CN104029212A - Rotary mechanical wrist with three degrees of freedom and external rotation center - Google Patents
Rotary mechanical wrist with three degrees of freedom and external rotation center Download PDFInfo
- Publication number
- CN104029212A CN104029212A CN201410261601.8A CN201410261601A CN104029212A CN 104029212 A CN104029212 A CN 104029212A CN 201410261601 A CN201410261601 A CN 201410261601A CN 104029212 A CN104029212 A CN 104029212A
- Authority
- CN
- China
- Prior art keywords
- moving platform
- freedom
- degree
- pedestal
- workpiece
- 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.)
- Granted
Links
Abstract
The invention discloses a rotary mechanical wrist with three degrees of freedom and an external rotation center, and belongs to the technical field of industrial robots. The rotary mechanical wrist comprises an upper movable platform, a lower movable platform and a base. The lower movable platform is connected with the upper movable platform in a rolling manner, the base is connected with the lower movable platform in a rolling manner, a primary rail which is in contact with the lower movable platform is arranged on a side of the upper movable platform, and a driving mechanism which corresponds to the primary rail is arranged on the lower movable platform; a secondary rail and a driving mechanism are arranged on a side of the lower movable platform, the secondary rail is in contact with the base, and the driving mechanism corresponds to the secondary rail, so that the upper movable platform can rotate under the condition of three degrees of freedom. The rotary mechanical wrist has the advantages that the rotation center of the rotary mechanical wrist is positioned at the mass center of a workpiece which is gripped by the rotary mechanical wrist, and accordingly the rotary mechanical wrist has the degrees of rotation in three directions.
Description
Technical field
What the present invention relates to is the mechanism in a kind of Industrial Robot Technology field, specifically a kind of for grabbing workpiece and can rotate on a large scale around workpiece barycenter, can cooperative mechanical arm carry out the crawl of workpiece and the adjustment of pose turn the external heart rotating machinery wrist that turns of heart Three Degree Of Freedom in vitro.
Background technology
Three Degree Of Freedom rotating mechanism is widely used in every field, applies at present more have spherical three-degree-of-freedom parallel mechanism and common parallel institution.In prior art, there is bionic eye of three-degree-of-freedom spherical parallel mechanism, by San Ge branch, end and fixed platform are connected, can in the cone-shaped space of semi-cone angle 45 degree, move.But slewing area is less.Separately there is Three Degree Of Freedom rotating mechanism, by three side chains, moving platform is connected with silent flatform, realize the motion in 60 degree hemicones.The center of rotation of this mechanism is positioned at the inner side of mechanism.By in sum, at present Three Degree Of Freedom rotating mechanism turn heart multidigit in the inside of mechanism, slewing area is less, is difficult to meet industrial needs.
Through the retrieval of prior art is found, Chinese patent literature CN103753522A open (bulletin) day 2014.04.30, a kind of two degrees of freedom rotating machine arm is disclosed, comprise: for grasping the upper moving platform of workpiece, lower moving platform and fixed platform, wherein: between upper and lower moving platform and between lower moving platform and fixed platform, by two groups of arcs constraint set of rollers, roll and be connected respectively, between this outside lower moving platform and upper moving platform, by linkage, be connected, lower moving platform is connected by feed screw nut with fixed platform.But this technology load-supporting part roller is too many, cause the installation accuracy that its needs are higher to work, be difficult to meet present stage industrial development needs.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose the external heart rotating machinery wrist that turns of a kind of Three Degree Of Freedom, it turns the barycenter place that the heart is positioned at held workpiece, has the rotational freedom of three directions.
The present invention is achieved by the following technical solutions, the present invention includes: upper moving platform, the lower moving platform being connected with upper moving platform rolling and the pedestal that rolls and be connected with upper moving platform, wherein: a side of upper moving platform is provided with the one-level track contacting with pedestal, and on pedestal, corresponding described one-level track is provided with driving mechanism; One side of lower moving platform is provided with and the secondary track of upper moving platform contact and the driving mechanism of corresponding secondary track, makes lower moving platform realize the rotation of Three Degree Of Freedom.
Described driving mechanism can adopt but be not limited to motor gear combination or feed screw nut combination.
Described pedestal is connected with the large arm of machinery, and to realize the revolution of complete cycle, i.e. conduct is first in three revolutions.
Described one-level track and the rotating direction of secondary track is orthogonal and both virtual centers of circle overlap.
