CN107389330A - A kind of combined four-bar linkage experimental provision of clearance-type - Google Patents
A kind of combined four-bar linkage experimental provision of clearance-type Download PDFInfo
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- CN107389330A CN107389330A CN201710698984.9A CN201710698984A CN107389330A CN 107389330 A CN107389330 A CN 107389330A CN 201710698984 A CN201710698984 A CN 201710698984A CN 107389330 A CN107389330 A CN 107389330A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The present invention relates to a kind of combined four-bar linkage experimental provision of clearance-type.Its technical scheme is that the experimental provision can be realized mutually to be changed between quadric chain and slider-crank mechanism.Sliding block（3）It is fixed on guide rail（2）On, crank（9）, connecting rod（7）And rocking bar（5）Pass through corresponding first revolute（8）, the second revolute（6）With the 3rd revolute（4）Form quadric chain；Remove the rocking bar in quadric chain（5）, sliding block（3）Quill load connecting rod（7）Sleeve, sliding block（3）With guide rail（2）Unclamp, form slider-crank mechanism.The gap of each revolute is respectively by changing the internal diameter realization of respective sleeve, prismatic pair（11）Gap by changing liner plate（13）Thickness realize.The present invention has the conversion of simple in construction and mechanism convenient, being adjusted flexibly for revolute and mobile auxiliary air gap can be realized, so as to accurately test influence of the gap of revolute and prismatic pair to four-bar linkage dynamic characteristic.
Description
Technical field
The invention belongs to four-bar linkage experimental provision.It is real more particularly to a kind of combined four-bar linkage of clearance-type
Experiment device.
Background technology
Four-bar linkage be lathe, robot even the widely used core institution of aerospace field, shaping machine,
The structure of six-degree-of-freedom parallel robot and satellite antenna is all based on four-bar mechanism and designed, and four-bar linkage is ground
Degree direct influence is studied carefully to the quality of Aero-Space, manufacturing industry etc..Rod member between present lathe, robot, space flight mechanism
Connection is required for revolute, prismatic pair, the gap certainly existed between these kinematic pairs, dynamic characteristic, executable portion to mechanism
Precision, stability has a significant impact.
For these reasons, many scholars utilize the experiment porch studying plane quadric chain of four-bar mechanism, currently
Widely used experiment porch mainly occurs in the form of slider-crank mechanism, style sheet one, can only study slider-crank mechanism；
Rotating auxiliary air gap is realized by changing the external diameter of bearing pin junction axle or the internal diameter in hole, and mobile auxiliary air gap is to pass through
Change the size of sliding block or guide rail, so, change gap width every time and be required for processing to change different rod members, so not only pacify
Dress changes trouble, can also increase processing cost.
The content of the invention
It is contemplated that overcome prior art defect, it is therefore an objective to a kind of simple in construction, mechanism is provided and changes convenient gap
The combined four-bar linkage experimental provision of formula, the experimental provision can accurately test the gap of revolute and prismatic pair to plane four
The influence of linkage dynamic characteristic.
To achieve the above object, the technical solution adopted by the present invention is：The experimental provision is quadric chain and crank
The device mutually changed between slide block mechanism.
The experimental provision includes motor, crank, connecting rod, rocking bar, sliding block and guide rail.The both ends of the crank are provided with sleeve
Axle, the central axis of the axis of two quills with crank；The both ends of the connecting rod are symmetrically fixed with sleeve hole, two
Central axis of the centerline hole of sleeve hole with connecting rod；One end of the rocking bar is provided with sleeve hole, and the other end of connecting rod is consolidated
Surely there are quill, the central axis of the axis of quill and the center line of sleeve hole with rocking bar.The sliding block is cuboid
With the entirety of quill composition, the center position of cuboid is provided with rectangular through-hole, the centerline hole and cuboid of rectangular through-hole
Long side it is parallel, quill is flatly fixed on the side of cuboid, the axis of quill and the central axis of rectangular through-hole,
The upper plane and lower plane of cuboid are symmetrically provided with two vertical screws communicated with rectangular through-hole, four vertical screw centers
Line is with rectangular through-hole central axis and intersecting.
