CN109968327A - It is a kind of to open up coupling mechanism containing 16 rings - Google Patents
It is a kind of to open up coupling mechanism containing 16 rings Download PDFInfo
- Publication number
- CN109968327A CN109968327A CN201910242375.1A CN201910242375A CN109968327A CN 109968327 A CN109968327 A CN 109968327A CN 201910242375 A CN201910242375 A CN 201910242375A CN 109968327 A CN109968327 A CN 109968327A
- Authority
- CN
- China
- Prior art keywords
- plane
- rod piece
- rod
- degree
- interior
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Aerials With Secondary Devices (AREA)
Abstract
Coupling mechanism is opened up containing 16 rings the invention discloses a kind of, which includes 18 node rod pieces, and 32 connecting rods hingedly form 16 rings by connecting rod between node rod piece altogether.18 node rod pieces include two regular quadrangle rod pieces, eight Ι type quadrangle rod pieces, eight triangle rod pieces.Angle is 90 degree between the adjacent axis of four revolute pairs on regular quadrangle rod piece, and the angle between the adjacent axis of four revolute pairs on Ι type quadrangle rod piece is followed successively by 124 degree, 56 degree, 56 degree, 124 degree.Angle between the adjacent axis of three revolute pairs of triangle rod piece is 135 degree, 90 degree, 135 degree.The mechanism each branched structure composition is identical and symmetrical, can unidirectionally move, and coupling mechanism can be opened up by belonging to a kind of polyhedron.The mechanism can be collapsed according to operating condition and environmental demand stretching, extension, be readily transported, can preferably be adapted to special occasions, there is good application prospect.
Description
Technical field
The present invention be it is a kind of singly move it is polycyclic open up symmetrical coupled mechanism, be related to applied mechanism technical field, especially
Relate to a kind of space robot field with foldable mechanism.
Background technique
As mechanism is from simply to complicated, flat space-oriented, monocycle to polycyclic continuous development, mechanics innovation is machine always
The key and research hotspot of device equipment innovation.The advantages such as existing parallel institution has bearing capacity strong, and rigidity is big, and inertia is low,
But working space is limited: serial mechanism working space is big, and structure is simply dexterous, but intensity is low, is not suitable for heavily loaded occasion.?
Under such development trend, hybrid mechanism comes into being.Well there is the advantages of serial mechanism and parallel institution in this kind of mechanism
It imitates compound, while the shortcomings that break through each self-structure, becomes the research hotspot of field of mechanisms in recent years.Structure composition complexity but appearance
Novel hybrid mechanism, the connection branch between rack and moving platform intercouple, not independent each other, usually with more
The form that a identical ring structure connection reticulates coupling mechanism is presented, so that such mechanism has structure function and appearance
Two-fold advantage meets the development trend of mechanism.
But since the Structure Configuration Synthesis theory of existing maturation is suitable for the parallel institution with individual branches.With parallel machine
It is totally different in structure structure, Structure Configuration Synthesis theory that oneself has is determined to polycyclic coupling mechanism and is not suitable for, and coupling is greatly limited
Mechanism, the proposition of especially polycyclic coupling new mechanism, is very important to a large amount of development and application for promoting this kind of mechanism.
Summary of the invention
The object of the present invention is to provide a kind of single movements containing 16 rings can open up coupling mechanism robot mechanism,
Invention information and technical support are provided for domestic enterprise and research institution.
To achieve the above object, the technical solution adopted by the present invention is that a kind of single movement containing 16 rings can open up coupling machine
Structure, the mechanism include 18 node rod pieces, 32 connecting rods；16 are hingedly formed altogether by connecting rod between node rod piece
Ring.
18 node rod pieces are by two regular quadrangle rod pieces, eight Ι type quadrangle rod pieces, eight triangle rod piece groups
At.Angle is 90 degree between the adjacent axis of four revolute pairs on regular quadrangle rod piece, four rotations on Ι type quadrangle rod piece
Angle between secondary adjacent axis is followed successively by 124 degree, 56 degree, 56 degree, 124 degree.Three revolute pairs of triangle rod piece it is adjacent
Angle between axis is 135 degree, 90 degree, 135 degree.
The axis of the revolute pair of connecting rod two end is parallel to each other, and both ends are connect with different types of node rod piece, and connecting rod connects
Node rod piece is connect there are two types of connection type, the first connection type be connecting rod both ends respectively with four side of triangle rod piece and Ι type
Shape rod piece is hinged, and second of connection type is that the both ends of connecting rod are hinged with Ι type quadrangle rod piece and regular quadrangle rod piece respectively；
The central point of 18 node rod pieces is distributed in from the bottom up in six parallel planes, plane P1With plane P6It is interior
Respectively arrange a regular quadrangle rod piece, the line DM and this six planes between two regular quadrangle rod piece central points are vertical；It is flat
Face P2Four Ι type quadrangle rod pieces of interior arrangement, the central point of four Ι type quadrangle rod pieces are evenly arranged on line DM and plane P2's
Intersection point is plane P on the circumference in the center of circle3Four triangle rod pieces of interior arrangement, the central point of four triangle rod pieces be evenly arranged on
Line DM and plane P3Intersection point be the center of circle circumference on, plane P4Four triangle rod pieces of interior arrangement, four triangle rod pieces
Central point is evenly arranged on line DM and plane P4Intersection point be the center of circle circumference on, plane P5Four Ι type quadrangle bars of interior arrangement
The central point of part, four Ι type quadrangle rod pieces is evenly arranged on line DM and plane P5Intersection point be the center of circle circumference on；18
The central point of node rod piece was also distributed about in eight perpendiculars of line DM and the angle between them is 45 degree, successively remembers
For R1、T1、R2、T2、R3、T3、R4、T4, wherein plane P1The central point M of interior node rod piece, plane P2In interior node rod piece
Heart point Ai, P4The central point C of interior node rod pieceiIt is distributed in same plane RiIt is interior, i=1,2,3,4；Plane P6Interior node rod piece
Central point D, plane P3The central point B of interior node rod piecei, plane P5The central point D of interior node rod pieceiIt is distributed in same
Plane TiInterior, each node rod piece passes through connecting rod hingedly different types of node rod piece.
Compared with prior art, the invention has the following advantages that
Each branched structure composition of the mechanism is identical and symmetrical, and node rod piece component is by regular quadrangle rod piece, four side of Ι type
Shape rod piece, triangle rod piece composition, and general coupling mechanism is only made of n-shaped, enriches the multiplicity of coupling mechanism
Property；
The mechanism has single-degree-of-freedom moving movement property, and under specific drive condition, which can unidirectionally be moved
And movement is shunk and is unfolded to geometric center, and is collapsed according to operating condition and environmental demand stretching, extension, and it is readily transported, it can be more preferable
Ground adapts to special occasions, there is good application prospect.
Detailed description of the invention
A kind of Fig. 1: single mobile schematic diagram for opening up symmetrical coupled mechanism for containing 16 rings
In figure: the central point of 18 node rod pieces is distributed in from the bottom up in six parallel planes, plane P1Peace
Face P6One regular quadrangle rod piece of interior each arrangement, line DM and this six planes between two regular quadrangle rod piece central points hang down
Directly；Plane P2Four Ι type quadrangle rod pieces of interior arrangement, the central point of four Ι type quadrangle rod pieces are evenly arranged on line DM and put down
Face P2Intersection point be the center of circle circumference on, plane P3The central point of four triangle rod pieces of interior arrangement, four triangle rod pieces is uniformly distributed
With line DM and plane P3Intersection point be the center of circle circumference on, plane P4Four triangle rod pieces of interior arrangement, four triangle bars
The central point of part is evenly arranged on line DM and plane P4Intersection point be the center of circle circumference on, plane P5Four Ι type quadrangles of interior arrangement
The central point of rod piece, four Ι type quadrangle rod pieces is evenly arranged on line DM and plane P5Intersection point be the center of circle circumference on；18
The central point of a node rod piece was also distributed about in eight perpendiculars of line DM and the angle between them is 45 degree, successively
It is denoted as R1、T1、R2、T2、R3、T3、R4、T4, wherein plane P1The central point M of interior node rod piece, plane P2Interior node rod piece
Central point Ai, P4The central point C of interior node rod pieceiIt is distributed in same plane RiIt is interior, i=1,2,3,4；Plane P6Interior point lever
The central point D of part, plane P3The central point B of interior node rod piecei, plane P5The central point D of interior node rod pieceiIt is distributed in same
One plane TiInterior, each node rod piece passes through connecting rod hingedly different types of node rod piece.
