CN107351064A - A kind of Novel two-freedom-degree parallel robot of apery wrist joint - Google Patents
A kind of Novel two-freedom-degree parallel robot of apery wrist joint Download PDFInfo
- Publication number
- CN107351064A CN107351064A CN201710689326.3A CN201710689326A CN107351064A CN 107351064 A CN107351064 A CN 107351064A CN 201710689326 A CN201710689326 A CN 201710689326A CN 107351064 A CN107351064 A CN 107351064A
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- CN
- China
- Prior art keywords
- servo
- freedom
- follower
- actuated
- novel
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
The present invention relates to a kind of Novel two-freedom-degree parallel robot of apery wrist joint, including：Pedestal, transition installing plate, electric machine assembly, gear, servo-actuated directing mechanism.It is characterized in that：Two groups of electric machine assemblies are arranged in the middle part of pedestal by screw, the servo-actuated directing mechanism passes through in four circular holes of transition installing plate, servo-actuated directing mechanism is connected by gear with electric machine assembly simultaneously, and precision of the present invention is high, easy to operate, freedom and flexibility, cost are cheap.
Description
Technical field
The invention discloses a kind of Novel two-freedom-degree parallel robot of apery wrist joint, is related to Robot Design neck
Domain.
Background technology
The artificial moving platform of parallel manipulator is connected with fixed platform by least two independent kinematic chains, and mechanism has two
Or the two or more free degree, and a kind of close loop mechanism driven with parallel way is mainly used in high accuracy, the assembling of high speed is made
Industry
Parallel robot uses linkage more at present, and each articular couple is high, part processing cost is big, cost is held high
It is expensive, while the coupling height between each joint also results in the complexity of motion control, to promoting the use for parallel robot
Bring very big difficulty.
The content of the invention
The defects of existing for prior art, it is an object of the invention to provide a kind of Novel two-freedom-degree parallel manipulator
People, precision is high, easy to operate, motion is flexibly rapid, cost is cheap.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of Novel two-freedom-degree parallel robot of apery wrist joint, including：Pedestal, transition installing plate, group of motors
Part, gear, servo-actuated directing mechanism.It is characterized in that：The motor is arranged on base bottom, the transition installing plate by screw
Screw is crossed at the top of pedestal, two electric machine assemblies are arranged in the middle part of pedestal by screw, and the servo-actuated directing mechanism passes through
In four circular holes of transition installing plate, while servo-actuated directing mechanism is connected by gear with electric machine assembly.
The servo-actuated directing mechanism includes outer arc follower and the circular alignment pin installed in its both sides, its one end
It is semicircular gear；Inner arc follower and the circular alignment pin installed in its both sides, its one end is semicircular gear；It is described
Outer arc follower and the orthogonal installation of inner arc follower, outer arc follower and inner arc follower intersection
Servo-actuated work connecting rod is installed in arc-shaped slot, work connecting rod one end is servo-actuated and is arranged in the spherical linkage of pedestal, can freely turn
It is dynamic.
The electric machine assembly includes servomotor and is arranged on motor mounting rack, and little gear is arranged on the defeated of servomotor
On shaft, and the gear wheel directly with inside and outside circular arc follower one end coordinates.
During work, motor in robot base by gear drive drive in outer arc follower rotate,
Outer arc follower and inner arc follower drive the servo-actuated work connecting rod in center around base by the arc-shaped slot on part
Spherical linkage rotation on seat, realizes the two degrees of freedom rotary motion of robot end.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is simple in construction, and cost is relatively low, is advantageous to promote, while the invention use is more convenient, by simple zero
Part, simple control can realize the stabilization of robot end, high-speed motion, while the robot is cheap, is easy to push away
Broad-spectrum and.
Brief description of the drawings
Fig. 1 is a kind of Novel two-freedom-degree parallel robot structural representation of apery wrist joint of the present invention.
Fig. 2 is that a kind of motor component structure of the Novel two-freedom-degree parallel robot of apery wrist joint of the present invention shows
It is intended to.
Fig. 3 is a kind of servo-actuated directing mechanism knot of the Novel two-freedom-degree parallel robot of apery wrist joint of the present invention
Structure schematic diagram.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of Novel two-freedom-degree parallel robot of apery wrist joint, including pedestal 001, group of motors
Part 002, servo-actuated directing mechanism 003, described two electric machine assemblies 002 are arranged on the middle part of pedestal 001, the servo-actuated finger by screw
Be arranged on to mechanism 003 by circular alignment pin 007 in four circular holes of pedestal 001, at the same servo-actuated directing mechanism pass through it is inside and outside
The gear of side circular arc follower one end is connected with electric machine assembly 002.
It is arranged on as shown in Fig. 2 the electric machine assembly 002 includes motor 006 on motor mounting rack 005, little gear 004
It is connected on the output shaft of motor 005, and with the semicircular gear of interior outer arc follower one end.
As shown in figure 3, the servo-actuated directing mechanism 003 includes outer arc follower 009 and installed in its both sides
Circular alignment pin 007, its one end are semicircular gears；Its one end of inner arc follower 010 is semicircular gear, around installed in
The circular alignment pin 007 of its both sides rotates；The outer arc follower 009 and inner arc follower 010 are orthogonal
Servo-actuated work connecting rod is installed in the arc-shaped slot of installation, outer arc follower 009 and the intersection of inner arc follower 010
008, servo-actuated one end of work connecting rod 008 is driven jointly by outer arc follower 009 and inner arc follower 010, around pedestal
Spherical linkage on 001 makees two degrees of freedom rotary motion.
The course of work of the present embodiment device is as follows：
Motor 006 on electric machine assembly 002 rotates, and by little gear 004, drives outer arc follower respectively
009 and inner arc follower 010 around circular alignment pin 007 make 180 ° in the range of rotary motion.Outer arc follower 009
The servo-actuated work connecting rod 008 on the inside of arc groove is driven to move by the arc-shaped slot of intersection with inner arc follower 010, with
Start building to make the one end of connecting rod 008 to be driven jointly by outer arc follower 009 and inner arc follower 010, on pedestal 001
Spherical linkage makees two degrees of freedom rotary motion, realizes rotary motion of the robot working distal tip on XY directions.
Claims (2)
1. a kind of Novel two-freedom-degree parallel robot of apery wrist joint, it is characterised in that concrete structure and annexation
For：
Including pedestal 001, electric machine assembly 002, servo-actuated directing mechanism 003, the electric machine assembly 002 is arranged on pedestal by screw
001 middle part, the servo-actuated directing mechanism 003 are arranged on by circular alignment pin 007 in four circular holes of pedestal 001, while with
Dynamic directing mechanism 003 is connected by inner arc follower 009, the gear of the one end of outer arc follower 010 and electric machine assembly 002
Connect.
A kind of 2. Novel two-freedom-degree parallel robot of apery wrist joint according to claim 1, it is characterised in that：
The servo-actuated directing mechanism 003 includes outer arc follower 009 and the circular alignment pin 007 installed in its both sides, one end
For semicircular gear；Inner arc follower 010 and the circular alignment pin 007 installed in its both sides, one end is semicircular gear；
The 010 orthogonal installation of outer arc follower 009 and inner arc follower, outer arc follower 010 and inner arc
Servo-actuated work connecting rod 008 is installed in the arc-shaped slot of the intersection of follower 009.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689326.3A CN107351064A (en) | 2017-08-11 | 2017-08-11 | A kind of Novel two-freedom-degree parallel robot of apery wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689326.3A CN107351064A (en) | 2017-08-11 | 2017-08-11 | A kind of Novel two-freedom-degree parallel robot of apery wrist joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351064A true CN107351064A (en) | 2017-11-17 |
Family
ID=60287098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710689326.3A Pending CN107351064A (en) | 2017-08-11 | 2017-08-11 | A kind of Novel two-freedom-degree parallel robot of apery wrist joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351064A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
-
2017
- 2017-08-11 CN CN201710689326.3A patent/CN107351064A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171117 |