecting rod 9 and second connecting rod 8 are correspondingly provided with pin hole 2 respectively, realizes fixing connection therebetween by pin for suppressing metal 1.
Driving link, driven member are identical with the structure of frame with the structure of connecting rod, each is equivalent to the orthodrome on sphere, keeping constant with the distance of the centre of sphere in motor process, the cross sectional shape of each is identical, can use the various shapes such as rectangle, circle or hexagon.The motion of connecting rod is spheric motion, and on it, the track of point is complicated spherical curve, fixes a spherical shell in frame, and connecting rod point installs the drawing instruments such as pencil additional, just can draw out this locus of points on spherical shell.
Embodiment 2
The present embodiment is with the difference of embodiment 1
It is hinged fixing between described first frame 3 and the second frame 4, therebetween can mutually rotate, described first frame 3 and the second frame 4 abutting end is hinged and realizes fixing connection therebetween by fastening bolt 12, after tightening fastening bolt 12, the two just consolidates and is integrated, and constitutes frame.
Embodiment 3
The present embodiment is with the difference of embodiment 1
Connecting rod faller it is equipped with on described connecting rod, described connecting rod faller is installed on outside the articulated elements 5 of connecting rod one end or in pin hole by faller fastening bolt 13, described connecting rod faller includes first connecting rod faller 15 and the second connecting rod faller 14 being fixed by socket, it is correspondingly provided with pin hole 2 respectively on described first connecting rod faller 15 and second connecting rod faller 14, realizes fixing connection therebetween by pin for suppressing metal 1.
Connecting rod faller is fixed on connecting rod position by faller fastening bolt 13, can adjust angle between the two as required, to study its motion conditions.The motion of connecting rod faller is spheric motion, and on it, the track of point is complicated spherical curve, fixes a spherical shell in frame, and on connecting rod faller, certain point installs the drawing instruments such as pencil additional, just can draw out the track of this point on spherical shell.
A kind of Adjustable Spherical mechanism drawing instrument of above example, mainly by frame, driving link, connecting rod and driven member are constituted, connecting rod faller can be installed as required additional, in whole mechanism, frame, driving link, driven member, the length (being equivalent to arc length) of connecting rod and connecting rod faller can telescopic adjustment as required, frame is fixed the spherical shell that is centre of sphere point with articulated elements axis joint, the drawing instruments such as pencil can be installed additional in arbitrfary point on connecting rod or connecting rod faller, so that the track of arbitrfary point can be drawn out on spherical shell on connecting rod or connecting rod faller, this type of movement locus put is applied in scientific research, in teaching, for teachers ' scientific research or student experimenting, the effect of experimental verification can be played.
Present configuration design is simple and direct rationally, easy to operate, only need to be by adjusting the position of two adjacent rod members, install pin for suppressing metal additional, just the length of this component of adjustable, frame therein, driving link, driven member, connecting rod and connecting rod faller each centre of gravity adjustment, to the centre of sphere, can make self-balancing platform.
Claims (10)
1. an Adjustable Spherical mechanism drawing instrument, is characterised by, including frame, driving link, driven member and four movable parts of connecting rod, and is connected to the articulated elements between adjacent two movable parts；Wherein, described driving link and driven member are movably connected on the two ends of frame by articulated elements, and are able to rotate in fixed axis along the axis of described articulated elements at the two ends of described frame；The two ends of described connecting rod are flexibly connected with described driving link and driven member by articulated elements respectively；The cross section of described articulated elements is circular, and the axis of four articulated elements is intersected in centre of sphere point.
2. a kind of Adjustable Spherical mechanism drawing instrument as claimed in claim 1, is characterised by
Described frame is to be connected by the first frame and the second frame to form；Described driving link is made up of the former dynamic side link of first connected together and the second former dynamic side link；Described driven member is made up of the driven side link of first connected together and the second driven side link；Described connecting rod is made up of the first connecting rod connected together and second connecting rod.
3. a kind of Adjustable Spherical mechanism drawing instrument as claimed in claim 2, is characterised by
For being fixed by socket between described first frame and the second frame, described second frame is intercalated in described first frame, and described first frame and the second frame are correspondingly provided with pin hole, realizes fixing connection therebetween by pin for suppressing metal.
4. a kind of Adjustable Spherical mechanism drawing instrument as claimed in claim 2, is characterised by
It is hinged fixing between described first frame and the second frame, described first frame and the second frame abutting end is hinged and realizes fixing connection therebetween by fastening bolt.
5. a kind of Adjustable Spherical mechanism drawing instrument as described in claim 3 or 4, is characterised by
For being fixed by socket between described first former dynamic side link and the second former dynamic side link, described first former dynamic side link is intercalated in described second former dynamic side link, it is correspondingly provided with pin hole respectively on first former dynamic side link and the second former dynamic side link, realizes fixing connection therebetween by pin for suppressing metal.
6. a kind of Adjustable Spherical mechanism drawing instrument as described in claim 3 or 4, is characterised by
For being fixed by socket between described first driven side link and the second driven side link, described first driven side link is intercalated in described second driven side link, it is correspondingly provided with pin hole respectively on first driven side link and the second driven side link, realizes fixing connection therebetween by pin for suppressing metal.