Fig. 2: schematic diagram is received in the symmetrical coupled mechanism exhibition of opening up containing 16 rings
Specific embodiment
As shown in Figure 1, the central point of 18 node rod pieces is distributed in from the bottom up in six parallel planes, plane
P1With plane P6One regular quadrangle rod piece of interior each arrangement, line DM between two regular quadrangle rod piece central points and this six it is flat
Face is all vertical；Plane P2Four Ι type quadrangle rod pieces of interior arrangement, the central point of four Ι type quadrangle rod pieces are evenly arranged on line
DM and plane P2Intersection point be the center of circle circumference on, plane P3Four triangle rod pieces of interior arrangement, the center of four triangle rod pieces
Point is evenly arranged on line DM and plane P3Intersection point be the center of circle circumference on, plane P4Four triangle rod pieces of interior arrangement, four three
The central point of side shape rod piece is evenly arranged on line DM and plane P4Intersection point be the center of circle circumference on, plane P5Four Ι types of interior arrangement
The central point of quadrangle rod piece, four Ι type quadrangle rod pieces is evenly arranged on line DM and plane P5Intersection point be the center of circle circumference
On；The central point of 18 node rod pieces was also distributed about in eight perpendiculars of line DM and the angle between them is 45
Degree, is successively denoted as R1、T1、R2、T2、R3、T3、R4、T4, wherein plane P1The central point M of interior node rod piece, plane P2Interior section
The central point A of point rod piecei, P4The central point C of interior node rod pieceiIt is distributed in same plane RiIt is interior, i=1,2,3,4；Plane P6It is interior
Node rod piece central point D, plane P3The central point B of interior node rod piecei, plane P5The central point D of interior node rod piecei
It is distributed in same plane TiInterior, each node rod piece passes through connecting rod hingedly different types of node rod piece.
Claims (2)
1. a kind of single movement containing 16 rings can open up coupling mechanism, it is characterised in that: the mechanism include 18 node rod pieces, three
12 connecting rods；16 rings are hingedly formed by connecting rod altogether between node rod piece；
18 node rod pieces are by two regular quadrangle rod pieces, eight Ι type quadrangle rod pieces, eight triangle rod piece compositions；Just
Angle is 90 degree between the adjacent axis of four revolute pairs on quadrangle rod piece, four revolute pairs on Ι type quadrangle rod piece
Angle between adjacent axis is followed successively by 124 degree, 56 degree, 56 degree, 124 degree；The adjacent axis of three revolute pairs of triangle rod piece
Between angle be 135 degree, 90 degree, 135 degree；
The axis of the revolute pair of connecting rod two end is parallel to each other, and both ends are connect with different types of node rod piece, connecting rod connection section
Point rod piece there are two types of connection type, the first connection type be connecting rod both ends respectively with triangle rod piece and Ι type quadrangle bar
Part is hinged, and second of connection type is that the both ends of connecting rod are hinged with Ι type quadrangle rod piece and regular quadrangle rod piece respectively.
