CN105965538A - Three-freedom-degree spherical drive unit - Google Patents
Three-freedom-degree spherical drive unit Download PDFInfo
- Publication number
- CN105965538A CN105965538A CN201610566085.9A CN201610566085A CN105965538A CN 105965538 A CN105965538 A CN 105965538A CN 201610566085 A CN201610566085 A CN 201610566085A CN 105965538 A CN105965538 A CN 105965538A
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- CN
- China
- Prior art keywords
- spherical
- degree
- freedom
- driver element
- drive unit
- 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
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Classifications
-
- 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
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot technology, in particular to an internally-driven three-freedom-degree spherical drive unit which can be mounted at the tail end of a robot so as to meet the requirement for developing a drive unit of a tail end execution tool of a complex operation robot. A three-freedom-degree spherical parallel mechanism 3-RRR is provided with a fixed rotating center, the rotating center serves as the center for rotating or driving or supporting related spherical bodies, and the continuous-autoroatation spherical bodies can conduct cone rotary pendulum or spinning movement in a certain space. The internally-driven spherical drive unit adopts the 3-RRR equipment and can be subjected to servo control to convert the operation space position of a robot tail end execution tool. The internally-driven spatial three-dimensional rotation mechanism, an autoroatation mechanism and spherical supporting are adopted so that the spherical drive unit capable of conducting continuous autoroatation can conduct servo conversion on the spatial position of the autoroatation axis within a certain spatial range, and thus the robot tail end execution tool carrying the spherical drive unit can operate in a small space.
Description
Technical field
The present invention relates to robotics, specifically provide a kind of that may be installed robot end, interior driving, three from
By degree spherical drive unit.
Background technology
At present, robotics has been widely used, the robot of special occasions operation, needs special construction
End performs tool drives unit, and then limits its range of application and versatility.Multipurpose, can tackle simultaneously Various Complex make
The robot end of industry performs the driver element of instrument, still needs continual exploitation.
Summary of the invention
It is an object of the invention to provide one and can pass through SERVO CONTROL, conversion robot end performs tool operation space bit
The interior driving put, spherical drive unit.
The technical problem to be solved in the present invention
Three-degree-of-freedom spherical parallel mechanism 3-RRR has a fixing centre of gyration, using this centre of gyration as associated ball
Body
The center turn round, drive, supported, makes the spheroplast of continuous rotation can do certain space cone swing, the motion of spin.
The technical solution adopted for the present invention to solve the technical problems
Three-degree-of-freedom spherical parallel mechanism 3-RRR compact conformation, servo is good, its work space three-dimensional cone angle of revolution and from
Swing angle all can meet the needs of the present invention.
On the output stage of a three-degree-of-freedom spherical parallel mechanism 3-RRR equipment, a motor is installed, by the two
Coalition, being fixedly mounted on a profile is the inside cavity of billiard table, and the centre of sphere of billiard table overlaps with the 3-RRR mechanism centre of gyration,
Billiard table outer surface mounting spherical sliding bearing, supports the inner chamber of spherical drive unit spherical shell.
By the connection of motor output shaft assembly Yu spherical shell, the action of 3-RRR and the motion parallel connection of motor are passed to
Spherical shell so that spherical shell continuous rotation do space motion under the support of billiard table, spherical shell becomes three degree of freedom spherical and drives single
The movement output body of unit.
Fix the supporter that is connected with billiard table as this driver element and robot body connector, become Three Degree Of Freedom
The kinematic mount body of spherical drive unit.
Action employing closed loop control, the driven by servomotor that three-degree-of-freedom spherical parallel mechanism 3-RRR equipment moving is secondary.
Beneficial effect
Support owing to have employed space three-dimensional revolution, free-wheeling system and the ball-type of interior driving so that can drive by the spherical of rotation continuously
Moving cell can be in certain spatial dimension, the locus of servo conversion rotation axis, and then gives its robot carried
End performs instrument can make operation in little space.
Accompanying drawing explanation
The following drawings is the accompanying drawing of one embodiment of the invention.
Fig. 1: three degree of freedom spherical structure of driving unit figure.
Equipment structure chart is driven in the housing of Fig. 2: billiard table.
In Fig. 1
1, global shell 2, spheroid specific structure 3, spheroid shaft coupling 4, motor
5, casting mold oiliness bearing 6, swing space cone angle 7, swing limit cone angle
8, global shell, 3-RRR mechanism centre of gyration O 9, protective jacket 10, billiard table 11, supporter.
In fig. 2
4, motor 11, supporter 12, motor output shaft assembly 13,3-RRR mechanism 14, mechanism base.
Detailed description of the invention
Motor (4) is fixed on the output stage of 3-RRR mechanism (13), its axis and 3-RRR mechanism (13) output stage
Dead in line, the coalition of the two, be fixedly mounted on the inside cavity of billiard table (10), mechanism base (14) is solid with billiard table (10)
Fixed connection, the center superposition of the center of 3-RRR mechanism (13) and billiard table (10) is on the 3-RRR mechanism centre of gyration (8) O point.
Supporter (11) is fixing with the mechanism base (14) of 3-RRR mechanism (13) to be connected, and becomes three degree of freedom spherical and drives
Connector between unit and robot body.