The sleeve hole at the both ends of connecting rod 7 and the sleeve hole of rocking bar one end are respectively arranged with sleeve, and the aperture of each sleeve hole is identical, set
Bore aperture is 25 ~ 35mm, and sleeve hole aperture is identical with the nominal size of sleeve outer diameter；The quill and rocking bar at crank both ends are another
The diameter of axle of the quill of one end is identical, and the inwall of each sleeve and the gap of quill are 0 ~ 2mm.
The structure of the quadric chain is：The quill of crank one end and the output shaft of motor are connected by shaft coupling axle
Connect, the quill of the crank other end loads in the sleeve of connecting rod one end, and the quill of rocking bar one end loads the set of the connecting rod other end
In cylinder, the quill of sliding block loads in the sleeve of the rocking bar other end；Guide rail passes through the rectangular through-hole of sliding block, and bolt passes through sliding block
Sliding block is fixed on guide rail by vertical screw.
The slider-crank mechanism is：On the architecture basics of quadric chain, rocking bar is removed, the quill of sliding block loads
In the sleeve of the connecting rod other end；The bolt for being screwed in the vertical screw of sliding block is unclamped, sliding block is flexibly connected with guide rail.
The four sides of the rectangular through-hole of sliding block is 2mm with the gap of guide rail, and the four sides of rectangular through-hole is respectively fixed with liner plate,
The thickness of each liner plate is identical, and thickness is 0 ~ 2mm.
It is fixed on guide rail bearing to the both ends horizontal of the guide rail.
In above-mentioned technical proposal：The sleeve that the quill and connecting rod one end sleeve hole of crank are equipped with forms the first revolute；
The sleeve that connecting rod other end sleeve hole is equipped with and the quill of rocking bar one end form the second revolute；Rocking bar other end sleeve hole fills
The sleeve and the set of sliding block that quill the 3rd revolute of composition of some sleeve and sliding block or the other end sleeve hole of connecting rod are equipped with
Cylinder axle forms the 3rd revolute；Fixed liner plate forms prismatic pair with guide rail in the rectangular through-hole of sliding block.
Distinguish the end of the quill of quill, the second revolute in the 3rd revolute and the quill of the first revolute
Equipped with encoder, to gather angular displacement signal；Acceleration is respectively provided with the centroid position of sliding block, rocking bar, connecting rod and crank
Sensor.Each encoder and each acceleration transducer are connected by respective signal wire with data acquisition card, data acquisition card
It is connected with computer, computer is built with the Labview softwares of process signal, the time-domain signal that Labview softwares will collect
It is transformed into frequency-region signal, i.e., first derivation and second order derivation is carried out to each angular displacement signal by Labview softwares respectively, obtained
The angular speed and angular acceleration of each revolute；One is carried out respectively to each acceleration signal collected by Labview softwares again
Secondary integration and quadratic integral, respectively obtain sliding block, rocking bar, connecting rod and the crank each speed of barycenter and displacement.
The present invention changes pair clearance value by the liner plate of the sleeve and different-thickness of changing different inner diameters, then to changing
Experimental provision after pair clearance is tested, and can accurately test revolute and the gap of prismatic pair is moved to four-bar linkage
The influence of step response, to analyze the dynamic performance parameter that different motion auxiliary air gap is tested, select suitable pair clearance.
Due to there is following good effect compared with prior art using above-mentioned technical proposal, the present invention：
First：Four-bar mechanism and slider-crank mechanism can mutually change use, consolidating between sliding block and guide rail in the same apparatus
It is fixed and mobile, the bolt being threadedly coupled with the vertical screw of sliding block only need to be tightened or unclamped, greatly simplifies plane four
Linkage, structure is compacter and lightweight；
Second：The present invention avoids the factors such as the clearance of bearing using sleeve rather than using part of the bearing as revolute
Influence, sleeve is easy to process, for the revolute of different gap, need to only change the internal diameter of sleeve, avoid processing and
Crank, connecting rod, rocking bar and sliding block are changed, not only saves processing cost, and is easy to change rotation auxiliary air gap；
3rd：The present invention is using liner plate as prismatic pair part, it is only necessary between the thickness can change prismatic pair for changing liner plate
Gap, avoid processing from changing guide rail or sliding block, and the rectangular through-hole of sliding block can be avoided to wear the problem of changing；3rd rotation
Realize that the gap of prismatic pair is by changing by changing the internal diameter of sleeve respectively in the gap of secondary, the second revolute and the first revolute
The thickness for becoming liner plate realizes that it is convenient to change.