7. a kind of Adjustable Spherical mechanism drawing instrument as described in claim 3 or 4, is characterised by
For being fixed by socket between described first connecting rod and second connecting rod, described first connecting rod is intercalated in described second connecting rod, and first connecting rod and second connecting rod are correspondingly provided with pin hole respectively, realizes fixing connection therebetween by pin for suppressing metal.
8. a kind of Adjustable Spherical mechanism drawing instrument as claimed in claim 1, is characterised by
Connecting rod faller it is equipped with on described connecting rod, described connecting rod faller is installed on outside the articulated elements of connecting rod one end or in pin hole by adnexa fastening bolt, described connecting rod faller includes first connecting rod faller and the second connecting rod faller being fixed by socket, it is correspondingly provided with pin hole respectively on described first connecting rod faller and second connecting rod faller, realizes fixing connection therebetween by pin for suppressing metal.
9. a kind of Adjustable Spherical mechanism drawing instrument as described in claim 3 or 4, is characterised by
Connecting rod faller it is equipped with on described connecting rod, described connecting rod faller is installed on outside the articulated elements of connecting rod one end by adnexa fastening bolt, described connecting rod faller includes first connecting rod faller and the second connecting rod faller being fixed by socket, it is correspondingly provided with pin hole respectively on described first connecting rod faller and second connecting rod faller, realizes fixing connection therebetween by pin for suppressing metal.
10. a kind of Adjustable Spherical mechanism drawing instrument as claimed in claim 7, is characterised by
Connecting rod faller it is equipped with on described connecting rod, described connecting rod faller is installed on outside the articulated elements of connecting rod one end by faller fastening bolt, described connecting rod faller includes first connecting rod faller and the second connecting rod faller being fixed by socket, it is correspondingly provided with pin hole respectively on described first connecting rod faller and second connecting rod faller, realizes fixing connection therebetween by pin for suppressing metal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610385233.7A CN105856921B (en) | 2016-06-03 | 2016-06-03 | A kind of Adjustable Spherical mechanism drawing instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610385233.7A CN105856921B (en) | 2016-06-03 | 2016-06-03 | A kind of Adjustable Spherical mechanism drawing instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105856921A true CN105856921A (en) | 2016-08-17 |
| CN105856921B CN105856921B (en) | 2018-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610385233.7A Expired - Fee Related CN105856921B (en) | 2016-06-03 | 2016-06-03 | A kind of Adjustable Spherical mechanism drawing instrument |
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| Country | Link |
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| CN (1) | CN105856921B (en) |
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| CN103889663A (en) * | 2011-09-28 | 2014-06-25 | Ur机器人有限公司 | Calibration and programming of robots |
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| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN203931331U (en) * | 2014-05-27 | 2014-11-05 | 西安理工大学 | Spherical involute demonstration teaching aid |
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| CN204414107U (en) * | 2015-01-29 | 2015-06-24 | 北京电子科技职业学院 | A kind of mechanical finger adjusting device |
| CN105026113A (en) * | 2013-03-01 | 2015-11-04 | 小松Ntc株式会社 | Two-dimensional movement closed-link structure |
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2016
- 2016-06-03 CN CN201610385233.7A patent/CN105856921B/en not_active Expired - Fee Related
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4368962A (en) * | 1980-03-13 | 1983-01-18 | Hultberg Donald E | Solar tracking apparatus and system |
| CN87204750U (en) * | 1987-11-09 | 1988-08-10 | 李富昌 | Combined demonstration device of space geometry |
| US6213715B1 (en) * | 1998-09-16 | 2001-04-10 | Florida Institute Of Technology | Fan structure having a spherical four-bar mechanism |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101915292A (en) * | 2010-08-31 | 2010-12-15 | 北京交通大学 | Single-power rolling spherical four-rod mechanism |
| US20120312606A1 (en) * | 2011-02-09 | 2012-12-13 | Florida Institute Of Technology | Robotic Walking Apparatus |
| CN103889663A (en) * | 2011-09-28 | 2014-06-25 | Ur机器人有限公司 | Calibration and programming of robots |
| CN103115120A (en) * | 2013-02-27 | 2013-05-22 | 北京交通大学 | Spherical rolling mechanism |
| CN105026113A (en) * | 2013-03-01 | 2015-11-04 | 小松Ntc株式会社 | Two-dimensional movement closed-link structure |
| CN203673750U (en) * | 2014-01-07 | 2014-06-25 | 李辉 | Spherical four-connecting-rod mechanism demonstration teaching aid |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN203931331U (en) * | 2014-05-27 | 2014-11-05 | 西安理工大学 | Spherical involute demonstration teaching aid |
| CN104362436A (en) * | 2014-09-30 | 2015-02-18 | 长春工业大学 | Receiver spatial posture adjusting device |
| CN204414107U (en) * | 2015-01-29 | 2015-06-24 | 北京电子科技职业学院 | A kind of mechanical finger adjusting device |
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| Publication number | Publication date |
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| CN105856921B (en) | 2018-07-10 |
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