CN201744859U - Connecting mechanism adaptive to spatial free motion of self-deforming component - Google Patents
Connecting mechanism adaptive to spatial free motion of self-deforming component Download PDFInfo
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- CN201744859U CN201744859U CN2010201628104U CN201020162810U CN201744859U CN 201744859 U CN201744859 U CN 201744859U CN 2010201628104 U CN2010201628104 U CN 2010201628104U CN 201020162810 U CN201020162810 U CN 201020162810U CN 201744859 U CN201744859 U CN 201744859U
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Abstract
The utility model relates to a connecting mechanism adaptive to the spatial free motion of a self-deforming component, comprising a free component with a self-deforming characteristic, a supporting platform, and three combined auxiliary fork chains and three mobile auxiliary fork chains which are fixed on the free component at intervals. The supporting platform is arranged around the middle part of the periphery of the free component, and spacing is left between the supporting platform and the free component; each combined auxiliary fork chain comprises two pairs of spherical hinges and a component connecting piece; each pair of spherical hinges can be jointed and respectively form a spherical surface pair; the two spherical surface pairs are serially connected by the component connecting piece, and are symmetrically distributed on the upper side and the lower side of the supporting platform; the upper end and the lower end of the component connecting piece are fixedly connected on the free component; and one end of each mobile auxiliary fork chain is fixedly connected on the free component and the other end thereof is arranged on the supporting platform in a sliding way to form a mobile pair. The connecting mechanism adaptive to the spatial free motion of the self-deforming component can realize the small local displacement and 360-degree tipover of the free component, and can adapt to the working condition of heavy load.
Description
Technical field
The utility model relates to a kind of bindiny mechanism of member, especially a kind of adaptive to free movement of self-deformation member space bindiny mechanism.
Background technology
A mechanical system generally is made up of driving link and driven member.In actual design process, to connect between the member and reach various working condition requirements in order to make, often need specific design is carried out in the connection of member.In existing parallel-connection structure design, generally a fixed platform and moving putting down are linked up by interconnective many side chains, come the motion of implementation platform in certain space by changing side chain length and orientation thereof.This structural requirement driven member is a rigid body, is not taking place under the situation of distortion (as being subjected to temperature etc. to carry out self inflation and contraction etc.), can be according to set orbiting motion.When driven member itself has when working from deformation characteristic and under severe duty, more existingly be connected in parallel version often inadequately firmly and can produce additional constraint, form additional force, influence the performance and the stress of member, be difficult to meet design requirement.For example, application number is disclosed a kind of " redundant parallel mechanism with six degrees of freedom " in the Chinese utility model patent specification of " 200510093402.1 ", its moving platform (being member) just can not be realized around carrying out 360 ° rotation as the ring-shaped guide rail of silent flatform, promptly can't realize the space free motion of member.And cascaded structure design can only guarantee that member rotate around three reference axis, for having for the member of deformation characteristics, does not satisfy the requirement that this member space free moves equally.Thereby, be different from the design of traditional bindiny mechanism, for the member that has under the severe duty from deformation characteristic, the design of the bindiny mechanism of its space free motion needs the extra content of considering following two aspects: first, severe duty, this just requires the bindiny mechanism must be firmly, and locally can not produce too big stress and concentrate; The second, consider member under the deformation characteristic prerequisite, guarantee its freely-movable fully spatially.
The utility model content
Main purpose of the present utility model is the deficiency that overcomes the series and parallel interconnection technique of existing machinery system, and a kind of adaptive to free movement of self-deformation member space bindiny mechanism is provided, and this mechanism can realize 360 ° of tilt functions and can adapt to severe duty.
For solving the problems of the technologies described above, a kind of adaptive to free movement of self-deformation member space bindiny mechanism, it comprises free components, the support platform that has from deformation characteristic and is installed on the described free components three the secondary side chains of combination and three moving sets side chains at each interval;
Described support platform is provided with around the peripheral middle part of described free components, and and described free components between leave the gap;
Describedly respectively make up secondary side chain, it includes two pairs of ball pivots and member connector; Described each all can fit mutually to rotate to ball pivot and respectively form a spherical pair; Described two spherical pairs are connected in series, are distributed in symmetrically the both sides up and down of described support platform by described member connector, and two ends up and down of described member connector all are fixed on the described free components;
Described each moving sets side chain, the one end is fixed on the described free components, and the other end is slidingly installed on the described support platform and forms moving sets.