4th：All revolute axial restraints of the present invention are all tight by the bearing fit of nut, sleeve and sleeve both sides
Realized Gu sliding block and the fastening of guide rail are the bolts being threadedly coupled by tightening with the vertical screw of sliding block, thus it is simple in construction and
Convenient disassembly.
Therefore, the present invention has the conversion of simple in construction and mechanism convenient, can realize that revolute and mobile auxiliary air gap are flexibly adjusted
It is whole, so as to accurately test influence of the gap of revolute and prismatic pair to four-bar linkage dynamic characteristic.
Brief description of the drawings
Fig. 1 is a kind of quadric chain schematic diagram of the present invention；
Fig. 2 is Fig. 1 schematic top plan view；
Fig. 3 is a kind of slider-crank mechanism schematic diagram of the present invention；
Fig. 4 is Fig. 3 schematic top plan view；
Fig. 5 is the structural representation of revolute in Fig. 1 ~ Fig. 4；
Fig. 6 is the schematic front view of sliding block 3 in Fig. 1 ~ Fig. 4；
Fig. 7 is Fig. 6 schematic top plan view；
Fig. 8 is Fig. 6 left view schematic diagram.
Embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description, not to the limit of its protection domain
System：
Embodiment 1
A kind of combined four-bar linkage experimental provision of clearance-type.The experimental provision is quadric chain and crank block machine
The device mutually changed between structure.
As depicted in figs. 1 and 2, the experimental provision includes motor 10, crank 9, connecting rod 7, rocking bar 5, sliding block 3 and guide rail 2.
As shown in Figure 2 and Figure 4, the both ends of the crank 9 are provided with quill, and the center line of the axis of two quills with crank 9 hangs down
Directly；The both ends of the connecting rod 7 are symmetrically fixed with sleeve hole, and the center line of the centerline holes of two sleeve holes with connecting rod 7 hangs down
Directly；One end of the rocking bar 5 is provided with sleeve hole, and the other end of connecting rod 7 is fixed with quill, the axis of quill and sleeve hole
Central axis of the center line with rocking bar 5.As shown in Fig. 1 ~ Fig. 4 and Fig. 6 ~ Fig. 8, the sliding block 3 is cuboid and quill
The entirety of composition, the center position of cuboid are provided with rectangular through-hole, and the centerline hole of rectangular through-hole and the long side of cuboid are put down
OK, quill is flatly fixed on the side of cuboid, the axis of quill and the central axis of rectangular through-hole, cuboid
Upper plane and lower plane are symmetrically provided with two vertical screws 12 communicated with rectangular through-hole, and four vertical center lines of screw 12 are equal
With rectangular through-hole central axis and intersecting.
As shown in Fig. 1 ~ Fig. 4, the sleeve hole at the both ends of connecting rod 7 and the sleeve hole of the one end of rocking bar 5 are respectively arranged with sleeve, each sleeve
The aperture in hole is identical, and sleeve hole aperture is 30mm, and sleeve hole aperture is identical with the nominal size of sleeve outer diameter；The both ends of crank 9
Quill it is identical with the diameter of axle of the quill of the other end of rocking bar 5, the gap of each sleeve lining and quill is 1mm.
