CN101637912A - Joint of hyper-redundant robot - Google Patents
Joint of hyper-redundant robot Download PDFInfo
- Publication number
- CN101637912A CN101637912A CN200910060120A CN200910060120A CN101637912A CN 101637912 A CN101637912 A CN 101637912A CN 200910060120 A CN200910060120 A CN 200910060120A CN 200910060120 A CN200910060120 A CN 200910060120A CN 101637912 A CN101637912 A CN 101637912A
- Authority
- CN
- China
- Prior art keywords
- joint
- universal joint
- gear
- hyper
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000011464 Pachycereus pringlei Nutrition 0.000 claims description 10
- 240000006939 Pachycereus weberi Species 0.000 claims description 10
- 235000011466 Pachycereus weberi Nutrition 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 210000001503 Joints Anatomy 0.000 abstract 1
- 239000002131 composite material Substances 0.000 abstract 1
- 230000003028 elevating Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Images
Abstract
The invention discloses a joint of a hyper-redundant robot. A gear transmission pair composite unit is arranged in a support in the following manner: wheel shafts 2 and 3 which are mutually orthogonalof a universal joint pin type gear 1 are coupled with tongue parts 4 and 5 of two joint supports; two pinions 6 and 7 are arranged on the two joint supports respectively and meshed with the universaljoint pin type gear 1; and driving motors 8 and 9 are arranged on the two pinions. By adopting the structure in the light of universal joint connection, the invention can lead the universal joint pintype gear into a universal joint in a transmission manner; and by substituting the conventional hinging transmission in the universal joints for the gear transmission and maintaining the flexibilityof space motion of the conventional universal joint at the same time, the invention has the advantages of small shaft distance, simple and compact structure, high rigidity, large driving moment, stable motion and the like.
Description
Affiliated technical field
The utility model relates to the Robotics field, especially relates to a kind of joint of hyper-redundant robot.
Background technology
Hyper-redundant robot (Hyper-Redundant Robots) is meant the robot of number of degrees of freedom, far more than the required by task least degree of freedom that fulfils assignment, have good environmental suitability and compatibility, fault-tolerance and robustness, bright application prospect is arranged at complex environments such as interplanetary probe, military surveillance and rescue and relief works.Hyper-redundant robot generally is in series by a plurality of identical joint modules, and therefore, the design of joint module and the overall performance of hyper-redundant robot are closely related.At present, mostly there are problems such as complex structure, difficult manufacturing, difficult control in joint of hyper-redundant robot.
Summary of the invention
For deficiencies such as the complex structure that overcomes existing joint of hyper-redundant robot existence, difficult manufacturing, difficult controls, the joint that the purpose of this invention is to provide a kind of space hyper-redundant robot has advantages such as distance between axles is little, simple and compact for structure, good rigidly, driving moment is big, motion is steady, structure decoupling, control is simple, processing performance is good.The objective of the invention is to realize by following means.
A kind of hyper-redundant machine is gone into has following gear driving pair assembly in the support of joint: connect mutually with the protruding tongue 4 and 5 of two knuckle supports respectively behind the mutually orthogonal wheel shaft 2 and 3 of a Cardon universal joint gear 1; Two pinion 6 and 7 be placed on two knuckle supports and with 1 engagement of Cardon universal joint gear; Described two pinion is provided with drive motors 8 and 9.
Adopt structure of the present invention, use for reference the universal joint type of attachment, the Cardon universal joint gear drive is incorporated in the cross-axle universal shaft joint.When keeping traditional gimbal suspension spatial movement flexibility,, thereby have advantages such as distance between axles is little, simple and compact for structure, good rigidly, driving moment is big, motion is steady owing to the hinge transmission of having adopted in the alternative traditional gimbal suspension of gear drive.
Because the kinetics equation group of hyper-redundant robot is highly non-linear coupling, the joint is if can realize kinematic decoupling, and then kinetics equation and Control System Design will greatly be simplified.Studies show that of pertinent literature, joint realize that the key of mobile decoupling is a structure decoupling, and the condition of structure decoupling is: guarantee that 1) each axis of rotation intersects at a point; 2) length that guarantees bar does not change and translation does not take place the centre of gyration of bar.Two gyroaxises in joint of the present invention are vertically intersected on a bit, and the constant and centre of gyration O of the distance that P point in target location is ordered to centre of gyration O in motion process does not do translation, and therefore novel joint is a structure decoupling.
Description of drawings is as follows:
Fig. 1 is a partial sectional view of the present invention.
Fig. 2 is a Cardon universal joint gear structure among the present invention.
Fig. 3 is the invention kinematic sketch.
Fig. 4 a and Fig. 4 b are side-sway motion schematic diagrames of the present invention.
Fig. 5 a and Fig. 5 b are elevating movement schematic diagrames of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing structure of the present invention is described in further detail.
Can find out to have following gear driving pair assembly in the joint of hyper-redundant robot support in conjunction with Fig. 1, Fig. 2: connect mutually with the protruding tongue 4 and 5 of two knuckle supports respectively behind the mutually orthogonal wheel shaft 2 and 3 of Cardon universal joint gear 1.Two pinion 6 and 7 is placed in and is meshed on two knuckle supports and with two semicircle teeth fans of Cardon universal joint gear 1.Described two pinion is provided with drive motors 8 and 9.When motor 8 drives pinion 6 rotations, drive Cardon universal joint gear 1 and support 10 rotations then, the joint produces the side-sway motion; When motor 9 drives pinion 7 rotations, drive Cardon universal joint gear 1 and support 11 rotations then, the joint produces elevating movement; When two motors drove simultaneously, the joint produced compound motion.
Fig. 3 has expressed the invention movement relation, and two gyroaxises in joint of the present invention are vertically intersected on a bit, and the constant and centre of gyration O of the distance that P point in target location is ordered to centre of gyration O in motion process does not do translation, and therefore novel joint is a structure decoupling.
Fig. 4 a and Fig. 4 b have expressed two states that joint of robot of the present invention is finished the side-sway motion.
Fig. 5 a and Fig. 5 b have expressed two states that joint of robot of the present invention is finished elevating movement.
Claims (1)
1, a kind of joint of hyper-redundant robot is characterized in that, has following gear driving pair assembly in the support: connect mutually with the protruding tongue 4 and 5 of two knuckle supports respectively behind the mutually orthogonal wheel shaft 2 and 3 of a Cardon universal joint gear 1; Two pinion 6 and 7 be placed on two knuckle supports and with 1 engagement of Cardon universal joint gear; Described two pinion is provided with drive motors 8 and 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910060120A CN101637912A (en) | 2009-07-27 | 2009-07-27 | Joint of hyper-redundant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910060120A CN101637912A (en) | 2009-07-27 | 2009-07-27 | Joint of hyper-redundant robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101637912A true CN101637912A (en) | 2010-02-03 |
Family
ID=41613189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910060120A Pending CN101637912A (en) | 2009-07-27 | 2009-07-27 | Joint of hyper-redundant robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101637912A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001094A (en) * | 2010-10-21 | 2011-04-06 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| CN102452078A (en) * | 2010-11-01 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot joint |
| TWI400150B (en) * | 2010-10-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Robotic joint |
| CN103751924A (en) * | 2014-01-10 | 2014-04-30 | 湘潭大学 | Multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole |
| CN106217409A (en) * | 2016-07-29 | 2016-12-14 | 上海新世纪机器人有限公司 | A kind of robot head |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN108818596A (en) * | 2018-09-28 | 2018-11-16 | 合肥合茂电子科技有限公司 | A kind of novel robot wrist structure |
-
2009
- 2009-07-27 CN CN200910060120A patent/CN101637912A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001094A (en) * | 2010-10-21 | 2011-04-06 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| TWI400150B (en) * | 2010-10-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Robotic joint |
| CN102452078A (en) * | 2010-11-01 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot joint |
| CN102452078B (en) * | 2010-11-01 | 2014-04-23 | 鸿富锦精密工业（深圳）有限公司 | Robot joint |
| CN103751924A (en) * | 2014-01-10 | 2014-04-30 | 湘潭大学 | Multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole |
| CN106217409A (en) * | 2016-07-29 | 2016-12-14 | 上海新世纪机器人有限公司 | A kind of robot head |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN108818596A (en) * | 2018-09-28 | 2018-11-16 | 合肥合茂电子科技有限公司 | A kind of novel robot wrist structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101637912A (en) | Joint of hyper-redundant robot | |
| CN100586667C (en) | Multi-joint flexible mechanical arm | |
| CN103495971B (en) | A kind of five degree of freedom Combined robot platform | |
| CN100560307C (en) | The active Wrist mechanism that is used for mechanical arm or snake-shaped robot | |
| CN101704244B (en) | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN104191434A (en) | Hollow series-connection mechanical arm | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN101875198A (en) | Overconstraint parallel robot mechanism with three degrees of freedom | |
| CN101704242A (en) | 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN201552579U (en) | Hyper-redundant robot joint | |
| CN102366896B (en) | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts | |
| CN101804637A (en) | Semienclosed joint type humanoid service robot arm | |
| CN110774277A (en) | Snake-shaped arm three-degree-of-freedom wrist joint and movement method | |
| CN101590650B (en) | Decoupled three-rotational-degree-of-freedom parallel mechanism | |
| CN202292114U (en) | Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN1775489A (en) | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module | |
| CN102581848B (en) | Parallel positioning platform with three-rotation one-translation freedom degree | |
| CN100493861C (en) | Planar parallel three-freedom robot mechanism | |
| CN105818137A (en) | Parallel mechanism with three-dimensional translational motion | |
| CN110861120A (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN204487593U (en) | A kind of Three Degree Of Freedom robot wrist articulation mechanism based on Hollow Shaft Transmission | |
| CN105798888A (en) | Novel space translation parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100203 |