The end that described each moving sets side chain is slidingly installed on the described support platform also is connected with first slide block, respectively be provided with a vertical affixed guide plate with described support platform in the both sides of described first slide block, described first slide block can only move on described support platform along described guide plate.
Described member connector includes:
At two first connectors that the upper and lower bilateral symmetry of described support platform is provided with, one end and described free components are affixed, and the other end is a chute;
Two first spherical pair connectors, itself and corresponding one by one being connected in series of described two first connectors, one end of described each first spherical pair connector is second slide block that is slidingly installed in the described chute, and the other end and a ball pivot in described each spherical pair of described each first spherical pair connector are affixed;
The second spherical pair connector is a connecting rod, and another ball pivot in its two ends and described each spherical pair is affixed.
Be filled with the flexible member that can play the bit shift compensation effect between described second slide block and the described chute.
Described respectively the combination also is installed with second connector on the secondary side chain, one end of described second connector is fixed in the middle part of the described second spherical pair connector, its other end is installed with the 3rd slide block, and described the 3rd slide block can be free to slide the formation sliding pair on described support platform.
The middle part of described each ball pivot all offers through hole, and described member connector includes long bolt, two member connecting plates, two gripper shoes and two pairs of connecting plates:
Described long bolt is located on the described support platform, and it stretches out the outer two ends of described support platform and is equipped with a described spherical pair and a described gripper shoe respectively symmetrically successively, and two terminations of described long bolt are fastened on the described gripper shoe with nut;
The ball pivot adjacent with described gripper shoe is called first ball pivot in two ball pivots of described each spherical pair, and another ball pivot is called second ball pivot, and the through hole at described second ball pivot middle part is a bellmouth;
Described each connecting plate vertically is installed in the two ends of described each gripper shoe respectively, on the outer side surface that described two member connecting plates are corresponding one by one with the position of described two pairs of connecting plates, be fixed in described free components;
The described member connecting plate, gripper shoe, connecting plate and described first ball pivot that are located in each end of described long bolt are fixed together.
Described long bolt stretches out the outer two ends of described support platform and also respectively is equipped with a backing plate, and described backing plate is positioned at the side of described second ball pivot in contrast to described first ball pivot, and described backing plate offers bellmouth at it corresponding to the position that described long bolt runs through.
Between described backing plate and described second ball pivot and between described nut and described gripper shoe, be respectively equipped with flexible member.
Described three secondary side chains of combination are 120 ° of distributions; Have two to be to be 180 ° of distributions in described three moving sets side chains, another moving sets side chain and preceding two moving sets side chains all are 90 ° of distributions.
The connection in series-parallel of spherical pair, moving sets and sliding pair combination in the utility model bindiny mechanism, make it when adapting to severe duty, can also realize that free components and support platform center on two center lines that are 180 ° moving sets and freely rotate 360 °, and the mobile or rotation of small distance in the other direction, and can guarantee that free components is connected with the good of support platform.
Description of drawings
Fig. 1 is a schematic diagram of mechanism of the present utility model.
Fig. 2 be along A-A among Fig. 1 to structural representation.
Fig. 3 be along B-B among Fig. 1 to structural representation.
Fig. 4 is the first embodiment schematic diagram of the present utility model.
Fig. 5 is the second embodiment schematic diagram of the present utility model.
Fig. 6 be along C among Fig. 5 to structural representation.
Fig. 7 is the local enlarged diagram of A among Fig. 6.
Fig. 8 is the local enlarged diagram of B among Fig. 6.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, the bindiny mechanism that the utility model is adaptive to free movement of self-deformation member space, it comprises free components 1, support platform 2 and is installed on the described free components 1 three the secondary side chains 3 of combination and three moving sets side chains 4 at each interval.Wherein, three secondary side chains 3 of combination are 120 ° of distributions; Have two to be to be 180 ° of distributions in three moving sets side chains 4, and another moving sets side chain 4 all is 90 ° of distributions with preceding two moving sets side chains 4.Support platform 2 can be a platform or a plurality of platform, and free structure body 1 has from deformation characteristic.
