CN106272462A - 一种姿态调整机构 - Google Patents

一种姿态调整机构 Download PDF

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CN106272462A
CN106272462A CN201610811030.XA CN201610811030A CN106272462A CN 106272462 A CN106272462 A CN 106272462A CN 201610811030 A CN201610811030 A CN 201610811030A CN 106272462 A CN106272462 A CN 106272462A
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axis
pair
rod
revolute pair
drive rod
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CN106272462B (zh
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陈树君
卢振洋
白立来
夏齐霄
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Beijing University of Technology
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Beijing University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Abstract

一种姿态调整机构，其特征在于：底座一、底座二和底座三固定不动；驱动杆一安装在底座一上，驱动杆一绕其自身轴线cd转动；驱动杆二的一端与驱动杆一以第六转动副相联接；驱动杆二的另一端以第二转动副与连杆一的一端相联接；当驱动杆一和驱动杆二同时转动时，执行杆将叠加为以b点为圆心的球形运动，所以执行杆可以以任意方向和角度指向b点。本发明提出一种基于两自由度的空间串联机构，满足机构前端的执行器以各种方向和角度达到所需的工作位置，并且在执行器调整角度时，工具前端不会脱离工作位置。

Description

一种姿态调整机构
技术领域
本发明提出一种工业生产线上用于姿态调整的机构，属于机械领域。
背景技术
在工业生产线上执行需要调整工作空间的位置和姿态，以适应不同的需求。
发明内容
本发明的目的在于：提出一种基于两自由度的空间串联机构，满足机构前端的执行器以各种方向和角度达到所需的工作位置，并且在执行器调整角度时，工具前端不会脱离工作位置。
图1为机构原理图，机构有三个底座，底座一9、底座二11和底座三15固定不动；驱动杆一8安装在底座一9上，驱动杆一8绕其自身轴线cd转动；驱动杆二7的一端与驱动杆一8以第六转动副21相联接；驱动杆二7的另一端以第二转动副6与连杆一5的一端相联接；连杆一5的另一端以第三转动副12与过渡杆一4相联接；连杆一5的轴线mn与驱动杆一8的轴线相平行，构成平面A；第六转动副21、第二转动副6及第三转动副12是平面A内的转动副；过渡杆一4的下端以第三球面副19与底座二11相联接；过渡杆一4的上端以第一球面副3与连杆二1的一端相联接；过渡杆一4的轴线ef与驱动杆二7的轴线相平行；第三转动副12位于第一球面副3和第三球面副19之间；连杆二1的另一端以第四转动副16与执行杆18相联接；第一转动副2位于第四转动副16与第一球面副3之间，联接连杆二1和过渡杆二14的上端；过渡杆二14的轴线gh在平面A外，且平行于轴线ef；轴线gh与轴线ef构成平面B；过渡杆二14的下端以第四球面副20与底座三15相联；第四球面副20的球心与第三球面副19的球心构成直线ij，且垂直于轴线cd；连杆二1的轴线qr平行于直线ij；执行杆18的下端点b位于直线ij上；连杆三21的一端以第二球面副13与过渡杆二14相联接，另一端以第五转动副17与执行杆18相联接；第二球面副13位于第一转动副2和第四球面副20之间；转动副17位于第四转动副16与执行杆18下端点b之间；连杆三21的轴线kl与轴线qr相平行；执行杆18的轴线ab与轴线gh相平行。
机构工作原理如下：机构在工作时，底座一9、底座二11和底座三15均固定不动；因此，当驱动杆二7固定不动，而驱动杆一8运动时平面A将绕轴线cd转动，由于轴线ef、轴线gh、轴线ab在平面B内相互平行，且执行杆18的下端点b在直线ij上，所以执行杆18将在平面B内绕b点旋转；而当驱动杆一8固定而驱动杆二7转动时，由于轴线op与轴线ef平行，且轴线ij垂直于轴线cd，所以平面B也随驱动杆二7同步转动，因此执行杆18也随驱动杆二7同步转动；综合以上两种情况，当驱动杆一8和驱动杆二7同时转动时，执行杆18将叠加为以b点为圆心的球形运动，所以执行杆18可以以任意方向和角度指向b点。
附图说明
图1机构轴测图
具体实施方式
具体实施方式如图1。
驱动杆二7长度为45mm，连杆一5的长度为42mm，连杆二1的长度为75mm，连杆三21的长度为37.5mm。第四转动副16至第一转动副2，第一转动副2至球副3，球副17至球副13之间的距离为37.5mm。第四转动副16至球副17，球副13至第一转动副2，球副3至第三转动副12之间的距离为22.5mm。可实现执行杆18可以任意方向指向点b。

Claims (1)

1.一种姿态调整机构，其特征在于：有三个底座，底座一、底座二和底座三固定不动；驱动杆一安装在底座一上，驱动杆一绕其自身轴线cd转动；驱动杆二的一端与驱动杆一以第六转动副相联接；驱动杆二的另一端以第二转动副与连杆一的一端相联接；连杆一的另一端以第三转动副与过渡杆一相联接；连杆一的轴线mn与驱动杆一的轴线相平行，构成平面A；第六转动副、第二转动副及第三转动副是平面A内的转动副；过渡杆一的下端以第三球面副与底座二相联接；过渡杆一的上端以第一球面副与连杆二的一端相联接；过渡杆一的轴线ef与驱动杆二的轴线相平行；第三转动副位于第一球面副和第三球面副之间；连杆二的另一端以第四转动副与执行杆相联接；第一转动副位于第四转动副与第一球面副之间，联接连杆二和过渡杆二的上端；过渡杆二的轴线gh在平面A外，且平行于轴线ef；轴线gh与轴线ef构成平面B；过渡杆二的下端以第四球面副与底座三相联；第四球面副的球心与第三球面副的球心构成直线ij，且垂直于轴线cd；连杆二的轴线qr平行于直线ij；执行杆的下端点b位于直线ij上；连杆三的一端以第二球面副与过渡杆二相联接，另一端以第五转动副与执行杆相联接；第二球面副位于第一转动副和第四球面副之间；转动副位于第四转动副与执行杆下端点b之间；连杆三的轴线kl与轴线qr相平行；执行杆的轴线ab与轴线gh相平行。
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0451364A1 (en) * 1990-04-11 1991-10-16 Mitaka Kohki Co., Ltd. Counterbalanced parallel linkage supporting mechanism
EP0791438A2 (de) * 1996-02-07 1997-08-27 Verein Deutscher Werkzeugmaschinenfabriken e.V. (VDW) Vorrichtung zur Bewegung eines Körpers im Raum
US5816105A (en) * 1996-07-26 1998-10-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Three degree of freedom parallel mechanical linkage
CN1528566A (zh) * 2003-09-26 2004-09-15 西安交通大学 一种与位置机构运动解耦的机器人姿态调节手腕机构
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
JP2008272887A (ja) * 2007-04-27 2008-11-13 Nagoya Institute Of Technology 低侵襲手術ロボット
CN201807851U (zh) * 2010-09-20 2011-04-27 张世勤 全回转坡口切割机无位移无限连续回转机构
CN104476054A (zh) * 2014-12-23 2015-04-01 广西大学 利用六自由度五杆移动式连杆机构进行焊接施工的方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0451364A1 (en) * 1990-04-11 1991-10-16 Mitaka Kohki Co., Ltd. Counterbalanced parallel linkage supporting mechanism
EP0791438A2 (de) * 1996-02-07 1997-08-27 Verein Deutscher Werkzeugmaschinenfabriken e.V. (VDW) Vorrichtung zur Bewegung eines Körpers im Raum
US5816105A (en) * 1996-07-26 1998-10-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Three degree of freedom parallel mechanical linkage
CN1528566A (zh) * 2003-09-26 2004-09-15 西安交通大学 一种与位置机构运动解耦的机器人姿态调节手腕机构
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
JP2008272887A (ja) * 2007-04-27 2008-11-13 Nagoya Institute Of Technology 低侵襲手術ロボット
CN201807851U (zh) * 2010-09-20 2011-04-27 张世勤 全回转坡口切割机无位移无限连续回转机构
CN104476054A (zh) * 2014-12-23 2015-04-01 广西大学 利用六自由度五杆移动式连杆机构进行焊接施工的方法

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