An ellipse trajectory generator

Abstract

The present invention discloses an ellipse trajectory generating device. Based on the ellipse parameter equation, the whole device is composed of an x-direction motion mechanism, a y-direction motion mechanism, a parallelogram mechanism, an end actuator, a frame and a verification plate. The x-direction motion mechanism and the y-direction motion mechanism are both crank slider mechanisms. The main sliders are composed of three parts of rigid connection, namely, a starting slider, a connecting rod and a terminal slider. The distance between the starting slider and the terminal slider determines the offset distance between the center of the ellipse and the origin of the coordinates. The parallelogram mechanism ensures that the cranks of the two crank slider mechanisms can rotate at the same angle and angular velocity, thereby satisfying the conditions of the ellipse equation and driving the terminal actuator to generate an ellipse trajectory. Since the ellipse trajectory is generated in free space and is not affected by the size of the ellipse radius, the lengths of the two cranks can also be adjusted independently, and the required ellipse trajectory can be generated with great flexibility. This instrument can be used in teaching instruments or ellipse trajectory processing and other fields.

Description

Technical Field

[0001] The present invention is mainly used to generate an elliptical trajectory. The lengths of the major and minor axes of the ellipse can be adjusted independently. The center of the ellipse is located in a space far away from the two slide rails. An elliptical trajectory with an infinitely small radius can be generated. An elliptical trajectory within any angle range can be generated as required. Background Art

[0002] The existing elliptical trajectory generator is mainly made using the "cardan" mechanism principle. For example, in the Chinese invention patent with announcement number CN1078929A, since the center of the ellipse is at the intersection of the two slide rails, when the radius of the ellipse is small, the sliders sliding on the two slide rails will be very close. Even if they are divided into two upper and lower planes, it will cause difficulty in arranging the positions of related components, easy to cause interference, and poor movement, especially when generating an elliptical trajectory across the slide rails; in addition, the major semi-axis and minor semi-axis of the ellipse generated by the elliptical trajectory generator based on the cardan principle are related, that is, when changing the length of one radius of the ellipse, it will cause the length of another radius to change accordingly, which sometimes causes inconvenience. Summary of the invention

[0003] The present invention is derived from the ellipse parameter equation, which can be expressed as:

[0004] x=acos(θ)y=bsin(θ)

[0005] a and b are the radii of the major and minor axes of the ellipse, respectively. At this time, the center of the ellipse coincides with the origin of the coordinate system. When actually implementing this ellipse path, the origin of the coordinate system is usually the intersection of the slideways in the x and y directions, which can easily cause the above inconvenience when a small ellipse is generated. This can be avoided by offsetting the ellipse equation in the x and y directions. The offset ellipse equation can be expressed as:

[0006] x=l1+acos(θ)y=l2+bsin(θ)

[0007] At this time, as long as l1 and l2 are selected appropriately, the coordinate origin will not be included in the ellipse, so that the elliptical trajectory can be realized in the free area without being affected at all.