As shown in Figure 2, support platform 2 is provided with around the peripheral middle part of free components 1, and and free components 1 between leave the gap.Each makes up secondary side chain 3 and includes two pairs of ball pivots and member connector, and each all can be fitted mutually to rotate to ball pivot and respectively form a spherical pair 30.Two spherical pairs 30 are connected in series, are distributed in symmetrically the both sides up and down of support platform 2 by the member connector, and two ends up and down of member connector all are fixed on the free components 1.Two spherical pairs 30 keep with one heart, and one of them can be considered as passive constraint.As shown in Figure 3, each moving sets side chain 4, one end are fixed on the free components 1, and the other end is slidingly installed on the support platform 2 and forms moving sets.Free components 1 and support platform 2 by make up secondary side chain 3, moving sets side chain 4 couples together, wherein spherical pair 30 makes the free components 1 can partial rotational.
In first embodiment shown in Figure 4, each moving sets side chain 4 its end that are slidingly installed on the support platform 2 also is connected with first slide block 41, respectively be provided with in the both sides of first slide block 41 one with support platform 2 vertical affixed guide plates 42, formation has the U type groove structure of guide function, first slide block 41 can only be moved on support platform 2 along guide plate 42, thereby have the spatial degrees of freedom of both direction.
The member connector includes two first connectors 31, two the first spherical pair connectors 32 and one second spherical pair connectors 33.Two first connectors 31 are in the upper and lower bilateral symmetry setting of support platform 2, and one end and free components 1 are affixed, and the other end is chute (scheming not shown).One end of each first spherical pair connector 32 is second slide block (scheming not shown), and this second slide block is slidingly installed in the chute of first connector 31, makes two first spherical pair connectors 32 and two first connectors 31 be connected in series correspondingly.Between second slide block and chute, also be filled with flexible member 36 (as four ripple pads etc.), can play the effect of axial deformation or bit shift compensation, thereby free components 1 can be realized axially carrying out freely stretching of little stroke along it.And the other end of each first spherical pair connector 32, then with spherical pair 30 in a ball pivot affixed.The second spherical pair connector 33 is a connecting rod, and another ball pivot in its two ends and each spherical pair 30 is affixed.
Each makes up the middle part that an end that also is installed with second connector, 35, the second connectors 35 on the secondary side chain 3 is fixed in the second spherical pair connector 33, and its other end is installed with the 3rd slide block 34, the three slide blocks 34 can be free to slide the formation sliding pair on support platform 2.Each sliding pair that makes up in the secondary side chain 3 can be free to slide at support platform 2 upper edge both directions, has the spatial degrees of freedom of three directions.
When free components 1 was positioned at plumbness, spherical pair 30, first slide block 41 and the 3rd slide block 34 were bearing the gravity of each parts, and system is stable.When free components 1 rotate with support platform 2 and with plumbness at an angle when (＜90 °), the gravity that this moment, spherical pair 30, first slide block 41 and the 3rd slide block 34 bore each parts is along the axial component of free components 1, two guide plates 42 that are in the moving sets side chain 4 of 180 ° of distributions bear the component of gravity along support platform 2 in-planes, make entire mechanism can avoid allowing spherical pair 30 bear shear stress as far as possible, thereby prolonged the service life of ball pivot preferably.When free components 1 turns to horizontal level (=90 °) with support platform 2, spherical pair 30 this moment bearing load no longer, the load of free components 1 will be all born gravity by two guide plates 42 that are in the moving sets side chain 4 of 180 ° of distributions.When free components 1 was rotated further (＞90 °) with support platform 2, because syndeton of the present utility model has up-down symmetry, this moment, stress was similar with less than 90 ° the time, was that variation has taken place stress point.
