CN105599002A - Four-branch-chain two-rotation parallel robot joint - Google Patents
Four-branch-chain two-rotation parallel robot joint Download PDFInfo
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- CN105599002A CN105599002A CN201610171367.9A CN201610171367A CN105599002A CN 105599002 A CN105599002 A CN 105599002A CN 201610171367 A CN201610171367 A CN 201610171367A CN 105599002 A CN105599002 A CN 105599002A
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- China
- Prior art keywords
- slide block
- connecting rod
- guide rail
- upper connecting
- branched chain
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
The invention discloses a four-branch-chain two-rotation parallel robot joint which mainly comprises a fixed platform, a mobile platform, an annular guide rail and four motion branch chains connecting the fixed platform and the mobile platform, wherein each motion branch chain consists of a lower connecting rod, a slider and an upper connecting rod; the lower connecting rod is connected with the fixed platform through a rotary pair or a spherical pair; the lower connecting rod is connected with the slider through a rotary pair or a spherical pair; the slider is connected with the upper connecting rod through a rotary pair or a spherical pair; the upper connecting rod is connected with the mobile platform through a rotary pair or a spherical pair; sliders in the four motion branch chains are all connected with the annular guide rail through a moving pair; the sliders only can make circumferential slip along the annular guide rail; and the annular guide rail is of a ring shape. The four-branch-chain two-rotation parallel robot joint disclosed by the invention can realize spherical two-degree-of-freedom rotation of the mobile platform relative to the fixed platform, has the advantages of small volume, high rigidity, high precision, large rotation working space and the like and can be widely applied to the field of robots.
Description
Technical field
The present invention relates to a kind of joint of robot, particularly a kind of four side chain two rotating parallel device person joints.
Technical background
Parallel institution is without accumulated error, and precision is higher, and drive unit can be placed on fixed platform or approach fixed platformPosition, motion parts is lightweight like this, dynamic response good, compact conformation, rigidity is high, bearing capacity is large,The parallel institution of full symmetric also has good isotropism. But the working space of parallel institution is generally less,Seriously restricted the application of parallel institution in fields such as industry and robots, therefore research has large working spaceParallel institution, become the important content in one, parallel institution field.
The free degree of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein mobile working space canWay by enlarging mechanism size increases, but rotation space does not but increase with the increase of mechanism size.Large working space is rotated to the research of class parallel institution early abroad, US Patent No. 4651589 has proposed oneLarge working space 3-freedom parallel mechanism, and be successfully applied to lock-on equipment, United States Patent (USP)US4686866 discloses a kind of large working space two one-rotation parallel mechanisms, and is successfully applied to industrial spraying robotIn people's wrist joint, US Patent No. 7478576B2 discloses the large working space two of a kind of three side chain and has rotated in parallelMechanism, and be applied in wrist joint of robot. US Patent No. 6658962B1 discloses a kind of fourLarge working space two one-rotation parallel mechanisms of chain, and be applied in bio-robot shoulder joint. Domestic to toolThere is large rotation work space parallel mechanism achievement in research less, wherein patent of invention CN103217986A and inventionPatent CN103433916A is studied large working space two one-rotation parallel mechanisms, and has obtained some one-tenthReally. But the parallel institution in above-mentioned large rotation work space all belongs to aspheric surface one-rotation parallel mechanism, and mechanism turnsMoving center is not unique, makes moving platform can produce additional movement in rotation process, and this character is seriously limitZhi Liaozhe class mechanism is in the particularly application in bio-robot field of robot.
Summary of the invention
For addressing the above problem, the invention provides a kind of four side chain two rotating parallel device person joints, can realizeMoving platform does sphere two-freedom relative to fixed platform and rotates, and this joint has, and volume is little, rigidity large, rotationThe advantages such as working space is large, can be widely used in the particularly field such as bio-robot of robot.
Technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, ring-shaped guide rail, connects four motions moving, fixed platformSide chain, it has three kinds of connected modes:
The first connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by revolute pair with fixed platform, the lower link other end and slide blockConnect by spherical pair, upper connecting rod one end is connected by revolute pair with moving platform, the upper connecting rod other end and slide blockConnect by revolute pair; Article four, the axis of all revolute pairs in movement branched chain intersects at 1 O, and some OFor the center of rotation in joint; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slidingPiece can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some O.
The second connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by revolute pair with fixed platform, the lower link other end and slide blockConnect by revolute pair, upper connecting rod one end is connected by revolute pair with moving platform, the upper connecting rod other end and slide blockConnect by spherical pair; Article four, the axis of all revolute pairs in movement branched chain intersects at 1 O, and some OFor the center of rotation in joint; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slidingPiece can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some O.
