CN108582152A - A kind of articulation mechanism with the rotation of Three Degree Of Freedom adjustable point - Google Patents
A kind of articulation mechanism with the rotation of Three Degree Of Freedom adjustable point Download PDFInfo
- Publication number
- CN108582152A CN108582152A CN201810453291.8A CN201810453291A CN108582152A CN 108582152 A CN108582152 A CN 108582152A CN 201810453291 A CN201810453291 A CN 201810453291A CN 108582152 A CN108582152 A CN 108582152A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- pair
- rotation
- revolute pair
- composite
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The invention discloses a kind of articulation mechanisms of Three Degree Of Freedom adjustable point rotation, including rack (1), composite rotation pair (2), first connecting rod (3), first revolute pair (4), second connecting rod (5), second revolute pair (6), third connecting rod (7), sliding pair external member (8) and fourth link (9), composite rotation pair (2) is connected with rack (1), composite rotation pair (2) is connected with first connecting rod (3), first connecting rod (3) is connect with the first revolute pair (4), first revolute pair (4) is connect with second connecting rod (5), second connecting rod (5) is connected with the second revolute pair (6), second revolute pair (6) is connect with third connecting rod (7), third connecting rod (7) is connect with sliding pair external member (8).The present invention has the following advantages：The function of realizing three fixed point rotaries, solves the problems, such as motion continuity, can ensure the coordinate synchronization movement between component, overall structure is made to become simpler, while object can also be accommodated by mechanism, and realization is more broadly applied.
Description
Technical field
The present invention relates to mechanical design fields, and in particular to a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation.
Background technology
Currently, robot technology is widely used to the fields such as society, life, military affairs, industrial production.In general, different work(
Energy robot can use different joint designs mechanisms according to the difference of task, and establish corresponding joint allocation plan, such as shoulder joint
Section, wrist joint, waist joint etc..As the activity performance index for evaluating these articulation mechanisms, joint freedom degrees are robot always
The important content of design and development.
In general, industrial robot mostly uses the rotary joint form of single-degree-of-freedom, can greatly facilitate in this way
The installation and motion control of electric rotating machine.With the development of techniques of linear motor, some arthrodia mechanisms are gradually answered
With and promote.
For degree of freedom angle, arthrodia is still mechanism with single degree of freedom, it is to substitute dead axle with translation motion in one dimension
One-directional rotation.In reality production, in order to realize the multifreedom motion of industrial robot, generally use multi link composite structure
To realize multiple degrees of freedom, or even generation redundant degree of freedom to improve movenent performance.Theoretically, in various motor patterns, three
The movement of degree of freedom fixed point rotary is relatively difficult to achieve, and Three Degree Of Freedom rotating mechanism is all deposited in daily life and industrial production
In larger application demand.
In addition, the industrial machinery National People's Congress is all physical link mechanism, they are mostly with the outputs type task such as snatch, support, carrying
For the purpose of, it is not required that they realize that accurately movement is transmitted.Meanwhile the functional requirement for accommodating object is also not present in they.So
And in certain engineer applications, there is the functional requirement for needing confined space intraluminal interior body.For example, diving under water when deep-sea detecting
Spacefarer's inner pressed space suit etc. under high undersea hydrostatic pressures clothes and outer space environment that member is passed.They are often to bearing load
It is of less demanding, it is larger to good movenent performance demand, while requiring them that can preferably accommodate staff, it should not be to personnel
It damages.It can be seen that this kind of joint must have good kinetic characteristic.
Invention content
The technical problem to be solved by the present invention is to：The movement of conventional industrial robot's Three Degree Of Freedom fixed point rotary is more difficult reality
It is existing, it realizes multiple degrees of freedom often through multi link composite structure, or even generate redundant degree of freedom to improve movenent performance, increases
The complexity of structure, there is also the fault of construction that cannot accommodate object.