The opposite side of described lower moving platform is connected with workpiece, and constant with the relative position of workpiece in motion process, thereby makes the virtual center of circle of one-level track and secondary track be positioned at workpiece also and the coincidence of the centroid position of workpiece.
When the driving mechanism of corresponding one-level track adopts feed screw nut combination, between nut in described feed screw nut combination and upper moving platform, form revolute pair, leading screw installing rack in feed screw nut combination is connected and also forms revolute pair with pedestal, when leading screw promotion nut moves, nut and upper moving platform rotate around the described virtual center of circle, between leading screw installing rack and pedestal, relatively rotate, the pose of leading screw is changed.
Technique effect
Compared with prior art, center of rotation of the present invention, in the outside of manipulator, is positioned at the centroid position of workpiece, so rotary inertia is little, has reduced the requirement of motor;
When work, when needs rotate around described the first imaginary axis, on gear mechanism, motor is locked, and electric machine rotation on leading screw promotes nut and moves, and leading screw is adjusted pose automatically simultaneously, and leading screw installing rack rotates relative to pedestal; When needs are when the second imaginary axis is rotated, on leading screw, motor is locked, now goes up moving platform and pedestal without relative motion, and electric machine rotation on gear mechanism promotes lower moving platform and workpiece and rotates.
Accompanying drawing explanation
Fig. 1 is invention structural representation;
Fig. 2 is the local enlarged diagram of Fig. 1;
In figure: moving platform in moving platform track on 1 pedestal, 2,3 times moving platform tracks, 4 slide block installation sites, 5 first imaginary axis, 6 second imaginary axis, 7,8 gear mechanisms, 9 times moving platforms, 10 workpiece, 11 times moving platform slide block installation sites, 12 leading screw installing racks, 13 nuts, 14 leading screws.
The specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented take technical solution of the present invention under prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: lower moving platform 9 and upper moving platform 7 and pedestal 1, wherein descend moving platform 9 to be connected as passive bound with slide block 4 by track 3 with upper moving platform 7, and drive by gear mechanism 8 conducts; Upper moving platform 7 is connected as passive bound with slide block 11 by track 2 with pedestal 1, and by screw-nut body as driving.
As shown in Figure 2, leading screw installation frame 12 is connected by revolute pair with leading screw 14 and is fixed on pedestal 1 described screw-nut body, and nut 13 is connected by revolute pair with upper moving platform 7, and the rotation by leading screw 14 promotes nut 13 and rotates around 5 first imaginary axis
Described two tracks 2 and 3 rotating direction be vertical and both virtual center of circle coincidence mutually.
On described lower moving platform 9, have grasping mechanism, for grabbing workpiece 10, the described virtual center of circle is positioned at workpiece 10 also and the barycenter of workpiece 10 overlaps.
Described pedestal 1 is fixedly linked with the large arm of machinery, by the gyration that manipulator is realized complete cycle that rotarily drives of large arm.
When work, pedestal 1 is fixing, when needs are when above-mentioned the first imaginary axis 5 is rotated, on gear 8, motor is locked, electric machine rotation on leading screw 14, and leading screw 14 promotes nut 13 and moves forward, but due to the constraint of track 2 and slide block 11, upper moving platform 7 can only rotate along the first imaginary axis 5.
When needs rotate along the second imaginary axis 6, on leading screw 14, motor is locked, electric machine rotation on gear mechanism 8, on moving platform 9, there is tooth bar, tooth bar routing motion on gear 8 and lower moving platform 9, but under the constraint of track 3 and slide block 4, lower moving platform 9 is done gyration around the second imaginary axis 6, drive workpiece 10 to rotate.
This device, by center of rotation being designed to the outside in manipulator, is positioned at the centroid position of workpiece, makes unitary rotation inertia little, has significantly reduced the requirement of motor; Arc track, as passive bound, is used gear mechanism in vivo simultaneously, has realized with less size and has obtained larger slewing area.
Claims (4)
1. the external heart rotating machinery wrist that turns of Three Degree Of Freedom, it is characterized in that, comprise: upper moving platform, the lower moving platform being connected with upper moving platform rolling and the pedestal that rolls and be connected with lower moving platform, wherein: a side of upper moving platform is provided with the one-level track contacting with lower moving platform, and on lower moving platform, corresponding described one-level track is provided with driving mechanism; Pedestal is connected with the large arm of machinery, to realize the revolution of complete cycle, i.e. one degree of freedom; One side of lower moving platform is provided with the secondary track that contacts with pedestal and the driving mechanism of corresponding secondary track, makes moving platform realize the rotation of Three Degree Of Freedom; Orthogonal and both the virtual center of circle of the rotating direction of one-level track and secondary track overlaps;
The center of rotation of described Three Degree Of Freedom is positioned at the outside of described mechanical wrist.