The third connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, cunningPiece and upper connecting rod composition, lower link one end is connected by revolute pair with fixed platform, the lower link other end and slide blockConnect by spherical pair, upper connecting rod one end is connected by revolute pair with moving platform, the upper connecting rod other end and slide blockConnect by spherical pair; Article four, the axis of all revolute pairs in movement branched chain intersects at 1 O, and some OFor the center of rotation in joint; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slidingPiece can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some O.
The present invention compared with prior art tool has the following advantages:
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and center of rotation is unique; (2) movingThe relative fixed platform rotation work of platform space is large, can reach ± 90 degree of rotational angle; (3) arthritic volume is little, justDegree is large; (4) between four of joint movement branched chain, intercouple, greatly improved the stress performance in joint.
Brief description of the drawings
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 deflection state stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 3 deflection state stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4,D4). slide block, (A5, B5, C5, D5). upper connecting rod, 6. ring-shaped guide rail.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, in all embodiments, and described RijRepresent a revolute pair, Sij represents a spherical pair, and Pij represents a moving sets, wherein i, and j is certainlySo number.
Embodiment 1
The 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of four side chain two rotating parallelsDevice person joint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four of moving, fixed platformMovement branched chain. Article four, movement branched chain structure is identical, wherein the first movement branched chain by lower link A3, slide block A4 andUpper connecting rod A5 composition, is connected lower link by revolute pair R11 between lower link A3 one end and fixed platform 1The A3 other end is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end and slide block A4 pass through revolute pairR13 connects, and between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second motionChain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, passes throughRevolute pair R21 connects, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5One end is connected by revolute pair R23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2 by turningMoving secondary R24 connects. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower linkBetween C3 one end and fixed platform 1, be connected by revolute pair R31, the lower link C3 other end and slide block C4 pass throughSpherical pair S32 connects; Upper connecting rod C5 one end is connected by revolute pair R33 with slide block C4, and upper connecting rod C5 is anotherBetween one end and moving platform 2, be connected by revolute pair R34. The 4th movement branched chain is by lower link D3, slide block D4With upper connecting rod D5 composition, between lower link D3 one end and fixed platform 1, be connected lower company by revolute pair R41The bar D3 other end is connected by spherical pair S42 with slide block D4; Upper connecting rod D5 one end and slide block D4 are by turningMoving secondary R43 connects, and between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; The 4th motionIn side chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only be along ring-shaped guide rail 6Do circumferential slippage.
Described revolute pair R11, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R23, rotationSecondary R24, revolute pair R31, revolute pair R33, revolute pair R34, revolute pair R41, revolute pair R43, rotationThe axis of secondary R44 intersects at 1 O, and some O is the center of rotation in joint. Described ring-shaped guide rail 6 is circleAnnular, its central axis is crossed described some O.
Embodiment 2
The 2nd embodiment disclosed by the invention as shown in Figure 3, Figure 4, a kind of four side chain two rotating parallelsDevice person joint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four of moving, fixed platformMovement branched chain. Article four, movement branched chain structure is identical, wherein the first movement branched chain by lower link A3, slide block A4 andUpper connecting rod A5 composition, is connected lower link by revolute pair R11 between lower link A3 one end and fixed platform 1The A3 other end is connected by revolute pair R12 with slide block A4; Upper connecting rod A5 one end and slide block A4 pass through spherical pairS13 connects, and between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second motionChain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, passes throughRevolute pair R21 connects, and the lower link B3 other end is connected by revolute pair R22 with slide block B 4; Upper connecting rod B5One end is connected by spherical pair S23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2 by turningMoving secondary R24 connects. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower linkBetween C3 one end and fixed platform 1, be connected by revolute pair R31, the lower link C3 other end and slide block C4 pass throughRevolute pair R32 connects; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, and upper connecting rod C5 is anotherBetween one end and moving platform 2, be connected by revolute pair R34. The 4th movement branched chain is by lower link D3, slide block D4With upper connecting rod D5 composition, between lower link D3 one end and fixed platform 1, be connected lower company by revolute pair R41The bar D3 other end is connected by revolute pair R42 with slide block D4; Upper connecting rod D5 one end and slide block D4 pass through ballSecondary S43 of face connects, and between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; The 4th motionIn side chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only be along ring-shaped guide rail 6Do circumferential slippage.
