CN104029212B - Three Degree Of Freedom is external turns heart rotating machinery wrist - Google Patents
Three Degree Of Freedom is external turns heart rotating machinery wrist Download PDFInfo
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- CN104029212B CN104029212B CN201410261601.8A CN201410261601A CN104029212B CN 104029212 B CN104029212 B CN 104029212B CN 201410261601 A CN201410261601 A CN 201410261601A CN 104029212 B CN104029212 B CN 104029212B
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Abstract
A kind of Three Degree Of Freedom of Industrial Robot Technology field is external turns heart rotating machinery wrist, comprise: upper moving platform, roll with upper moving platform the lower moving platform that is connected and rolling the pedestal be connected with lower moving platform, the side of upper moving platform is provided with the one-level track contacted with lower moving platform, and on lower moving platform, corresponding described one-level track is provided with driving mechanism; The side of lower moving platform is provided with the driving mechanism of secondary track and the corresponding secondary track contacted with pedestal, makes moving platform realize the rotation of Three Degree Of Freedom; Apparatus of the present invention turn the barycenter place that the heart is positioned at held workpiece, there is the rotational freedom in three directions.
Description
Technical field
What the present invention relates to is a kind of mechanism 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 that heart Three Degree Of Freedom is in vitro external turns heart rotating machinery wrist.
Background technology
Three Degree Of Freedom rotating mechanism is widely used in every field, and what application was more at present has spherical three-degree-of-freedom parallel mechanism and conventional parallel mechanism.There is bionic eye of three-degree-of-freedom spherical parallel mechanism in prior art, by three branches, end and fixed platform are connected, can move in the cone-shaped space of semi-cone angle 45 degree.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, realizes the motion in 60 degree of hemicones.The center of rotation of this mechanism is positioned at the inner side of mechanism.By in sum, current three-degree-of-freerotation rotation mechanism turn heart multidigit in the inside of mechanism, slewing area is less, is difficult to meet industrial needs.
Through finding the retrieval of prior art, open (bulletin) the day 2014.04.30 of Chinese patent literature CN103753522A, disclose a kind of Two-degree-of-freedorotary rotary manipulator, comprise: for grasping the upper moving platform of workpiece, lower moving platform and fixed platform, wherein: between upper and lower moving platform and lower moving platform with retrain set of rollers respectively by two groups of arcs between fixed platform and roll and be connected, be connected by linkage between this outside lower moving platform with upper moving platform, lower moving platform is connected by feed screw nut with fixed platform.But this technology load-supporting part roller is too many, causes the higher installation accuracy of its needs to work, is difficult to meet present stage industrial development needs.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose that a kind of Three Degree Of Freedom is external turns heart rotating machinery wrist, it turns the barycenter place that the heart is positioned at held workpiece, has the rotational freedom in three directions.
The present invention is achieved by the following technical solutions, the present invention includes: upper moving platform, roll with upper moving platform the lower moving platform that is connected and rolling the pedestal be connected with upper moving platform, wherein: the side of upper moving platform is provided with the one-level track with base into contact, and on pedestal, corresponding described one-level track is provided with driving mechanism; The side of lower moving platform is provided with the driving mechanism of secondary track and the corresponding secondary track contacted with upper moving platform, 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 mechanical large arm, to realize the revolution of complete cycle, namely as being first in three revolutions.
Described one-level track and orthogonal and both the virtual center of circle of the rotating direction of secondary track overlap.
The opposite side of described lower moving platform is connected with workpiece, and constant with the relative position of workpiece in motion process, thus makes the virtual center of circle of one-level track and secondary track be positioned at workpiece and and the centroid position coincidence of workpiece.
When the driving mechanism of corresponding one-level track adopts feed screw nut to combine, revolute pair is formed between nut in described feed screw nut combination and upper moving platform, leading screw installing rack in feed screw nut combination is connected with pedestal and also forms revolute pair, when leading screw promotion nut moves, nut and upper moving platform rotate around the described virtual center of circle, relatively rotate between leading screw installing rack and pedestal, the pose of leading screw is changed.
Technique effect
Compared with prior art, center of rotation of the present invention is in the outside of manipulator, and be positioned at the centroid position of workpiece, therefore rotary inertia is little, reduces the requirement of motor;
Operationally, when needs rotate around described first imaginary axis, on gear mechanism, motor is locked, electric machine rotation on leading screw, and promote nut and move, leading screw adjusts pose automatically simultaneously, and leading screw installing rack opposite base rotates; When needs rotate around the second imaginary axis, on leading screw, motor is locked, now go up moving platform and pedestal without relative motion, electric machine rotation on gear mechanism, promotes moving platform and workpiece rotation.
Accompanying drawing explanation
Fig. 1 is invention structural representation;
Fig. 2 is Fig. 1 close-up schematic view;
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.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give 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 descends moving platform 9 to be connected as passive bound with slide block 4 by track 3 with upper moving platform 7, and by gear mechanism 8 as driving; 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 and leading screw 14 are connected by revolute pair and are fixed on pedestal 1 described screw-nut body, and nut 13 is connected by revolute pair with upper moving platform 7, are rotated around 5 first imaginary axis by the rotation forces nut 13 of leading screw 14
Two described tracks 2 with 3 mutually vertical and both the virtual center of circle coincidence of rotating direction.
Described lower moving platform 9 has grasping mechanism, and for grabbing workpiece 10, the described virtual center of circle is positioned at workpiece 10 and and the barycenter coincidence of workpiece 10.
Described pedestal 1 and mechanical large arm are fixedly linked, and rotarily drive by large arm the gyration that manipulator realizes complete cycle.
Operationally, pedestal 1 is fixed, when needs rotate around above-mentioned first imaginary axis 5, 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, 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 does gyration around the second imaginary axis 6, workpiece 10 is driven to rotate.
This device, by center of rotation being designed the outside in manipulator, is namely positioned at the centroid position of workpiece, makes unitary rotation inertia little, considerably reduces the requirement of motor; Arc track, as passive bound, is simultaneously used in the gear mechanism in body, achieves and obtains larger slewing area with less size.
Claims (3)
1. a Three Degree Of Freedom is external turns heart rotating machinery wrist, it is characterized in that, comprise: upper moving platform, roll with upper moving platform the lower moving platform that is connected and rolling the pedestal be connected with lower moving platform, wherein: the side of upper moving platform is provided with the one-level track contacted with lower moving platform, and on lower moving platform, corresponding described one-level track is provided with driving mechanism; Pedestal is connected with mechanical large arm, to realize the revolution of complete cycle, i.e. and one degree of freedom; The side of lower moving platform is provided with the driving mechanism of secondary track and the corresponding secondary track contacted with pedestal, 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;
The opposite side of described upper moving platform is connected with workpiece, and constant with the relative position of workpiece in motion process, thus makes the virtual center of circle of one-level track and secondary track be positioned at workpiece and and the centroid position coincidence of workpiece.
2. Three Degree Of Freedom according to claim 1 is external turns heart rotating machinery wrist, it is characterized in that, described driving mechanism adopts motor gear combination or feed screw nut combination.
3. Three Degree Of Freedom according to claim 2 is external turns heart rotating machinery wrist, it is characterized in that, when the driving mechanism of corresponding secondary track adopts feed screw nut to combine, revolute pair is formed between nut in described feed screw nut combination and lower moving platform, leading screw installing rack in feed screw nut combination is connected with pedestal and also forms revolute pair, when leading screw promotion nut moves, nut and lower moving platform rotate around the described virtual center of circle, relatively rotate between leading screw installing rack and pedestal, 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 CN104029212A (en) | 2014-09-10 |
| CN104029212B true CN104029212B (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410261601.8A Expired - Fee Related CN104029212B (en) | 2014-06-13 | 2014-06-13 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627322B (en) * | 2017-10-18 | 2019-09-13 | 西安科技大学 | It is a kind of based on screw can shaft axis revolute pair |
Citations (4)
| 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 |
| 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 |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201003573D0 (en) * | 2010-03-04 | 2010-04-21 | Touch Emas Ltd | Hand prothesis |
| GB201213030D0 (en) * | 2012-07-23 | 2012-09-05 | Touch Emas Ltd | Improvements in or relating to prosthetics and orthotics |
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2014
- 2014-06-13 CN CN201410261601.8A patent/CN104029212B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| 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 |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
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| Publication number | Publication date |
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| CN104029212A (en) | 2014-09-10 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160316 Termination date: 20190613 |