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Single-degree-of-freedom spherical turnover mechanism

A technology of flipping mechanism and degrees of freedom, applied in the fields of robotics and aerospace, to achieve the effect of simple structure, smooth and smooth overall movement, and easy production and processing

Pending Publication Date: 2022-07-29
BEIJING JIAOTONG UNIV
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  • Description
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  • Application Information

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Problems solved by technology

[0002] Chinese patent CN101915292B discloses "a single-power rolling spherical four-bar mechanism", which drives the four-bar mechanism through a single motor to realize the motion track of the plane circle, but the mechanism can only realize the rolling of a single circle

Method used

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Embodiment Construction

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0024] like figure 1 As shown, a single-degree-of-freedom spherical surface inversion mechanism includes first, second, and third antiparallelogram spherical units A, B, and C, and the first and second antiparallelogram spherical units A and B pass through the second and fifth The second and third connecting joints A-2-3 and B-1-3 of the bending rods A-2 and B-1 form a rotational connection, and the second and third antiparallelogram sph...

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Abstract

A single-degree-of-freedom spherical turnover mechanism comprises a first contra-parallelogram spherical unit (A), a second contra-parallelogram spherical unit (B) and a third contra-parallelogram spherical unit (C), and the first contra-parallelogram spherical unit (A) and the second contra-parallelogram spherical unit (B) are rotationally connected through a second connecting joint (A-2-3) and a third connecting joint (B-1-3) of a second bent rod (A-2) and a fifth bent rod (B-1). The second contra-parallelogram spherical unit (B) and the third contra-parallelogram spherical unit (C) are rotationally connected through a fourth connecting joint (B-2-3) and a fifth connecting joint (C-1-3) of a sixth bent rod (B-2) and a ninth bent rod (C-1), and the third contra-parallelogram spherical unit (C) and the first contra-parallelogram spherical unit (C) are rotationally connected through a sixth connecting joint (C-2-3) and a first connecting joint (A-1-3) of a tenth bent rod (C-2) and a first bent rod (A-1); the first, second and third contra-parallelogram spherical units (A, B and C) have the same structural composition, and the whole mechanism can realize spatial turnover motion.

Description

technical field [0001] The invention belongs to the technical fields of aerospace and robotics, relates to a space folding mechanism, and particularly relates to a single-degree-of-freedom spherical surface turning mechanism. Background technique [0002] Chinese patent CN101915292B discloses "a single-power rolling spherical four-bar mechanism", which realizes the motion track of a plane circle by driving the four-bar mechanism through a single motor, but the mechanism can only realize the rolling of a single circle. The present invention connects three antiparallelogram spherical units end-to-end to obtain a closed-loop mechanism, and the present invention can realize multi-angle flip motion in space while ensuring that it has one degree of freedom. SUMMARY OF THE INVENTION [0003] The problem to be solved by the present invention is to provide a single-degree-of-freedom spherical surface inversion mechanism. Through the design of the mechanism unit, it is ensured that ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H21/54F16H21/46
CPCF16H21/54F16H21/46
Inventor 张硕李锐明时逢君张宪宏刘超姚燕安
Owner BEIJING JIAOTONG UNIV
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