CN106352038B - 闭链串联全向定点操纵机构 - Google Patents

闭链串联全向定点操纵机构 Download PDF

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CN106352038B
CN106352038B CN201610811779.4A CN201610811779A CN106352038B CN 106352038 B CN106352038 B CN 106352038B CN 201610811779 A CN201610811779 A CN 201610811779A CN 106352038 B CN106352038 B CN 106352038B
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axis
pair
connecting rod
rotary
side link
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CN106352038A (zh
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陈树君
白立来
卢振洋
夏齐霄
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Beijing University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F16H21/48—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying rotary motions

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

闭链串联全向定点操纵机构，属于机械领域。在机器人工作的生产线上，执行机构需要调整位置和姿态，以适应不同的需求。本机构在工作时，机座一、底座二和底座三均固定不动；平面A可绕轴线转动，而平面B可绕另一轴线转动。执行杆的运动区域为以b为圆心的圆球。因此执行杆可以以任意方向指向b点。本机构满足执行机构夹持的工具以各种方向和角度达到所需的工作点位置，并且在工具调整角度时，工具端点不会脱离工作位置。

Description

闭链串联全向定点操纵机构
技术领域
本发明提出一种工业生产线上的闭链串联全向定点操纵机构，属于机械领域。
背景技术
在机器人工作的生产线上，执行机构需要调整位置和姿态，以适应不同的需求。
发明内容
本发明的目的在于：提出一种基于空间闭链串联机构的全方位操作机构，满足执行机构夹持的工具以各种方向和角度达到所需的工作点位置，并且在工具调整角度时，工具端点点不会脱离工作位置。
图1为机构原理图，其特征在于：机构有三个固定不动的底座：底座一1、底座二21和底座三18；底座一1与驱动杆一2以回转副25相联接，驱动杆一2绕其轴线ij转动；驱动杆二3在两端分别与驱动杆一2和连杆一5以第七回转副24和转动副4相联接；连杆一5的轴线kl平行于驱动杆一2的轴线ij；轴线kl与轴线ij构成平面A；第七回转副24和转动副4是平面A内的回转副，驱动杆2和连杆一5在平面A内运动；连杆一5与连架杆一7以第一球面副6相联接；连架杆一7的轴线ef平行于驱动杆二3的轴线gh；连架杆一7的下端以球面副22与底座二21相联接，球面副22的中心在轴线ij上；连架杆一7的上端以第二球面副8与连杆二9的一个端部联接；连杆二9的另一个端部以第三回转副13与执行杆15的上端部相联接；连架杆二17的轴线cd在平面A外，且平行于连架杆一7的轴线ef；轴线cd和轴线ef构成平面B；连架杆二17的下端与底座三18以第三球面副19相联接；第三球面副19的中心与球面副22的中心构成直线op；直线op垂直于轴线ij；连架杆二17的上端以第二回转副11与连杆二9相联接；连杆二的轴线qr平行于直线op；连杆三20的轴线st平行于直线op；连杆三20的一端以第六回转副23与连架杆一7相联接，另一端以第五回转副16与连架杆二17相联接；连杆四12的一个端部以第一回转副10与连架杆二17相联接，另一个端部以第四回转副14与执行杆15相联接；执行杆15的下端点b在直线op上；第一回转副10、第二回转副11、第三回转副13、第四回转副14、第五回转副16和第六回转副23都是平面B内的回转副；连杆四12的轴线mn平行于直线op；执行杆15的轴线ab平行于轴线cd。
本发明所提的闭链串联全向定点操纵机构工作原理如下：由上述结构可知，机构在工作时，机座一1、底座二21和底座三18均固定不动；平面A可绕轴线ij转动，而平面B可绕轴线op转动。当驱动杆二3不运动，而驱动杆一2绕轴线ij转动时，在驱动杆二3、连杆一5和第一球面副6的带动下，因轴线ij与直线op垂直，所以，连架杆一7及其他平面B内的构件都会在平面B内运动，又因为轴线ef、轴线cd和轴线ab相互平行，且轴线qr、轴线mn、轴线st均与直线op平行，而球面副22、第三球面副19的中心与执行杆15的下端点b都位于直线op上，所以执行杆15在平面B内作以b点为圆心的转动；当驱动杆一2不动，而驱动杆二3转动时，因为驱动杆二3的轴线gh平行于连架杆一7的轴线ef，连杆一5的轴线平行于驱动杆一2的轴线ij，所以在运动过程中轴线gh始终平行于轴线ef，且始终平行于平面B，因此，执行杆15的运动为以b点为圆心平行于平面A的转动，这个转动所在平面始终是垂直于平面B的。综上所述，当综合了驱动杆一2和驱动杆二3的运动时，执行杆15的运动区域为以b为圆心的圆球。因此执行杆15可以以任意方向指向b点，当用于操纵工具时，当工作点位于b点时，可保证工具的端点以任意方向接近工作点。
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。
驱动杆二3长度为45mm，连杆一5的长度为42mm，连杆二9的长度为75mm，连杆三20和连杆四的长度为37.5mm。第二回转副11至第三回转副13，第二回转副11至第二球面副8，第四回转副14至第一回转副10，第五回转副16至第六回转副23之间的距离为37.5mm。第三回转副13至第四回转副14，第二回转副11至第一回转副10，第二球面副8至第一球面副6之间的距离为22.5mm。第五回转副16至第六回转副23之间的距离为28mm。可实现执行杆15以任意方向指向点b。

Claims (1)

1.闭链串联全向定点操纵机构，其特征在于：机构有三个固定不动的底座：底座一、底座二和底座三；底座一与驱动杆一以回转副相联接，驱动杆一绕其轴线ij转动；驱动杆二在两端分别与驱动杆一和连杆一以第七回转副和转动副相联接；连杆一的轴线kl平行于驱动杆一的轴线ij；轴线kl与轴线ij构成平面A；第七回转副和转动副是平面A内的回转副，驱动杆一和连杆一在平面A内运动；连杆一与连架杆一以第一球面副相联接；连架杆一的轴线ef平行于驱动杆二的轴线gh；连架杆一的下端以球面副与底座二相联接，球面副的中心在轴线ij上；连架杆一的上端以第二球面副与连杆二的一个端部联接；连杆二的另一个端部以第三回转副与执行杆的上端部相联接；连架杆二的轴线cd在平面A外，且平行于连架杆一的轴线ef；轴线cd和轴线ef构成平面B；连架杆二的下端与底座三以第三球面副19相联接；第三球面副19的中心与球面副的中心构成直线op；直线op垂直于轴线ij；连架杆二的上端以第二回转副与连杆二相联接；连杆二的轴线qr平行于直线op；连杆三的轴线st平行于直线op；连杆三的一端以第六回转副与连架杆一相联接，另一端以第五回转副与连架杆二相联接；连杆四的一个端部以第一回转副与连架杆二相联接，另一个端部以第四回转副与执行杆相联接；执行杆的下端点b在直线op上；第一回转副、第二回转副、第三回转副、第四回转副、第五回转副和第六回转副都是平面B内的回转副；连杆四的轴线mn平行于直线op；执行杆的轴线ab平行于轴线cd。
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Citations (4)

* 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
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
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7204168B2 (en) * 2004-02-25 2007-04-17 The University Of Manitoba Hand controller and wrist device

Patent Citations (4)

* 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
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
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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