As shown in Fig. 1 ~ Fig. 2, the structure of the quadric chain is：The quill of the one end of crank 9 and the output of motor 10
Axle is loaded in the sleeve of the one end of connecting rod 7 by shaft coupling axis connection, the quill of the other end of crank 9, the quill of the one end of rocking bar 5
Load in the sleeve of the other end of connecting rod 7, the quill of sliding block 3 loads in the sleeve of the other end of rocking bar 5；Guide rail 2 passes through sliding block 3
Sliding block 3 is fixed on guide rail 2 by rectangular through-hole, bolt by the vertical screw 12 of sliding block 3.
As shown in Fig. 3 ~ Fig. 4, the slider-crank mechanism is：In the quadric chain architecture basics shown in Fig. 1 and Fig. 2
On, rocking bar 5 is removed, the quill of sliding block 3 loads in the sleeve of the other end of connecting rod 7；Turn on the spiral shell installed in the vertical screw 12 of sliding block 3
Bolt, sliding block 3 are flexibly connected with guide rail 2.
As shown in figure 8, the four sides of the rectangular through-hole of sliding block 3 and the gap of guide rail 2 are 2mm, the four sides point of rectangular through-hole
Liner plate 13 is not fixed with, and the thickness of each liner plate 13 is identical, thickness 1mm.
As shown in Fig. 1 ~ Fig. 4, it is fixed on guide rail bearing 1 to the both ends horizontal of the guide rail 2.
Embodiment 2
A kind of combined four-bar linkage experimental provision of clearance-type.In addition to following technical parameters, remaining is the same as embodiment 1：
Sleeve hole aperture is 35mm；
The gap of each sleeve lining and quill is 2mm；
The thickness of each liner plate 13 is 2mm.
Embodiment 3
A kind of combined four-bar linkage experimental provision of clearance-type.In addition to following technical parameters, remaining is the same as embodiment 1：
Sleeve hole aperture is 25mm；
The gap of each sleeve lining and quill is 0mm；
The thickness of each liner plate 13 is 0.5 or is 0mm.
Present embodiment has following good effect compared with prior art：
In present embodiment：The sleeve that the quill and one end sleeve hole of connecting rod 7 of crank 9 are equipped with forms the first revolute 8；
The sleeve that the other end sleeve hole of connecting rod 7 is equipped with and the quill of the one end of rocking bar 5 form the second revolute 6；The other end sleeve of rocking bar 5
The sleeve and cunning that the sleeve that hole is equipped with is equipped with quill the 3rd revolute 4 of composition of sliding block 3 or the other end sleeve hole of connecting rod 7
The quill of block 3 forms the 3rd revolute 4；Fixed liner plate 13 forms prismatic pair 11 with guide rail 2 in the rectangular through-hole of sliding block 3.
The quill of 3rd revolute 4, the quill of the second revolute 6, the end difference of the quill of the first revolute 8
Equipped with encoder, to gather angular displacement signal；It is respectively provided with and adds at the centroid position of sliding block 3, rocking bar 5, connecting rod 7 and crank 9
Velocity sensor.Each encoder and each acceleration transducer are connected by respective signal wire with data acquisition card, and signal is adopted
Truck is connected with computer, and computer is built with the Labview softwares of process signal, the time domain that Labview softwares will collect
Signal is transformed into frequency-region signal, i.e., carries out first derivation and second order derivation respectively to each angular displacement signal by Labview softwares,
Obtain the angular speed and angular acceleration of each revolute；Each acceleration signal collected is entered respectively by Labview softwares again
Row once integrates and quadratic integral, respectively obtains sliding block 3, the speed of 9 respective barycenter of rocking bar 5, connecting rod 7 and crank and displacement.
Present embodiment changes pair clearance value by the liner plate of the sleeve and different-thickness of changing different inner diameters,
The experimental provision after change pair clearance is tested again, can accurately test the gap of revolute and prismatic pair to plane four
The influence of linkage dynamic characteristic, to analyze the dynamic performance parameter that different motion auxiliary air gap is tested, select suitable motion
Auxiliary air gap.
The advantages of present apparatus, is：
First：Four-bar mechanism and slider-crank mechanism can mutually change use in the same apparatus, between sliding block 3 and guide rail 2
It is fixed and mobile, it is only necessary to tighten or remove the bolt being threadedly coupled with the vertical screw 12 of sliding block 3, greatly simplifie
Four-bar linkage, structure is compacter and lightweight；
Second：Present embodiment avoids the trip of bearing using sleeve rather than using part of the bearing as revolute
The influence of the factors such as gap, sleeve is easy to process, for the revolute of different gap, need to only change the internal diameter of sleeve, avoid
Processing and crank 9, connecting rod 7, rocking bar 5 and sliding block 3 are changed, not only save processing cost, and be easy to change rotation auxiliary air gap；
3rd：Present embodiment is used as prismatic pair part using liner plate 13, it is only necessary to changes the thickness can of liner plate 13
Change mobile auxiliary air gap, avoid processing from changing guide rail 2 or sliding block 3, and the rectangular through-hole of sliding block 3 can be avoided to wear what is changed
Problem；The gap of 3rd revolute 4, the second revolute 6 and the first revolute 8 is realized by changing the internal diameter of sleeve respectively, is moved
Realize that it is convenient to change by changing the thickness of liner plate 13 in the gap of dynamic pair 11.
4th：As shown in figure 5, all revolute axial restraints of present embodiment are all by nut, sleeve and set
The bearing fit fastening of cylinder both sides；As shown in fig. 6, the fastening of sliding block 3 and guide rail 2 is to be connected by tightening with the vertical screw thread of screw 12
What the bolt connect was realized, therefore simple in construction and convenient disassembly.
Therefore, present embodiment has the conversion of simple in construction and mechanism convenient, can realize between revolute and prismatic pair
Gap is adjusted flexibly, so as to accurately test influence of the gap of revolute and prismatic pair to four-bar linkage dynamic characteristic.
Claims (2)
1. a kind of combined four-bar linkage experimental provision of clearance-type, it is characterised in that the experimental provision is quadric chain
The device mutually changed between slider-crank mechanism；
The experimental provision includes motor（10）, crank（9）, connecting rod（7）, rocking bar（5）, sliding block（3）And guide rail（2）；The song
Handle（9）Both ends be provided with quill, the axis of two quills is and crank（9）Central axis；The connecting rod（7）Two
End is symmetrically fixed with sleeve hole, and the centerline hole of two sleeve holes is and connecting rod（7）Central axis；The rocking bar（5）
One end be provided with sleeve hole, connecting rod（7）The other end be fixed with quill, the axis of quill and the center line of sleeve hole with
Rocking bar（5）Central axis；The sliding block（3）For the entirety of cuboid and quill composition, the center position of cuboid
Rectangular through-hole is provided with, the centerline hole of rectangular through-hole is parallel with the long side of cuboid, and quill is flatly fixed on cuboid
Side, the axis of quill and the central axis of rectangular through-hole, the upper plane and lower plane of cuboid are symmetrically provided with two
The vertical screw communicated with rectangular through-hole（12）, four vertical screws（12）Center line with rectangular through-hole central axis and phase
Hand over；
Connecting rod（7）The sleeve hole and rocking bar at both ends（5）The sleeve hole of one end is respectively arranged with sleeve, and the aperture of each sleeve hole is identical,
Sleeve hole aperture is 25 ~ 35mm, and sleeve hole aperture is identical with the nominal size of sleeve outer diameter；Crank（9）The quill at both ends and
Rocking bar（5）The diameter of axle of the quill of the other end is identical, and the inwall of each sleeve and the gap of quill are 0 ~ 2mm；
The structure of the quadric chain is：Crank（9）The quill and motor of one end（10）Output shaft pass through shaft coupling axle
Connection, crank（9）The quill of the other end loads connecting rod（7）In the sleeve of one end, rocking bar（5）The quill of one end loads connecting rod
（7）In the sleeve of the other end, sliding block（3）Quill load rocking bar（5）In the sleeve of the other end；Guide rail（2）Through sliding block（3）
Rectangular through-hole, bolt passes through sliding block（3）Vertical screw（12）By sliding block（3）It is fixed on guide rail（2）On；
The slider-crank mechanism is：On the architecture basics of quadric chain, rocking bar is removed（5）, sliding block（3）Quill dress
Enter connecting rod（7）In the sleeve of the other end；Turn on and be arranged on sliding block（3）Vertical screw（12）Bolt, sliding block（3）With guide rail（2）
It is flexibly connected；
Sliding block（3）Rectangular through-hole four sides and guide rail（2）Gap be 2mm, the four sides of rectangular through-hole is respectively fixed with lining
Plate（13）, each liner plate（13）Thickness it is identical, thickness is 0 ~ 2mm.