2. a kind of single movement containing 16 rings according to claim 1 can open up coupling mechanism, it is characterised in that: 18 sections
The central point of point rod piece is distributed in from the bottom up in six parallel planes, plane P1With plane P6One positive four side of interior each arrangement
Shape rod piece, the line DM and this six planes between two regular quadrangle rod piece central points are vertical；Plane P2Four Ι types of interior arrangement
The central point of quadrangle rod piece, four Ι type quadrangle rod pieces is evenly arranged on line DM and plane P2Intersection point be the center of circle circumference
On, plane P3Four triangle rod pieces of interior arrangement, the central point of four triangle rod pieces are evenly arranged on line DM and plane P3Friendship
Point is plane P on the circumference in the center of circle4Four triangle rod pieces of interior arrangement, the central point of four triangle rod pieces are evenly arranged on to connect
Line DM and plane P4Intersection point be the center of circle circumference on, plane P5Four Ι type quadrangle rod pieces of interior arrangement, four Ι type quadrangle bars
The central point of part is evenly arranged on line DM and plane P5Intersection point be the center of circle circumference on；The central point of 18 node rod pieces
It was distributed in eight perpendiculars of line DM and the angle between them is 45 degree, and be successively denoted as R1、T1、R2、T2、R3、T3、
R4、T4, wherein plane P1The central point M of interior node rod piece, plane P2The central point A of interior node rod piecei, P4Interior point lever
The central point C of partiIt is distributed in same plane RiIt is interior, i=1,2,3,4；Plane P6The central point D of interior node rod piece, plane P3It is interior
Node rod piece central point Bi, plane P5The central point D of interior node rod pieceiIt is distributed in same plane TiIt is interior, each node rod piece
Pass through the hinged different types of node rod piece of connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910242375.1A CN109968327B (en) | 2019-03-28 | 2019-03-28 | Extensible coupling mechanism with sixteen rings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910242375.1A CN109968327B (en) | 2019-03-28 | 2019-03-28 | Extensible coupling mechanism with sixteen rings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109968327A true CN109968327A (en) | 2019-07-05 |
| CN109968327B CN109968327B (en) | 2021-03-16 |
Family
ID=67081200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910242375.1A Active CN109968327B (en) | 2019-03-28 | 2019-03-28 | Extensible coupling mechanism with sixteen rings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109968327B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454376A (en) * | 2020-10-28 | 2021-03-09 | 北京工业大学 | Deployable coupling mechanism containing twenty-four rings |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6618025B2 (en) * | 1999-06-11 | 2003-09-09 | Harris Corporation | Lightweight, compactly deployable support structure with telescoping members |
| JP4425550B2 (en) * | 2003-02-05 | 2010-03-03 | 株式会社アイ・オー・データ機器 | Multi-view stereoscopic camera |
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled mechanism |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
-
2019
- 2019-03-28 CN CN201910242375.1A patent/CN109968327B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6618025B2 (en) * | 1999-06-11 | 2003-09-09 | Harris Corporation | Lightweight, compactly deployable support structure with telescoping members |
| JP4425550B2 (en) * | 2003-02-05 | 2010-03-03 | 株式会社アイ・オー・データ機器 | Multi-view stereoscopic camera |
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled mechanism |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454376A (en) * | 2020-10-28 | 2021-03-09 | 北京工业大学 | Deployable coupling mechanism containing twenty-four rings |
| CN112454376B (en) * | 2020-10-28 | 2023-08-01 | 北京工业大学 | Deployable coupling mechanism containing twenty-four rings |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109968327B (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106393063B (en) | The mobile dodecahedron of single-degree-of-freedom can open up symmetrical coupled mechanism | |
| CN105397800B (en) | Asymmetric two-freedom moves multi-ring coupling mechanism | |
| CN102644352B (en) | Radial telescopic net support with fixed support | |
| CN105881509B (en) | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom | |
| CN201718722U (en) | Strip type folding table | |
| CN106493717B (en) | The icosahedral single movement of one kind can open up symmetrical coupled mechanism | |
| CN109968327A (en) | It is a kind of to open up coupling mechanism containing 16 rings | |
| CN104708616B (en) | Three Degree Of Freedom detent mechanism and its telescopically driven multiple degrees of freedom series-parallel robot | |
| CN203369555U (en) | Combined type support truss | |
| CN109025025A (en) | A kind of plane retractable Roof Structures that achievable two-way linkage folds | |
| CN105134408A (en) | Single-action system control mechanism for two-dimensional plug type spraying pipe | |
| CN107416229A (en) | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this | |
| CN103938780B (en) | A kind of dicyclo scissors unit launches roof system | |
| CN108942898A (en) | Coupling mechanism is opened up containing 120 rings | |
| CN207449995U (en) | A kind of children trolley | |
| CN101758491B (en) | Folding workbench | |
| CN109176472A (en) | A kind of four degree of freedom decoupling parallel mechanism | |
| CN210696930U (en) | Telescopic iron frame | |
| CN111293403B (en) | Single-degree-of-freedom symmetrical space coupling deployable unit and space deployable mechanism based on same | |
| CN103883057B (en) | A kind of horizontal scissors unit can retractable roof | |
| CN1907175A (en) | Portable folding suspended bed | |
| CN201067209Y (en) | Novel folding supporting seat | |
| CN108098739B (en) | Symmetrical single-degree-of-freedom mobile coupling mechanism | |
| CN112454376B (en) | Deployable coupling mechanism containing twenty-four rings | |
| CN101209164B (en) | Folding supporting seat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |