CN103192377B - Freely-movable device - Google Patents
Freely-movable device Download PDFInfo
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- CN103192377B CN103192377B CN201310086382.XA CN201310086382A CN103192377B CN 103192377 B CN103192377 B CN 103192377B CN 201310086382 A CN201310086382 A CN 201310086382A CN 103192377 B CN103192377 B CN 103192377B
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- swing arm
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Abstract
The invention provides a kind of freely-movable device, comprising: base, be provided with turning joint, and support a motion platform by turning joint; At least one drive motors, its output is provided with swing arm, drives swing arm to rotate when drive motors rotates; At least one connecting rod, its one end is movably connected on the end of swing arm, and the other end is movably connected on the side of motion platform, promotes motion platform around turning joint campaign under the drive of swing arm.Can arrange two drive motors, two swing arms and two connecting rods in a preferred embodiment of the invention, swing arm drives corresponding link motion, thus promotion motion platform does all around or the aggregate motion along turning joint axis around turning joint.The present invention has that volume is little, simple for structure, cost is low, precision is high, be convenient to the feature that controls, motion mode is clear and definite, achieves the progress of technology, reaches better movement effects.
Description
Technical field
The present invention relates to machine control techniques field, be specifically related to a kind of freely-movable device.
Background technology
At present, for realizing the neck movement of all kinds of intelligent robot, existing technical scheme is with driven by motor screw mandrel and slide block or uses servo push-rod or direct linear electric motors etc. to carry out actuation movement Platform movement, thus the neck movement of band mobile robot.This processing mode also exists that cost is high, complex structure, manufacture difficulty are large, wayward, precision is low, want perceived position need install encoder or other sensor additional, cannot accomplish the problems such as small size, not be suitable for midget plant.
Similar techniques has a kind of two freedom space parallel mechanism (Chinese utility model patent application number: 200620021872.7, publication date: 2007-11-28), it comprises the branch of fixed platform, moving platform and connection fixed platform and moving platform, and described connection fixed platform and moving platform branch have 3; Moving platform is provided with two kinematic pairs, wherein the structure of Liang Ge branch is identical, and they all comprise sliding bar and connecting rod, and sliding bar is connected with moving platform by kinematic pair, one end of connecting rod is connected by kinematic pair with one end of sliding bar, and the other end of connecting rod is connected by kinematic pair with fixed platform; Another branch comprises two vertical rods, and one end of a vertical rod is connected with fixed platform and vertical with fixed platform, and one end of another root vertical rod is connected with moving platform and vertical with moving platform, is connected between two vertical rods by hook hinge.It also exists complex structure equally, the problem that manufacturing cost is high and difficulty is large.
Summary of the invention
The features and advantages of the present invention are partly stated in the following description, or can be apparent from this description, or learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of freely-movable device, swing arm is driven by drive motors, swing arm drivening rod moves, thus promote motion platform around turning joint campaign, have that volume is little, simple for structure, cost is low, precision is high, be convenient to the feature that controls, motion mode is clear and definite.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
According to an aspect of the present invention, a kind of freely-movable device is provided, comprises:
Base, is provided with turning joint, and supports a motion platform by turning joint;
At least one drive motors, its output is provided with swing arm, and drive motors drives swing arm to rotate when rotating;
At least one connecting rod, its one end is connected to the end of swing arm, and the other end is connected to the side of motion platform, promotes motion platform around turning joint campaign under the drive of swing arm.
According to one embodiment of present invention, the quantity of drive motors, swing arm and connecting rod is two, drive motors is symmetrically arranged in the both sides of base respectively, and connecting rod promotes motion platform under the drive of corresponding swing arm, makes motion platform do banking motion around turning joint.
According to one embodiment of present invention, drive motors adopts steering wheel.
According to one embodiment of present invention, banking motion comprise motion platform around turning joint pitching, wave or roll action.
According to one embodiment of present invention, turning joint adopts universal joint.
According to one embodiment of present invention, oscillating bearing is equipped with respectively in the two ends of connecting rod, for being flexibly connected end and the motion platform of swing arm respectively.
According to one embodiment of present invention, motion platform is provided with contiguous block, adopts connecting pin to be flexibly connected between contiguous block and the oscillating bearing of connecting rod, the end of connecting pin arranges jump ring and clamps.
According to one embodiment of present invention, adopt connecting pin to be flexibly connected between swing arm end and the oscillating bearing of connecting rod, the end of connecting pin arranges jump ring and clamps.
According to one embodiment of present invention, turning joint is connected with adopting connecting axle between motion platform or base respectively, and by arranging alignment pin to ensure the relative position relation installed between connecting axle and motion platform or base.
According to one embodiment of present invention, also comprise lower connecting plate, it is connected with base.
The invention provides a kind of freely-movable device, swing arm is driven by the drive motors (such as steering wheel) being arranged on base, the motion platform that swing arm drivening rod promotion turning joint (such as universal joint) supports, under the rotation of steering wheel, motion platform can do all around and the aggregate motion along turning joint axis, and multifreedom motion node is on same point, very little volume can be made, have simple for structure, cost is low, precision is high, be convenient to control, the clear and definite feature of motion mode.
By reading description, those of ordinary skill in the art will understand the characteristic sum content of these technical schemes better.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the overall structure schematic diagram of embodiment of the present invention freely-movable device;
Fig. 2 is the decomposition texture schematic diagram of embodiment of the present invention freely-movable device;
Fig. 3 is motion platform in embodiment of the present invention freely-movable device and gimbal structure schematic diagram;
Fig. 4 is the substructure schematic diagram of embodiment of the present invention freely-movable device;
Fig. 5 a and Fig. 5 b is the schematic diagram of embodiment of the present invention freely-movable device pitch motion;
Fig. 6 a and Fig. 6 b is the schematic diagram of embodiment of the present invention freely-movable device side-to-side movement;
Fig. 7 a, Fig. 7 b, Fig. 7 c and Fig. 7 d are the aggregate motion schematic diagram of embodiment of the present invention freely-movable device along turning joint axis.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As shown in Figures 1 to 4, for solving prior art complex structure, manufacture difficulty is large, precision is low, wayward, volume is large, cost is high problem, the invention provides a kind of freely-movable device, comprise: base 10, be provided with turning joint 20, and support a motion platform 30 by turning joint 20; At least one drive motors 40, its output is provided with swing arm 50, drives swing arm 50 to rotate when drive motors 40 rotates; At least one connecting rod 60, its one end is movably connected on the end of swing arm 50, and the other end is movably connected on the side of motion platform 30, promotes motion platform 30 and move around turning joint 20 under the drive of swing arm 50.
In the preferred embodiment of the invention, adopt two drive motors 40, it is arranged at the both sides of base 10 respectively; Adopt two swing arms 50, it is arranged on the output of each drive motors 40 respectively, drives corresponding swing arm 50 to rotate when each drive motors 40 rotates respectively; Adopt two connecting rods 60, one end of each connecting rod 60 is movably connected on the end of corresponding swing arm 50, the other end of each connecting rod 60 is movably connected on the side of corresponding sports platform 30, under the drive of corresponding swing arm 50, promote motion platform 30 tilt, make motion platform 30 carry out pitching, wave or roll action, do all around or the aggregate motion along turning joint 20 axis around turning joint 20.
Certainly, those skilled in the art, according to the description of this description, can adopt a drive motors and corresponding swing arm and a connecting rod, can realize basic object of the present invention equally, promote motion platform around turning joint campaign.Also can adopt multiple drive motors and corresponding multiple swing arm and multiple connecting rod, motion platform can be promoted equally around turning joint campaign.The present invention is described for 40, two swing arms 50 of two drive motors and two connecting rods 60, and does not mean that protection scope of the present invention is only confined to the technical scheme described in embodiment.
In the present embodiment, drive motors 40 preferably adopts steering wheel, and drive motors 40 is arranged in the bilateral symmetry of base 10, and turning joint 20 preferably adopts universal joint.
Oscillating bearing 62,61 is equipped with at the two ends of connecting rod 60 respectively, for being flexibly connected end and the motion platform 30 of swing arm 50 respectively.Motion platform 30 is provided with contiguous block 31, contiguous block 31 adopts screw to be connected with motion platform 30, between contiguous block 31 and the oscillating bearing 62 of connecting rod 60, adopt connecting pin 35 to be flexibly connected, one end of connecting pin 35 is connected with contiguous block 31, the other end coordinates with oscillating bearing 62, and the end of connecting pin 35 arranges jump ring 36 and clamps.Adopt connecting pin 33 to be flexibly connected between swing arm 50 end and the oscillating bearing 61 of connecting rod 60, the end of connecting pin 33 arranges jump ring 36 and clamps.Turning joint 20 with adopt connecting axle 32 to carry out between motion platform 30 or base 10 to be respectively connected (such as adopting screw to connect), and by arranging the relative position relation that alignment pin 34 ensures to install between connecting axle 32 and motion platform 30 or base 10.The embodiment of the present invention also comprises lower connecting plate 70, and it is connected with base 10.
For simplifying structure, reduce costs, be convenient to control, servo driving swing arm 50 is adopted to drive two ends that the connecting rod 60 of oscillating bearing is housed, steering wheel only has rotary motion, making motion platform 30 do all around and the aggregate motion around turning joint axis, must be rectilinear motion by the convert rotational motion of steering wheel.The steering wheel of two steering wheels installs swing arm 50, and the connecting rod 60 that oscillating bearing is equipped with at swing arm 50 and two ends is connected, and the other end of two connecting rods 60 is connected with motion platform 30.Oscillating bearing can make connecting rod 60 and arm shaft make space multifreedom motion in certain scope.Two steering wheels rotarily drive connecting rod 60, and connecting rod 60 promotes motion platform 30 and does multiple degrees of freedom spatial movement.Adopt steering wheel as driver part, volume is little, easy to control, precision is high, reaction speed is fast, motion mode is clear and definite, and steering wheel has the feedback informations such as position, speed, temperature, voltage, solving other similar means is the trouble obtaining these feedback informations and additionally must install a lot of components and parts additional, is widely used in the neck movement mechanism of all kinds of intelligent robot.
The freely-movable device of the embodiment of the present invention is for realizing multifreedom motion node in same point, and turning joint 20 adopts Universal joint components, and universal joint is connected with motion platform 30, and motion platform 30 has two groups of holes, for being connected with connecting rod 60.Oscillating bearing is equipped with respectively in the two ends of connecting rod 60, for being flexibly connected end and the motion platform 30 of swing arm 50 respectively.
Adopt the freely-movable device of the embodiment of the present invention, compared with existing similar techniques, achieve the progress of technology, reach better movement effects, save manufacturing cost, improve kinematic accuracy, reduce volume, it is simple for structure, is convenient to control, and motion mode is clear and definite, and multifreedom motion node is on same point, solve prior art cost high, complex structure, manufacture difficulty is large, wayward, precision is low, perceived position need install encoder or other sensor additional, cannot accomplish the problem of small size.
The motion that the freely-movable device of the present embodiment can realize is as shown in Figures 5 to 7:
Fig. 5 a and Fig. 5 b is the schematic diagram that the embodiment of the present invention does pitch motion, motion process is described below: left and right two steering wheel does rightabout motion with phase same rate, drive swing arm 50 to rotate, drivening rod 60, connecting rod 60 promotes motion platform 30 can realize elevating movement.
Fig. 6 a and Fig. 6 b is the schematic diagram that the embodiment of the present invention does side-to-side movement, motion process is described below: left and right two steering wheel does equidirectional motion with phase same rate, drive swing arm 50 to rotate, drivening rod 60, connecting rod 60 promotes motion platform 30 can realize side-to-side movement.
Fig. 7 a, Fig. 7 b, Fig. 7 c and Fig. 7 d are the schematic diagram of embodiment of the present invention aggregate motion, motion process is described below: by the specific angle combinations of two steering wheels, combinative movement that is front/rear and left/right can be realized, such as: the action of left front (as shown in Figure 7a), left back (as shown in Figure 7b), right back (as shown in Figure 7 c), right front (as shown in figure 7d) simultaneously.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention, and multiple flexible program can be had to realize the present invention.For example, to illustrate as the part of an embodiment or the feature that describes can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention that the equivalence change that all utilizations description of the present invention and accompanying drawing content are done all is contained within interest field of the present invention.
Claims (8)
1. a freely-movable device, is characterized in that, comprising:
Base, is provided with turning joint, and supports a motion platform by described turning joint;
Two drive motors, its output is provided with swing arm, and described drive motors drives described swing arm to rotate when rotating, and described drive motors is symmetrically arranged in the both sides of described base respectively;
Two connecting rods, its one end is connected to the end of swing arm, the other end is connected to motion platform, described connecting rod promotes described motion platform under the drive of corresponding swing arm, described motion platform is made to carry out banking motion around described turning joint, two swing arms all rotate at same plane of movement, described turning joint outside described plane of movement, described banking motion comprise described motion platform around described turning joint pitching, wave or roll action.
2. freely-movable device according to claim 1, is characterized in that, described drive motors adopts steering wheel.
3. freely-movable device according to claim 1, is characterized in that, described turning joint adopts universal joint.
4. freely-movable device according to claim 1, is characterized in that, oscillating bearing is equipped with respectively in the two ends of described connecting rod, for being flexibly connected the end of described swing arm and described motion platform respectively.
5. freely-movable device according to claim 4, it is characterized in that, described motion platform is provided with contiguous block, between described contiguous block and the oscillating bearing of described connecting rod, adopts connecting pin to be flexibly connected, the end of described connecting pin arranges jump ring and clamps.
6. freely-movable device according to claim 4, is characterized in that, adopts connecting pin to be flexibly connected between described swing arm end and the oscillating bearing of described connecting rod, and the end of described connecting pin arranges jump ring and clamps.
7. freely-movable device according to claim 1, it is characterized in that, described turning joint adopts connecting axle to be connected with between described motion platform or described base respectively, and by arranging alignment pin to ensure the relative position relation installed between described connecting axle and described motion platform or described base.
8. freely-movable device according to claim 1, is characterized in that, also comprise lower connecting plate, and it is connected with described base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310086382.XA CN103192377B (en) | 2013-03-18 | 2013-03-18 | Freely-movable device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310086382.XA CN103192377B (en) | 2013-03-18 | 2013-03-18 | Freely-movable device |
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| CN103192377A CN103192377A (en) | 2013-07-10 |
| CN103192377B true CN103192377B (en) | 2015-11-04 |
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| CN201310086382.XA Active CN103192377B (en) | 2013-03-18 | 2013-03-18 | Freely-movable device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058462B (en) * | 2013-10-30 | 2016-02-03 | 攀钢集团攀枝花钢铁研究院有限公司 | A kind of preparation method of the ferric oxide for soft magnetic materials |
| CN105147421A (en) * | 2015-08-04 | 2015-12-16 | 中国兵器工业计算机应用技术研究所 | Three-freedom-degree bionic neck mechanism |
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN109396698A (en) * | 2018-10-30 | 2019-03-01 | 河南工学院 | A kind of bionics welding robot |
| CN116423530A (en) * | 2022-01-04 | 2023-07-14 | 腾讯科技（深圳）有限公司 | Waist structure of robot and robot |
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| EP0612591A1 (en) * | 1993-02-24 | 1994-08-31 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
| CN2228130Y (en) * | 1995-04-25 | 1996-05-29 | 西北煤矿机械二厂 | Connecting built-up component of coal face chock cap and single prop |
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| CN101830272A (en) * | 2010-05-13 | 2010-09-15 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| CN201706051U (en) * | 2010-06-13 | 2011-01-12 | 无锡智能自控工程有限公司 | Automatic-manual integrated combination executor |
| CN202650298U (en) * | 2012-04-24 | 2013-01-02 | 江苏宏昌工程机械有限公司 | Three-freedom-degree platform realized through lifting and lowering devices |
| CN202650294U (en) * | 2012-04-24 | 2013-01-02 | 江苏宏昌工程机械有限公司 | Two-freedom-degree platform forklift simulation operation system realized by arranging connection rod mechanism |
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| EP0612591A1 (en) * | 1993-02-24 | 1994-08-31 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
| CN2228130Y (en) * | 1995-04-25 | 1996-05-29 | 西北煤矿机械二厂 | Connecting built-up component of coal face chock cap and single prop |
| CN1673606A (en) * | 2005-04-13 | 2005-09-28 | 浙江大学 | Space four freedom mechanism for realizing three rotating and one moving |
| CN101830272A (en) * | 2010-05-13 | 2010-09-15 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| CN201706051U (en) * | 2010-06-13 | 2011-01-12 | 无锡智能自控工程有限公司 | Automatic-manual integrated combination executor |
| CN202650298U (en) * | 2012-04-24 | 2013-01-02 | 江苏宏昌工程机械有限公司 | Three-freedom-degree platform realized through lifting and lowering devices |
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Address after: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Patentee after: ANKE ROBOT CO.,LTD. Address before: 518034 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Patentee before: ANKE SMART CITY TECHNOLOGY (PRC) Co.,Ltd. |
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Effective date of registration: 20180913 Address after: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee after: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. Address before: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Patentee before: ANKE ROBOT CO.,LTD. |
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Effective date of registration: 20210513 Address after: 518000 Room 201, building a, No.1 Qianhai 1st Road, Qianhai Shenxiang cooperation zone, Shenzhen City, Guangdong Province Patentee after: Shenzhen Zhongzhi Weian Robot Technology Co.,Ltd. Address before: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee before: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. |
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