2. the external heart rotating machinery wrist that turns of Three Degree Of Freedom according to claim 1, it is characterized in that, the opposite side of described upper moving platform is connected with workpiece, and constant with the relative position of workpiece in motion process, thereby make the virtual center of circle of one-level track and secondary track be positioned at workpiece also and the coincidence of the centroid position of workpiece.
3. the external heart rotating machinery wrist that turns of Three Degree Of Freedom according to claim 1, is characterized in that, described driving mechanism adopts motor gear combination or feed screw nut combination.
4. the external heart rotating machinery wrist that turns of Three Degree Of Freedom according to claim 3, it is characterized in that, when the driving mechanism of corresponding secondary track adopts feed screw nut combination, between nut in described feed screw nut combination and lower moving platform, form revolute pair, leading screw installing rack in feed screw nut combination is connected and also forms revolute pair with pedestal, when leading screw promotion nut moves, nut and lower moving platform rotate around the described virtual center of circle, between leading screw installing rack and pedestal, relatively rotate, the pose of leading screw is changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410261601.8A CN104029212B (en) | 2014-06-13 | 2014-06-13 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410261601.8A CN104029212B (en) | 2014-06-13 | 2014-06-13 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104029212A true CN104029212A (en) | 2014-09-10 |
| CN104029212B CN104029212B (en) | 2016-03-16 |
Family
ID=51460322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410261601.8A Expired - Fee Related CN104029212B (en) | 2014-06-13 | 2014-06-13 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104029212B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN102151215A (en) * | 2011-04-07 | 2011-08-17 | 东华大学 | Exoskeletal rehabilitation mechanical arm for upper limb |
| WO2011107778A1 (en) * | 2010-03-04 | 2011-09-09 | Touch Emas Limited | Hand prosthesis |
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| WO2014016581A1 (en) * | 2012-07-23 | 2014-01-30 | Touch Emas Limited | Improvements in or relating to prosthetics and orthotics |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
-
2014
- 2014-06-13 CN CN201410261601.8A patent/CN104029212B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011107778A1 (en) * | 2010-03-04 | 2011-09-09 | Touch Emas Limited | Hand prosthesis |
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN102151215A (en) * | 2011-04-07 | 2011-08-17 | 东华大学 | Exoskeletal rehabilitation mechanical arm for upper limb |
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| WO2014016581A1 (en) * | 2012-07-23 | 2014-01-30 | Touch Emas Limited | Improvements in or relating to prosthetics and orthotics |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627322A (en) * | 2017-10-18 | 2018-01-26 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104029212B (en) | 2016-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN203471773U (en) | Mechanical arm capable of performing grabbing | |
| CN105364921A (en) | Mechanical arm | |
| CN104260083A (en) | Five-degree-of-freedom planar joint robot mechanism | |
| TWI675728B (en) | Robot and robot system | |
| CN202934565U (en) | Five-shaft double-arm multifunctional robot | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN204054077U (en) | A kind of transfer robot | |
| CN110524522B (en) | Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm | |
| EP3479970A1 (en) | Workpiece reversing apparatus | |
| CN106239500A (en) | A kind of punching press feeding robot | |
| CN105965471A (en) | Six-axis universal robot with lifting rollers | |
| CN108778641A (en) | Direct acting telescoping mechanism and mechanical arm mechanism | |
| CN103846911B (en) | A kind of high speed six-degree of freedom parallel manipulator | |
| CN104802154B (en) | A kind of four-degree-of-freedom high-speed parallel manipulator | |
| CN106272362B (en) | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution | |
| CN104013512B (en) | finger rehabilitation training device | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN103386681A (en) | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation | |
| CN104029212B (en) | Three Degree Of Freedom is external turns heart rotating machinery wrist | |
| JP6688204B2 (en) | Link type articulated robot | |
| CN204913877U (en) | Industrial robot multistation interaction system | |
| CN201998175U (en) | Planar articulated robot arm component | |
| CN102941772A (en) | Lower-mobility parallel mechanism with constraint chains | |
| CN106272361B (en) | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160316 Termination date: 20190613 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |