Built-in Nonholonomic Spherical Constraint Structure

A constraint structure, non-integral technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of low spherical constraint accuracy and complex structure

Inactive Publication Date: 2017-01-11
SHANGHAI UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Internal complete spherical constraints generally use three directions of rotation axes, and there are gaps at the rotation axes, resulting in low accuracy of spherical constraints; at the same time, the existing incomplete spherical constraints use two constraint structures, internal and external, and the structure is more complicated

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Built-in Nonholonomic Spherical Constraint Structure
  • Built-in Nonholonomic Spherical Constraint Structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0010] Preferred implementation cases of the present invention are described in detail as follows in conjunction with accompanying drawings:

[0011] see figure 1 and figure 2 , a built-in non-complete spherical constraint structure, including a spherical shell 1, a roller bracket 2, a roller 3, a roller shaft 4, a servo motor 5, and a large bracket 6; the large bracket 6 is in the shape of a "T", and one end of the cross bar Fixedly connected with the servo motor 5, the roller bracket 2 is fixedly connected with the servo motor 5 through a key, the roller shaft 4 is fixedly connected with the roller bracket 2, and the roller 3 is rotationally connected with the roller bracket 2; the large bracket 6 The other end of the horizontal bar is connected to the same structure, and the structures at both ends are symmetrically distributed relative to the vertical bar of the large bracket 6; the spherical shell 1 is in pure rolling contact with the roller 3, that is, the roller 3 can...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a structure with an incomplete spherical constraint added inside. The structure with the incomplete spherical constraint added inside comprises a spherical shell, a idler wheel supports, idler wheels, idler wheel shafts, a servo motor and a big support, wherein the big support is in a T shape, one end of a cross rod of the big support is fixedly connected with the servo motor, the idler wheel supports are fixedly connected with the servo motor through keys, the idler wheel shafts are fixedly connected with the idler wheel supports, and the idler wheels are connected with the idler wheel supports in a rotary mode; the same structure is connected to the other end of the cross rod of the big support, and the structures at the two ends of the cross rod of the big support are distributed symmetrically relative to a vertical rod shaft of the big support; the spherical shell makes contact with the idler wheels in a purely sliding mode, in other words, the idler wheels can only roll along the spherical shell and can not slide, and the directions of the axes of the idler wheels at the two ends are in the parallel and symmetrical state all the time. According to the structure with the incomplete spherical constraint added inside, the incomplete constraint is directly added into a spherical surface, an internal compete spherical constraint is omitted, space is saved, and meanwhile precision is improved.

Description

technical field [0001] The invention relates to a non-complete spherical constrained structure. Background technique [0002] The current non-holonomic spherical constraints are generally complete spherical constraints internally, and non-holonomic constraints are added externally. Internal complete spherical constraints generally use three directions of rotation axes, and there are gaps at the rotation axes, resulting in low accuracy of spherical constraints; at the same time, the existing non-holonomic spherical constraints use two constraint structures, internal and external, and the structure is more complex. However, the present invention adopts the pure rolling roller contact without internal gap, which simplifies the mechanical structure and improves the precision of the incomplete spherical constraint at the same time. Contents of the invention [0003] In view of the defects existing in the prior art, the object of the present invention is to provide a built-in n...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/00
Inventor 何斌张鹏昌
Owner SHANGHAI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap