Track synchronous amplification mechanism

Abstract

The utility model relates to the technical field of mechanical transmission structures, and provides a track synchronous amplification mechanism, which comprises a first motion section, a second motion section and a third motion section, the second movement section is rotationally connected with the first movement section; the first linkage section is parallel to the first movement section and is rotationally connected with the second movement section; the second linkage section is parallel to the second movement section and is rotationally connected with the first movement section; the first linkage section is rotationally connected with the second linkage section; the driving part, the execution part, the rotating fulcrum, the driving part and the execution part are all located on the same straight line. Therefore, the four-bar mechanism is improved, so that the driving part and the executing part are respectively positioned on the diagonal points of the two similar parallelograms which share the rotating fulcrum, and a stable associated transmission relationship is established between the driving part and the executing part. A similar amplification track can be realized in the execution part by controlling the motion track of the driving part. Accurate control over the motion trail of the execution part is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical transmission structures, and in particular relates to a track synchronous amplification mechanism. Background Art

[0002] The four-bar mechanism is a basic mechanical transmission structure and is widely used in various mechanical equipment. For example, the structure disclosed in Chinese patents CN117083443A, CN114130611A, CN104609319B or CN106948850B realizes the transmission relationship between the driving end and the execution end through the four-bar mechanism.

[0003] However, in applications where trajectory control is required to be strict, the existing four-bar mechanism cannot establish a stable associated transmission relationship between the driving end and the execution end, so the trajectory of the execution end cannot be accurately controlled by the driving end.

[0004] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0005] In view of the above-mentioned defects, the utility model mainly provides a trajectory synchronization amplification mechanism to solve the technical problems of establishing a stable associated transmission relationship between the driving end and the execution end and accurately controlling the trajectory of the execution end.

[0006] In order to solve the above problems, the utility model provides a track synchronous amplification mechanism, comprising:

[0007] The first motion section is provided with a rotation fulcrum;

[0008] A second motion segment, rotationally connected to the first motion segment;

[0009] A first linkage section is arranged parallel to the first motion section and is rotationally connected to the second motion section;

[0010] A second linkage section is arranged parallel to the second motion section and is rotationally connected to the first motion section;

[0011] The first linkage section is rotatably connected to the second linkage section;

[0012] A driving part, arranged on the second linkage section;

[0013] An execution part, arranged on the second motion segment;

[0014] The rotation fulcrum, the driving part and the executing part are all located on the same straight line;

[0015] The driving unit is configured to move according to a predetermined driving trajectory, driving the execution unit to synchronously amplify the trajectory.

[0016] According to the trajectory synchronous amplification mechanism of the utility model, the second motion segment and the second linkage segment are both located on the same side of the rotation fulcrum; the connection point of the second linkage segment and the first linkage segment and the driving part are both located on the same side of the rotation fulcrum.

[0017] According to the trajectory synchronous amplification mechanism of the utility model, the driving part is arranged at the rotation connection position of the first linkage section and the second linkage section.

[0018] According to the trajectory synchronous amplification mechanism of the utility model, the driving part is arranged between the connection point between the second linkage section and the first motion section and the connection point of the first linkage section, or the driving part is arranged on the extension line of the two connection points.

[0019] According to the trajectory synchronous amplification mechanism of the utility model, the second motion section and the second linkage section are respectively located on both sides of the rotation fulcrum.

[0020] According to the track synchronous amplification mechanism of the utility model, the connection point of the second linkage section and the first linkage section and the driving section are respectively located on both sides of the rotation fulcrum.

[0021] According to the track synchronous amplification mechanism of the utility model, the connection point of the second linkage section and the first linkage section and the driving part are located on the same side of the rotation fulcrum.

[0022] According to the trajectory synchronous amplification mechanism of the utility model, the first motion segment, the second motion segment, the first linkage segment and the second linkage segment are all rigid structures.

[0023] According to the trajectory synchronous amplification mechanism of the utility model, the driving trajectory of the driving part is in a straight line shape or an arc shape.

[0024] According to the trajectory synchronous amplification mechanism of the utility model, the driving part is rotatably arranged on the second linkage section.

[0025] In summary, the utility model improves the four-bar mechanism so that the driving part and the execution part are located at the diagonal points of two similar parallelograms with a common rotation fulcrum, thereby establishing a stable associated transmission relationship between the driving part and the execution part. By controlling the motion trajectory of the driving part, a similar amplified trajectory can be achieved in the execution part, thereby achieving precise control of the motion trajectory of the execution part. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the utility model;

[0027] Figure 2 It is a principle diagram of a working state of the utility model;

[0028] Figure 3 It is a principle diagram of a working state of the utility model;

[0029] Figure 4 It is a structural schematic diagram of an embodiment of a synchronous trajectory of the utility model;

[0030] Figure 5 It is a structural schematic diagram of an embodiment of a synchronous trajectory of the utility model;

[0031] Figure 6 It is a structural schematic diagram of an embodiment of a synchronous trajectory of the utility model;

[0032] Figure 7 It is a structural schematic diagram of an embodiment of the utility model;

[0033] Figure 8 It is a structural schematic diagram of an embodiment of the utility model;

[0034] Fig. 9 It is a structural schematic diagram of an embodiment of the utility model;

[0035] Fig.10 It is a structural schematic diagram of an embodiment of the utility model;

[0036] Fig.11 It is a structural schematic diagram of an embodiment of the utility model;

[0037] In the figure: 1-driving part, 2-executing part, 3-first motion section, 31-rotation fulcrum, 32-first linkage section; 4-second motion section, 41-second linkage section; 100-driving track, 200-enlarged track. DETAILED DESCRIPTION

[0038] See also Figure 1 The utility model provides a track synchronous amplification mechanism, including

[0039] The first motion section 3 is provided with a rotation fulcrum 31;

[0040] The second motion section 4 is rotationally connected to the first motion section 3;

[0041] The first linkage section 32 is arranged parallel to the first motion section 3 and is rotationally connected to the second motion section 4;

[0042] The second linkage section 41 is arranged parallel to the second motion section 4 and is rotationally connected to the first motion section 3;

[0043] The first linkage section 32 is rotatably connected to the second linkage section 41;

[0044] The driving part 1 is arranged on the second linkage section 41; the driving part 1 can be connected to a power unit, and the power unit enables the driving part 1 to move along a preset trajectory, thereby driving the entire amplification mechanism to move;

[0045] The execution part 2 is arranged on the second motion section 4;

[0046] The rotation fulcrum 31, the driving part 1 and the executing part 2 are all located on the same straight line; thus, the motion trajectory of the driving part 1 is similar to that of the executing part 2, and a similar amplified trajectory 200 can be achieved in the executing part 2 by controlling the motion trajectory of the driving part 1. A stable associated transmission relationship is established between the driving part 1 and the executing part 2, and accurate control of the motion trajectory of the executing part 2 is achieved.

[0047] See also Figure 2 and Figure 3 , randomly select the states of any two different moments of the utility model to explain the working principle of the utility model. It should be pointed out that: in order to make the features in the figure clearly presented, the inventor has adaptively moved the position of point F in the figure, so that its relative position with other points in the figure has changed, thus deviating from the textual record of this application; at this time, the textual record of this application shall prevail. At the same time, for the convenience of expression, the inventor also marks the intersecting points in the figure as follows (the same below), as follows:

[0048] The position of the rotation fulcrum 31 is recorded as: point A;

[0049] The connection position between the first motion segment 3 and the second linkage segment 41 is recorded as point B;

[0050] The connection position of the first motion segment 3 and the second motion segment 4 is recorded as: point C;

[0051] The connection position between the second motion segment 4 and the first linkage segment 32 is recorded as point D;

[0052] The position of the driving unit 1 is recorded as point E;

[0053] The position of the execution part 2 is recorded as: point F;

[0054] Draw an auxiliary line through point A parallel to the second motion segment 4, and draw an auxiliary line through point F parallel to the first motion segment 3. The two auxiliary lines intersect at point G, forming a parallelogram ACFG.

[0055] Draw an auxiliary line through point A parallel to the second motion segment 4, and draw an auxiliary line through point E parallel to the first motion segment 3. The two auxiliary lines intersect at point H, forming a parallelogram ABEH.

[0056] The pivot point 31, the driving unit 1 and the executing unit 2 are all located on the same straight line, so it is easy to know that the quadrilateral ACFG is similar to the parallelogram ABEH, so it can be known that AE / AF=AH / AG; point E and point F are the diagonal points of point A of their respective parallelograms.

[0057] Combination Figure 4 , it can be known that at any two moments, the distance difference △AE between the driving part 1 and the rotation fulcrum 31 will be correspondingly amplified at point F of the execution part 2. The driving trajectory 100 of the driving part 1 can be formed by sequentially connecting the positions of point E of the driving part 1 at all moments, and the trajectory will obtain a similar amplified trajectory 200 at point F of the execution part 2.

[0058] Therefore, the utility model can control the trajectory of the execution part 2 by controlling the trajectory of the driving part 1; a stable associated transmission relationship is established between the two, and the synchronous amplification function of the trajectory is realized.

[0059] Preferably, the first motion section 3, the second motion section 4, the first linkage section 32 and the second linkage section 41 of the utility model are all rigid structures, and do not deform during the transmission process, maintain a stable trajectory magnification relationship, and avoid distortion.

[0060] In actual applications, the shapes of the first motion section 3, the second motion section 4, the first linkage section 32 and the second linkage section 41 of the utility model are not limited to rods, but can also be plates, beams, racks and other structures; as long as the projection structure on a certain plane meets the aforementioned connection relationship of the utility model, the relevant functions can be realized. Those skilled in the art can design or select adaptively according to the actual use scenario.

[0061] See also Figure 4 and Figure 5 As an embodiment of the trajectory of the utility model, the driving trajectory 100 of the driving unit 1 is a straight line, which can make the actuator 2 move in a straight line. Optionally, the driving unit 1 can reciprocate along a set straight line segment, and the actuator 2 can also reciprocate in the corresponding enlarged straight line segment. For example, the actuator 2 can reciprocate in the vertical direction or the horizontal direction.

[0062] Optionally, those skilled in the art may also move in other directions, such as setting the driving trajectory 100 of the driving unit 1 to an oblique line segment with a certain angle to the horizontal plane, so as to achieve the movement of the execution unit 2 along a predetermined inclined plane.

[0063] See also Figure 6 As an embodiment of the trajectory of the utility model, the driving trajectory 100 of the driving part 1 is an arc, which can make the execution part 2 move in an arc posture.

[0064] The driving trajectory 100 of the driving unit 1 of the present invention can also be set to other shapes, such as along a sine curve, a parabola, a hyperbola, a broken line, etc.

[0065] It can also be a periodic trajectory, such as a circle, a rectangle, a parallelogram, or a mixed periodic trajectory of multiple geometric shapes.

[0066] The driving part 1 of the track synchronous amplification mechanism of the utility model can preset tracks of various shapes, and similarly amplify the preset tracks in the execution part 2. It has a wide range of applications and can be applied to equipment in various technical fields. Those skilled in the art can make adaptive settings according to actual functional requirements.

[0067] Those skilled in the art can adaptively select the position of the driving part 1 on the second linkage section 41 according to the need of trajectory magnification ratio.

[0068] As an implementation, the driving part 1 is rotatably arranged on the second linkage section 41. When the driving part 1 moves along a preset trajectory, it can rotate relative to the second linkage section 41, thereby reducing obstacles to smoothly realizing trajectory amplification.

[0069] As an implementation, the driving part 1 can also be slidably set on the second linkage section 41. When the driving part 1 moves along a preset trajectory, the driving part 1 can be controlled to change its position on the second linkage section 41, thereby realizing synchronous amplification of a complex trajectory.

[0070] As an implementation, after the position of the driving part 1 of the utility model on the second linkage section 41 is selected, a straight line is drawn through the rotation fulcrum 31 and the driving part 1, and the straight line intersects with the second motion section 4 to determine the position of the execution part 2.

[0071] As an embodiment of the structure of the utility model, the second motion section 4 and the second linkage section 41 of the utility model are both located on the same side of the rotation fulcrum 31, thus achieving the function of the driving part 1 and the executing part 2 having the same real-time motion direction.

[0072] Based on the improved scheme of the above embodiment, the connection point of the second linkage section 41 and the first linkage section 32 and the driving part 1 are both located on the same side of the rotating fulcrum 31; the components of the trajectory synchronous amplification mechanism are all located on one side of the rotating fulcrum 31; the execution part 2 protrudes forward from this side. This embodiment can control the trajectory of the driving part 1 at a close distance and synchronously amplify the trajectory of the execution part 2 at a long distance.

[0073] See also Figure 1 As an embodiment of the structure of the utility model, the driving part 1 of the utility model is arranged at the rotation connection position of the first linkage section 32 and the second linkage section 41; the first linkage section 32, the second linkage section 41 and the driving part 1 are connected through a rotation point. The connection points are reduced and the structure is simplified.

[0074] See also Figure 7As an embodiment of the structure of the utility model, the driving part 1 is arranged between the connection point between the second linkage section 41 and the first motion section 3 and the connection point between the first linkage section 32. The track amplification function can be realized in a smaller range, and the overall volume of the device is relatively small.

[0075] Optional, see Figure 8 The driving part 1 is arranged on the extension line of the connection point between the second linkage section 41 and the first motion section 3 and the connection point between the first linkage section 32. It can realize the track amplification of a long distance, which is suitable for equipment with a larger volume.

[0076] See also Fig. 9 As an embodiment of the structure of the utility model, the connection points of the second linkage section 41 and the first linkage section 32 and the driving part 1 are respectively located on both sides of the rotating fulcrum 31; the first linkage section 32 and the second linkage section 41 are located on one side of the rotating fulcrum 31; the driving part 1 and the execution part 2 are located on the other side of the rotating fulcrum 31; the rotating fulcrum 31 is set in the middle part of the equipment, so that the overall structure of the equipment is compact and suitable for small-scale trajectory enlargement operations.

[0077] As an embodiment of the structure of the utility model, the second motion section 4 and the second linkage section 41 of the utility model are respectively located on both sides of the rotation fulcrum 31; Fig.10 and Fig.11 Correspondingly, the driving part 1 and the executing part 2 are respectively located on both sides of the rotation fulcrum 31, thereby realizing the function that the real-time movement directions of the driving part 1 and the executing part 2 are opposite to each other.

[0078] As a preferred solution of this embodiment, see Fig.10 The connection points of the second linkage section 41 and the first linkage section 32 and the driving unit 1 are respectively located on both sides of the rotation fulcrum 31; this embodiment can separate the driving unit 1 separately, which is convenient for setting up a dedicated area for trajectory control and ensuring the independence and safety of the area where the driving unit 1 is located.

[0079] As a preferred solution of this embodiment, see Fig.11 The connection point between the second linkage section 41 and the first linkage section 32 is located on the same side of the rotation fulcrum 31 as the driving part 1; this embodiment can separate the execution part 2 separately, which is convenient for setting up a dedicated area for trajectory execution, separating the control position of the trajectory and the execution position of the trajectory, and is suitable for applications in certain dangerous occasions.

[0080] In summary, the utility model provides a trajectory synchronous amplification mechanism, which improves the four-bar mechanism so that the driving part and the execution part are respectively located at the diagonal points of two similar parallelograms with a common rotation fulcrum, and a stable associated transmission relationship is established between the driving part and the execution part. By controlling the motion trajectory of the driving part, a similar amplification trajectory can be achieved in the execution part, and accurate control of the motion trajectory of the execution part is achieved.

[0081] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A trajectory synchronous amplification mechanism, characterized in that: include: The first motion section is provided with a rotation fulcrum; A second motion segment, rotationally connected to the first motion segment; A first linkage section is arranged parallel to the first motion section and is rotationally connected to the second motion section; A second linkage section is arranged parallel to the second motion section and is rotationally connected to the first motion section; The first linkage section is rotatably connected to the second linkage section; A driving part, arranged on the second linkage section; An execution part, arranged on the second motion segment; The rotation fulcrum, the driving part and the executing part are all located on the same straight line; The driving unit is configured to move according to a predetermined driving trajectory, driving the execution unit to synchronously amplify the trajectory.

2. The track synchronous amplification mechanism according to claim 1, characterized in that: The second motion section and the second linkage section are both located on the same side of the rotation fulcrum; the connection point of the second linkage section and the first linkage section and the driving part are both located on the same side of the rotation fulcrum.

3. The track synchronous amplification mechanism according to claim 2, characterized in that: The driving part is arranged at the rotation connection position of the first linkage section and the second linkage section.

4. The track synchronous amplification mechanism according to claim 2, characterized in that: The driving part is arranged between the connection point between the second linkage section and the first motion section and the connection point of the first linkage section, or the driving part is arranged on the extension line of the two connection points.

5. The track synchronous amplification mechanism according to claim 1, characterized in that: The second motion section and the second linkage section are respectively located on two sides of the rotation fulcrum.

6. The trajectory synchronous amplification mechanism according to claim 5, characterized in that: The connection point of the second linkage section and the first linkage section and the driving section are respectively located on both sides of the rotation fulcrum.

7. The trajectory synchronous amplification mechanism according to claim 5, characterized in that: The connection point between the second linkage section and the first linkage section and the driving part are located on the same side of the rotation fulcrum.

8. The trajectory synchronous amplification mechanism according to any one of claims 1 to 7, characterized in that: The first motion segment, the second motion segment, the first linkage segment and the second linkage segment are all rigid structures.

9. The trajectory synchronous amplification mechanism according to claim 8, characterized in that: The driving track of the driving part is in a straight line shape or an arc shape.

10. The trajectory synchronous amplification mechanism according to claim 8, characterized in that: The driving part is rotatably arranged on the second linkage section.

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