When free components 1 top circumferential expansion took place or shrinks, each tie point will correspondingly will adapt to by spherical pair 30 compensating property ground.Because spherical pair 30 can be rotated at space free, three spherical pairs 30 on the utility model bindiny mechanism top can adapt to the variation from any rotation direction of three tie points.When axial expansion takes place or shrinks in free components 1 top, make up the chute that has flexible member 36 on the secondary side chain 3 and just can carry out nose balance, thus the variation of adaptation free components 1 axial displacement.When free components 1 bottom the expansion of circumferential and axial took place or shrinks, the adaptation effect of the utility model bindiny mechanism was identical with top.When the distortion of top and bottom is difficult to utilize the rotation of spherical pair 30 to compensate, free components 1 can move freely on support platform 8 by the 3rd slide block 34, by changing the gap between free components 1 and the support platform 2, can strengthen the compensation effect of spherical pair 30 partially.When outside expansion or inside contraction take place at free components 1 middle part,, can adapt to this from the requirement of being out of shape by the slip between the 3rd slide block 34 and the support platform 2 (being sliding pair).
In addition, for two ball pivots of each spherical pair 30, can offer through hole in the middle; And the member connector among the embodiment shown in Figure 4, the also variable structure that is changed to as shown in Figure 5.Second embodiment shown in Figure 5 reflection be converter shell in the metallurgy industry (being free components 1) and being connected of backing ring (being support platform 2).To shown in Figure 8, in the present embodiment, the member connector includes two member connecting plates 311, two gripper shoes 312, two pairs of connecting plates 313 and long bolts 321 as Fig. 5.
When blowing normally, converter shell (being free components 1) is in the upright position, backing ring (being support platform 2) is horizontal, and stretches into the gravity that the interior part (being moving sets side chain 4) of horizontal baffle 42 ' (being guide plate 42) is born molten steel and each parts on main first ball pivot 301, second ball pivot 302 and the converter shell by top; The bottom have certain flexible first ripple pad 351 and the second ripple pad 352 does not then stress, prolonged its service life.When converter shell carries out central shaft around backing ring when fascinating upset, the process that it is stressed and each point adapts is described with first embodiment.When converter shell upwards is out of shape vertically, 351 redeemings of the first ripple pad; When downward distortion, 352 redeemings of the second ripple pad, both compensate functions make better effect of spherical pair 30 performances.
Adaptive to free movement of self-deformation member space bindiny mechanism of the present utility model, its essence is exactly to utilize the series and parallel of spatial kinematic pair to make up the space free motion that realizes free components, its major advantage is: 1) this mechanism can make the each several part on the intermediate active member can both adapt to it from deformation characteristics, does not produce extra constraint; 2) this mechanism space of can the rotation by support platform driving the intermediate active member rotates freely for 360 °, is connected firmly and does not locally have a too big stress concentration phenomenon; Characteristics such as 3) this bindiny mechanism has compact conformation, and bearing capacity is strong, and on-the-spot easy for installation and working service is few.
Certainly the utility model is not limited to above-mentioned embodiment, and any other forms of distortion of making according to marrow of the present utility model (for example the angle of each layout points being carried out conversion etc.) all should drop in the protection domain of the present utility model.
Claims (10)
1. adaptive to free movement of self-deformation member space bindiny mechanism, it is characterized in that it comprises free components (1), the support platform (2) that has from deformation characteristic and is installed on the described free components (1) three the secondary side chains of combination (3) and three moving sets side chains (4) at each interval;
Described support platform (2) is provided with around the peripheral middle part of described free components (1), and and described free components (1) between leave the gap;
The described secondary side chain (3) that respectively makes up, it includes two pairs of ball pivots and member connector; Described each all can fit mutually to rotate to ball pivot and respectively form a spherical pair (30); Described two spherical pairs (30) are connected in series, are distributed in symmetrically the both sides up and down of described support platform (2) by described member connector, and two ends up and down of described member connector all are fixed on the described free components (1);
Described each moving sets side chain (4), the one end is fixed on the described free components (1), and the other end is slidingly installed in described support platform (2) and goes up the formation moving sets.
2. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 1, it is characterized in that, the end that described each moving sets side chain (4) is slidingly installed on the described support platform (2) also is connected with first slide block (41), respectively be provided with in the both sides of described first slide block (41) one with the vertical affixed guide plate of described support platform (2) (42), described first slide block (41) can only be gone up in described support platform (2) along described guide plate (42) and move.
3. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 1 is characterized in that, described member connector includes:
At two first connectors (31) that the upper and lower bilateral symmetry of described support platform (2) is provided with, one end and described free components (1) are affixed, and the other end is a chute;
Two first spherical pair connectors (32), it is connected in series with described two first connectors (31) are corresponding one by one, one end of described each first spherical pair connector (32) is second slide block that is slidingly installed in the described chute, and the other end and a ball pivot in described each spherical pair (30) of described each first spherical pair connector (32) are affixed;
The second spherical pair connector (33) is a connecting rod, and another ball pivot in its two ends and described each spherical pair (30) is affixed.
4. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 3 is characterized in that, is filled with the flexible member (36) that can play the bit shift compensation effect between described second slide block and the described chute.
5. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 3, it is characterized in that, described respectively the combination also is installed with second connector (35) on the secondary side chain (3), one end of described second connector (35) is fixed in the middle part of the described second spherical pair connector (33), its other end is installed with the 3rd slide block (34), and described the 3rd slide block (34) can be free to slide the formation sliding pair on described support platform (2).
6. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 1, it is characterized in that, the middle part of described each ball pivot all offers through hole, and described member connector includes long bolt (321), two member connecting plates (311), two gripper shoes (312) and two pairs of connecting plates (313):
Described long bolt (321) is located on the described support platform (2), it stretches out the outer two ends of described support platform (2) and is equipped with a described spherical pair (30) and a described gripper shoe (312) respectively symmetrically successively, and two terminations of described long bolt (321) are fastened on the described gripper shoe (312) with nut (331);
Ball pivot adjacent with described gripper shoe (312) in two ball pivots of described each spherical pair (30) is called first ball pivot (301), and another ball pivot is called second ball pivot (302), and the through hole at described second ball pivot (302) middle part is a bellmouth;
Described each connecting plate (313) vertically is installed in the two ends of described each gripper shoe (312) respectively, described two member connecting plates (311) are corresponding one by one with the position of described two pairs of connecting plates (313), be fixed on the outer side surface of described free components (1);
The described member connecting plate (311), gripper shoe (312), the connecting plate (313) that are located in each end of described long bolt (321) are fixed together with described first ball pivot (301).
7. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 6, it is characterized in that, described long bolt (321) stretches out the outer two ends of described support platform (2) and also respectively is equipped with a backing plate (341), described backing plate (341) is positioned at the side of described second ball pivot (302) in contrast to described first ball pivot (301), and described backing plate (341) offers bellmouth at it corresponding to the position that described long bolt (321) runs through.
8. adaptive to free movement of self-deformation member space bindiny mechanism as claimed in claim 7, it is characterized in that, be respectively equipped with flexible member (351,352) between described backing plate (341) and described second ball pivot (302) and between described nut (331) and described gripper shoe (312).
9. as the arbitrary described adaptive to free movement of self-deformation member space bindiny mechanism of claim 1 to 8, it is characterized in that described three secondary side chains of combination (3) are 120 ° of distributions.
10. as the arbitrary described adaptive to free movement of self-deformation member space bindiny mechanism of claim 1 to 8, it is characterized in that, have two to be to be 180 ° of distributions in described three moving sets side chains (4), and another moving sets side chain (4) all is 90 ° of distributions with preceding two moving sets side chains (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201628104U CN201744859U (en) | 2010-04-19 | 2010-04-19 | Connecting mechanism adaptive to spatial free motion of self-deforming component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201628104U CN201744859U (en) | 2010-04-19 | 2010-04-19 | Connecting mechanism adaptive to spatial free motion of self-deforming component |
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| Publication Number | Publication Date |
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| CN201744859U true CN201744859U (en) | 2011-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201628104U Expired - Fee Related CN201744859U (en) | 2010-04-19 | 2010-04-19 | Connecting mechanism adaptive to spatial free motion of self-deforming component |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101845532A (en) * | 2010-04-19 | 2010-09-29 | 中冶南方工程技术有限公司 | Connecting mechanism adaptive to free movement of self-deformation member space |
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2010
- 2010-04-19 CN CN2010201628104U patent/CN201744859U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101845532A (en) * | 2010-04-19 | 2010-09-29 | 中冶南方工程技术有限公司 | Connecting mechanism adaptive to free movement of self-deformation member space |
| CN101845532B (en) * | 2010-04-19 | 2012-11-14 | 中冶南方工程技术有限公司 | Connecting mechanism adaptive to free movement of self-deformation member space |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110216 Termination date: 20140419 |