Casting mold oiliness bearing (5), is arranged on billiard table (10) surface, and spheroid (1) is sleeved on casting mold oiliness bearing (5).
The output shaft assembly (12) of motor (4) is coupled by spheroid shaft coupling (3) with spheroid (1).
Protective jacket (9) is arranged on the segment oral area of spheroid (1).
Spheroid specific structure (2) can be robot end's Job execution instrument or the active force transferring member of monomer or cluster
Deng.
The servo action of 3-RRR mechanism (13), drives motor (4) action being secured to connect, with motor (4) output shaft
Spheroid (1) action therewith that assembly (12) couples, under the support of casting mold oiliness bearing (5), do Space Angle-scope
In three-dimensional cone swing and spin, simultaneously, motor (4) drive spheroid (1) continuous rotation unaffected.
The motion in the range of certain space of the spherical drive unit rotation axis under SERVO CONTROL, can give it and take
The robot end carried performs instrument and makees rotation operation in little space.
Claims (6)
1. a three degree of freedom spherical driver element, is characterized in that: by three-degree-of-freedom spherical parallel mechanism---3-RRR mechanism with
Motor, spherical support, spherical output body combine, and driver element in the three degree of freedom spherical of formation can do certain space
Cone swing, the motion of spin and rotation continuously.
Three degree of freedom spherical driver element the most according to claim 1, is characterized in that: three-degree-of-freedom spherical parallel machine
Structure---
3-RRR mechanism has a fixing centre of gyration, and this centre of gyration is turned round as associated ball body, drive, supported
Center, make the spheroplast of continuous rotation can do certain space cone swing, the motion of spin around this center.
Three degree of freedom spherical driver element the most according to claim 1, is characterized in that: three-degree-of-freedom spherical parallel mechanism 3-
On the output stage of RRR equipment, installing a motor, by the coalition of the two, being fixedly mounted on a profile is the chamber of billiard table
Internal portion, the centre of sphere of billiard table overlaps with the 3-RRR mechanism centre of gyration.
Three degree of freedom spherical driver element the most according to claim 1, is characterized in that: billiard table outer surface mounting spherical slides
Bearing, supports the inner chamber of spherical drive unit spherical shell.
Three degree of freedom spherical driver element the most according to claim 1, is characterized in that: motor output shaft assembly and spherical shell
Connect, the action of 3-RRR mechanism and the motion parallel connection of motor passed to spherical shell so that spherical shell under the support of billiard table continuously from
Turning and do space motion, spherical shell becomes the movement output body of three degree of freedom spherical driver element.
Three degree of freedom spherical driver element the most according to claim 1, is characterized in that: fix the supporter being connected with billiard table
As the connector of three degree of freedom spherical driver element Yu robot body, become the motion of three degree of freedom spherical driver element
Supporter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610566085.9A CN105965538A (en) | 2016-07-19 | 2016-07-19 | Three-freedom-degree spherical drive unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610566085.9A CN105965538A (en) | 2016-07-19 | 2016-07-19 | Three-freedom-degree spherical drive unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105965538A true CN105965538A (en) | 2016-09-28 |
Family
ID=56952674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610566085.9A Pending CN105965538A (en) | 2016-07-19 | 2016-07-19 | Three-freedom-degree spherical drive unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965538A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116545A (en) * | 2017-06-19 | 2017-09-01 | 哈尔滨工业大学 | A kind of spherical modular unit of four-degree-of-freedom |
| CN112025760A (en) * | 2020-09-01 | 2020-12-04 | 重庆邮电大学 | Electromagnetic driving mechanical joint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104269A (en) * | 2007-08-08 | 2008-01-16 | 燕山大学 | Robot shoulder joint |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| GB2464147A (en) * | 2008-05-29 | 2010-04-14 | Knowles Kevin | Three Degree-of-Freedom Parallel Spherical Mechanism for Payload Orienting Applications |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN105522588A (en) * | 2016-03-02 | 2016-04-27 | 郭嘉辉 | Magnetic ball-joint robot |
-
2016
- 2016-07-19 CN CN201610566085.9A patent/CN105965538A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104269A (en) * | 2007-08-08 | 2008-01-16 | 燕山大学 | Robot shoulder joint |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| GB2464147A (en) * | 2008-05-29 | 2010-04-14 | Knowles Kevin | Three Degree-of-Freedom Parallel Spherical Mechanism for Payload Orienting Applications |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN105522588A (en) * | 2016-03-02 | 2016-04-27 | 郭嘉辉 | Magnetic ball-joint robot |
Non-Patent Citations (1)
| Title |
|---|
| 曾宪菁等: "3 -RRR 数控回转台的机械设计", 《机械设计》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116545A (en) * | 2017-06-19 | 2017-09-01 | 哈尔滨工业大学 | A kind of spherical modular unit of four-degree-of-freedom |
| CN107116545B (en) * | 2017-06-19 | 2019-09-13 | 哈尔滨工业大学 | A kind of four-degree-of-freedom spherical shape modular unit |
| CN112025760A (en) * | 2020-09-01 | 2020-12-04 | 重庆邮电大学 | Electromagnetic driving mechanical joint |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160928 |
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| WD01 | Invention patent application deemed withdrawn after publication |