[0008] The device of the present invention is composed of a frame (5′ and 5 in the figure), an x-direction motion mechanism (1, 1′, 1″, 1″′, 1″″ in the figure), a y-direction motion mechanism (2, 2′, 2″, 2″′, 2″″ in the figure), a parallelogram mechanism (6, 6′, 6″ in the figure), an end actuator (1″″, 2″″, 3 in the figure) and a verification plate (4 in the figure, which can be added according to the application). The x-direction motion mechanism and the y-direction motion mechanism are both crank slider mechanisms, and the above-mentioned offset distances l1 and l2 are respectively The distance between 1″, 1″″ and 2′, 2″′ in their respective sliding directions. As long as the initial rotation angle and speed of the two cranks of the x-direction motion mechanism and the y-direction motion mechanism are the same, the intersection of 1″″ and 2″″ must satisfy the offset ellipse equation. The parallelogram mechanism in this design can ensure this purpose. Slideways are respectively provided on 1″″ and 2″″, and 1″″ passes through 2″″. The terminal actuator 3 is installed at the intersection of 1″″ and 2″″, and can slide on the two slideways at the same time so that it is always in The cross position constitutes the end actuator, so that the trajectory of the end actuator can be guaranteed to be an ellipse. In order to ensure strength and rigidity, the frame 5 adopts a frame structure, that is, double guide rails are used in both the x-direction and the y-direction, and the distance between the guide rails determines the maximum radius of the elliptical trajectory. In order to ensure that there is no interference between the motion mechanisms, the main transmission mechanism is arranged on the upper and lower sides of the frame 5 respectively. The parallelogram mechanism is arranged above the frame 5'. The crank of the x-direction motion mechanism and one crank of the parallelogram mechanism share a rotating shaft A, and the orientation between the two cranks remains fixed and consistent; similarly, the crank of the y-direction motion mechanism and another crank of the parallelogram mechanism share another rotating shaft B, and the orientation between the two cranks remains fixed and consistent. The rotating shaft A or B can be used as a driving shaft. As the driving shaft rotates, the end actuator will move in an elliptical trajectory. The crank of the x-direction motion mechanism and the crank of the y-direction motion mechanism can be adjusted independently without affecting each other. Different crank lengths produce different elliptical trajectories. When the length of one crank is 0, the device degenerates into a linear motion mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the present invention; the basic situation of the generation of the elliptical trajectory can be seen.

[0010] Figure 2 This is a front view, where you can see the hierarchical layout of each motion mechanism.

[0011] Figure 3 This is a schematic diagram after removing the parallelogram mechanism.

[0012] The reference numerals in the figure have been explained in the previous section. DETAILED DESCRIPTION

[0013] First, the frame part is processed. The frame consists of an upper layer 5' and a lower layer 5. The lower layer 5 is basically a rectangular frame, on which two x-direction guide rails and two y-direction guide rails are processed respectively, and there is a blank area between the four guide rails for generating elliptical tracks. The size of the blank area determines the size of the generated elliptical track. Both the x-direction motion mechanism and the y-direction motion mechanism are crank slider mechanisms.

[0014] The x-direction motion mechanism is installed on the left side of the frame ( Figure 1 The composite slider is fixedly connected by 1", 1"', 1"" and can also be designed as an integral type to improve its accuracy. The guide rail on the 1" component is parallel to the guide rail on the 1" component for the end effector to slide, and is aligned with the x-direction guide rail ( Figure 1 To avoid interference, 1″′ connects 1″ and 1″″ below the frame 5. The auxiliary slider can slide in the 1″ component of the composite slider and rotate around the rotating shaft on the crank. When the crank rotates, the 1″ component of the composite slider is driven by the auxiliary slider to make the 1″″ component move left and right on the x-direction guide rail of the frame.

[0015] The y-direction motion mechanism is similar to the x-direction motion mechanism and is installed at the bottom of the frame ( Figure 1 The composite slider is fixedly connected by 2", 2"', 2"" and can also be designed as an integral type to improve its accuracy. The guide rail on the 2" component is parallel to the guide rail on the 2" component for the end actuator to slide, and is aligned with the y-direction guide rail on the frame ( Figure 1 To avoid interference, 2″′ connects 2″ and 2″″ between the racks 5 and 5′. The auxiliary slider can slide in the 2″ component of the composite slider and rotate around the rotating shaft on the crank. When the crank rotates, the auxiliary slider drives the 2″ component of the composite slider to move up and down on the y-direction guide rail of the rack.

[0016] Long grooves and slideways are processed on the composite slider components 1″″ and 2″″, 1″″ and 2″″ cross each other vertically and can slide relative to each other, the end effector 3 is installed at the intersection of 1″″ and 2″″ and can slide on the tracks of 1″″ and 2″″ at the same time, when the crank 1 and crank 2 always keep rotating in parallel, under the joint drive of 1″″ and 2″″, the terminal effector will move in an elliptical trajectory.

[0017] In order to ensure that crank 1 and crank 2 always rotate in parallel, a parallelogram mechanism is used to drive crank 1 and crank 2. The parallelogram mechanism is installed above the frame 5', and its two cranks (6, 6') are respectively parallel to crank 1 and crank 2 and installed on shafts A and B. Power transmission can be carried out by installing a transmission gear or pulley on shaft A or B without causing interference.

[0018] The terminal actuator 3 is provided with a mounting platform, and different tools can be installed according to functional requirements. For example, if a paintbrush is installed, the present invention can be used as an ellipse plotter to draw elliptical curves of any combination of long and short radii. By controlling the crank rotation angle of the parallelogram mechanism, the elliptical curve within any angle range can also be controlled. If a power drill is installed, drilling can be performed at different positions of the elliptical trajectory; if a power milling cutter is installed, the elliptical contour shape can be processed.

Claims

1. An ellipse trajectory generator, based on an offset ellipse equation, synthesizes an ellipse motion by an x-direction motion mechanism and a y-direction motion mechanism, characterized by: The generated elliptical trajectory is in free space, and there are no fixed parts inside the ellipse. The x-direction motion mechanism and the y-direction motion mechanism are both crank slider mechanisms, and the parallelogram mechanism is used to ensure that the cranks of the two crank slider mechanisms always remain parallel. The frame is composed of an upper layer (5′) and a lower layer (5), the x-direction motion mechanism is installed on the left side of the frame, and the y-direction motion mechanism is installed on the lower side of the frame; One end of the x-direction crank (1) is mounted on the upper layer (5') via a rotating shaft A, and the other end is connected to the x-direction auxiliary slider (1'). The x-direction auxiliary slider (1') is slidably mounted in the guide rail of the x-direction first composite slider (1'). The guide rail on the x-direction first composite slider (1') is parallel to the guide rail on the x-direction third composite slider (1'') for the end effector to slide. The x-direction second composite slider (1'') connects the x-direction first composite slider (1'') and the x-direction third composite slider (1''') below the lower layer (5). The x-direction auxiliary slider (1') is rotationally connected to the x-direction crank (1). When When the x-direction crank (1) rotates, the x-direction auxiliary slider (1′) drives the x-direction first composite slider (1″), so that the x-direction third composite slider (1″″) moves left and right on the x-direction guide rail of the frame; One end of the y-direction crank (2) is mounted on the upper layer (5′) via a rotating shaft B, and the other end is connected to the y-direction auxiliary slider (2′). The y-direction auxiliary slider (2′) is slidably mounted in the guide rail of the y-direction first composite slider (2″). The guide rail on the y-direction first composite slider (2″) is parallel to the guide rail on the y-direction third composite slider (2″″) for the end effector to slide. The y-direction second composite slider (2″′) connects the y-direction first composite slider (2″) and the y-direction third composite slider (2″″) between the lower layer (5) and the upper layer (5′). The y-direction auxiliary slider (2′) is rotationally connected to the y-direction crank (2). When the y-direction crank (2) rotates, the y-direction first composite slider (2″) is driven by the y-direction auxiliary slider (2′), so that the y-direction third composite slider (2″″) component moves up and down on the y-direction guide rail of the frame. The third composite slider (1″″) in the x-direction and the third composite slider (2″″) in the y-direction are processed with long grooves, which penetrate each other perpendicularly and can move relative to each other. The long grooves are processed with slideways. The end effector (3) is installed at the intersection of the two slideways and is always located at the intersection as the third composite slider (1″″) in the x-direction and the third composite slider (2″″) in the y-direction move relative to each other.

2. An elliptical trajectory generator as claimed in claim 1, characterized in that: The x-direction motion mechanism, the y-direction motion mechanism and the parallelogram mechanism are arranged in three layers, the rack is arranged in two layers, and the three-layer mechanism and the two-layer rack are arranged alternately.

3. An elliptical trajectory generator as claimed in claim 1, characterized in that: The center line of the rotation axis A and the rotation axis B forms an angle with both slide directions, and is neither parallel nor perpendicular to any of the two slide directions.

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