一种单自由度双平行四边形机构研究

Research on a 1-DOF Dual Parallelogram Mechanism

核电站反应堆压力容器顶盖无损检查设备的研制中要求设备能够在收缩状态穿过狭小的小门进入顶盖内部进行作业,而作业的空间范围比小门要大很多,这就要求设计一种收缩后高度尺寸小,张开后运动行程大的机构。针对这些要求提出了一种新型的单自由度双平行四边形直线运动机构,介绍了其结构原理;对其进行了运动分析和力学分析,得到了负载匀速直线运动的条件和各个铰链连接点的受力状态及整体的驱动力矩;对其进行了仿真分析,验证了理论分析的正确性,对机构的进一步设计和优化具有一定的指导意义。

For the inspection of reactor pressure vessel head, the equipment needs to enter the inside of the head cover through a door much shorter than the working space. This requires special equipment with both short folding height and large working stroke. This article presents a new type of single-degree linear motion mechanism with two parallelograms, introduces its structure, and analyzes the movement and force properties. At last, we get the conditions of uniform linear motion in load, the force of each hinge and the driving torque. The simulation results prove the validity of the theoretical analysis.