Described revolute pair R11, revolute pair R12, revolute pair R14, revolute pair R21, revolute pair R22, rotationSecondary R24, revolute pair R31, revolute pair R32, revolute pair R34, revolute pair R41, revolute pair R42, rotationThe axis of secondary R44 intersects at 1 O, and some O is the center of rotation in joint. Described ring-shaped guide rail 6 is circleAnnular, its central axis is crossed described some O.
Embodiment 3
The 3rd embodiment disclosed by the invention as shown in Figure 5, Figure 6, a kind of four side chain two rotating parallelsDevice person joint, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four of moving, fixed platformMovement branched chain. Article four, movement branched chain structure is identical, wherein the first movement branched chain by lower link A3, slide block A4 andUpper connecting rod A5 composition, is connected lower link by revolute pair R11 between lower link A3 one end and fixed platform 1The A3 other end is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end and slide block A4 pass through spherical pairS13 connects, and between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second motionChain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, passes throughRevolute pair R21 connects, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5One end is connected by spherical pair S23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2 by turningMoving secondary R24 connects. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, lower linkBetween C3 one end and fixed platform 1, be connected by revolute pair R31, the lower link C3 other end and slide block C4 pass throughSpherical pair S32 connects; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, and upper connecting rod C5 is anotherBetween one end and moving platform 2, be connected by revolute pair R34. The 4th movement branched chain is by lower link D3, slide block D4With upper connecting rod D5 composition, between lower link D3 one end and fixed platform 1, be connected lower company by revolute pair R41The bar D3 other end is connected by spherical pair S42 with slide block D4; Upper connecting rod D5 one end and slide block D4 pass through ballSecondary S43 of face connects, and between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can onlyDo circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is passed through moving sets P25 with ring-shaped guide rail 6Connect, slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; Slide block C4 and annular in the 3rd movement branched chainGuide rail 6 connects by moving sets P35, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; The 4th motionIn side chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only be along ring-shaped guide rail 6Do circumferential slippage.
Described revolute pair R11, revolute pair R14, revolute pair R21, revolute pair R24, revolute pair R31, rotationThe axis of secondary R34, revolute pair R41, revolute pair R44 intersects at 1 O, and some O is the rotation in jointCenter. Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some O.
Claims (3)
1. four side chain two rotating parallel device person joints, it has fixed platform, moving platform, ring-shaped guide rail,Connect four movement branched chain moving, fixed platform, it is characterized in that: four movement branched chain structures are identical, everyMovement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform connect by revolute pairConnect, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and moving platform connect by revolute pairConnect, the upper connecting rod other end is connected by revolute pair with slide block; Article four, the axle of all revolute pairs in movement branched chainThe congruence meets at 1 O, and some O is the center of rotation in joint; Slide block in every movement branched chain is all with annularGuide rail connects by moving sets, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular,Its central axis is crossed described some O.
2. four side chain two rotating parallel device person joints, it has fixed platform, moving platform, ring-shaped guide rail,Connect four movement branched chain moving, fixed platform, it is characterized in that: four movement branched chain structures are identical, everyMovement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform connect by revolute pairConnect, the lower link other end is connected by revolute pair with slide block, and upper connecting rod one end and moving platform connect by revolute pairConnect, the upper connecting rod other end is connected by spherical pair with slide block; Article four, the axle of all revolute pairs in movement branched chainThe congruence meets at 1 O, and some O is the center of rotation in joint; Slide block in every movement branched chain is all with annularGuide rail connects by moving sets, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular,Its central axis is crossed described some O.
3. four side chain two rotating parallel device person joints, it has fixed platform, moving platform, ring-shaped guide rail,Connect four movement branched chain moving, fixed platform, it is characterized in that: four movement branched chain structures are identical, everyMovement branched chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform connect by revolute pairConnect, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and moving platform connect by revolute pairConnect, the upper connecting rod other end is connected by spherical pair with slide block; Article four, the axle of all revolute pairs in movement branched chainThe congruence meets at 1 O, and some O is the center of rotation in joint; Slide block in every movement branched chain is all with annularGuide rail connects by moving sets, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular,Its central axis is crossed described some O.
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| CN201610171367.9A CN105599002A (en) | 2016-03-24 | 2016-03-24 | Four-branch-chain two-rotation parallel robot joint |
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| CN201610171367.9A CN105599002A (en) | 2016-03-24 | 2016-03-24 | Four-branch-chain two-rotation parallel robot joint |
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| CN105599002A true CN105599002A (en) | 2016-05-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393872A (en) * | 2018-04-20 | 2018-08-14 | 燕山大学 | A kind of anthropomorphic robot waist joint based on 3-RRR sphere parallel mechanisms |
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