2. the combined four-bar linkage experimental provision according to claim 1 containing clearance-type, it is characterised in that described to lead
Rail（2）Both ends horizontal be fixed on guide rail bearing（1）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710698984.9A CN107389330B (en) | 2017-08-15 | 2017-08-15 | Gap type combined plane four-bar mechanism experimental device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710698984.9A CN107389330B (en) | 2017-08-15 | 2017-08-15 | Gap type combined plane four-bar mechanism experimental device |
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| CN107389330B CN107389330B (en) | 2023-01-03 |
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Cited By (7)
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| CN108582059A (en) * | 2018-04-26 | 2018-09-28 | 常州大学 | The manipulator mechanism of a kind of bar and rope joint driving |
| CN109029902A (en) * | 2018-09-28 | 2018-12-18 | 西北工业大学 | Continous way transonic wind tunnel Airfoil dynamic experiment amplitude angle regulating mechanism |
| CN109374326A (en) * | 2018-10-11 | 2019-02-22 | 清华大学 | The nonlinear dynamic characteristic integration test experimental bench of vice mechanism containing intermittent motion |
| CN109990704A (en) * | 2019-03-21 | 2019-07-09 | 武汉科技大学 | Lanar four rod mechanism pose detection system and detection method based on machine vision |
| CN112484996A (en) * | 2021-01-18 | 2021-03-12 | 长沙理工大学 | Dynamic characteristic experiment platform |
| CN112484995A (en) * | 2021-01-18 | 2021-03-12 | 长沙理工大学 | Experimental method for clearance characteristic of revolute pair of experimental platform |
| CN112683214A (en) * | 2021-01-18 | 2021-04-20 | 长沙理工大学 | Sliding pair clearance characteristic experiment method of experiment platform |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582059A (en) * | 2018-04-26 | 2018-09-28 | 常州大学 | The manipulator mechanism of a kind of bar and rope joint driving |
| CN109029902A (en) * | 2018-09-28 | 2018-12-18 | 西北工业大学 | Continous way transonic wind tunnel Airfoil dynamic experiment amplitude angle regulating mechanism |
| CN109374326A (en) * | 2018-10-11 | 2019-02-22 | 清华大学 | The nonlinear dynamic characteristic integration test experimental bench of vice mechanism containing intermittent motion |
| CN109374326B (en) * | 2018-10-11 | 2024-02-02 | 清华大学 | Comprehensive test experiment table for nonlinear dynamics characteristics of gap-containing kinematic pair mechanism |
| CN109990704A (en) * | 2019-03-21 | 2019-07-09 | 武汉科技大学 | Lanar four rod mechanism pose detection system and detection method based on machine vision |
| CN112484996A (en) * | 2021-01-18 | 2021-03-12 | 长沙理工大学 | Dynamic characteristic experiment platform |
| CN112484995A (en) * | 2021-01-18 | 2021-03-12 | 长沙理工大学 | Experimental method for clearance characteristic of revolute pair of experimental platform |
| CN112683214A (en) * | 2021-01-18 | 2021-04-20 | 长沙理工大学 | Sliding pair clearance characteristic experiment method of experiment platform |
| CN112484995B (en) * | 2021-01-18 | 2022-02-15 | 长沙理工大学 | Experimental method for clearance characteristic of revolute pair of experimental platform |
| CN112484996B (en) * | 2021-01-18 | 2022-03-25 | 长沙理工大学 | Dynamic characteristic experiment platform |
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