Technical problem proposed by the invention solves in this way：Provide a kind of joint of Three Degree Of Freedom adjustable point rotation
Mechanism, including rack 1, composite rotation pair 2, first connecting rod 3, the first revolute pair 4, second connecting rod 5, the second revolute pair 6, third connect
Bar 7, sliding pair external member 8 and fourth link 9；
The outer ring of composite rotation pair 2 is connected with rack 1, and there are one global coordinate system xyz, composite rotations for fixation at rack 1
Pair 2 is fixed at the origin o of coordinate system xyz, and one end of the inner ring and first connecting rod 3 of composite rotation pair 2 is fixedly linked, and first connects
The other end of bar 3 is fixedly connected with the outer ring of the first revolute pair 4, and the inner ring of the first revolute pair 4 is solid with one end of second connecting rod 5
Fixed connection, the other end of second connecting rod 5 are fixedly linked with 6 inner ring of the second revolute pair, and outer ring and the third of the second revolute pair 6 connect
One end of bar 7 is fixedly connected, and the other end of third connecting rod 7 is fixedly connected with the outer ring of sliding pair external member 8, fourth link 9 with
The inner ring of sliding pair external member 8 forms sliding pair, and one end and the origin o of fourth link 9 are that typed ball bearing pair is connect；
The central shaft of composite rotation pair 2 and the y-coordinate axis keeping parallelism of global coordinate system, first connecting rod 3 and composite rotation
Angle between the central shaft of pair 2 is α1, and first connecting rod 3 can carry out fixed-axis rotation, first connecting rod 3 with respect to composite rotation pair 2
Relative rotation angle between composite rotation pair 2 is θ1, the angle between second connecting rod 5 and first connecting rod 3 is α2, and second
Connecting rod 5 can carry out fixed-axis rotation with respect to first connecting rod 3, and the relative rotation angle between second connecting rod 5 and first connecting rod 3 is θ2,
Angle between third connecting rod 7 and second connecting rod 5 is α3, and third connecting rod 7 can carry out fixed-axis rotation with respect to second connecting rod 5, the
It is θ that three-link 7 relatively rotates angle with second connecting rod 53, fourth link 9 and third connecting rod 7 be mutually parallel in sliding vice division chief, and
The glide direction of sliding pair remains parallel with third connecting rod 7 and fourth link 9；
All revolute pair Internal and external cycles can relatively rotate, and all connecting rods have referred to the object of connection function, are not limited only to
Rod-like articles；
The length of first connecting rod 3 is d1, the length of second connecting rod 5 is d2, the length of third connecting rod 7 is d3。
d1=r1sinα1；
d2=r1cosα1sinα2；
d3=r1cosα1cosα2sinα3；
Wherein, r1For using origin o as the arbitrarily round radius in the center of circle.
α3=α2-α1；
α2＞ α1。
Composite rotation pair 2 includes inside and outside two revolute pairs, and the central shaft of two revolute pairs keeps overlapping, and upper end is horizontal
Alignment, meanwhile, the outer ring of inner rotation pair is fixedly connected with the inner ring of external revolute pair, to ensure the composite rotation pair 2
For tool there are two rotational freedom, the inner ring of inner rotation pair constitutes the inner ring of composite rotation pair 2, and the outer ring of external revolute pair is constituted
The outer ring of composite rotation pair 2.
θ1Value range be 0 °~360 °, θ2With θ3Value range it is identical, be 0 °~90 °.
All revolute pairs are all made of ball bearing, and sliding pair external member 8 uses sliding bearing.
The invention has the advantages that：This structure realizes the function of three fixed point rotaries, solves motion continuity and asks
Topic can ensure the coordinate synchronization movement between component, so that overall structure is become simpler, while can also be accommodated by mechanism
Object, realization are more broadly applied.
Description of the drawings
Fig. 1 is the articulation mechanism structure diagram of Three Degree Of Freedom adjustable point rotation；
Fig. 2 is the concrete scheme using the articulation mechanism of Three Degree Of Freedom adjustable point rotation (inside display member
Structure, therefore conceal sliding pair external member (8))；
Fig. 3 is concrete scheme stereogram (the display structure for convenience using the articulation mechanism of Three Degree Of Freedom adjustable point rotation
Part internal structure, therefore conceal sliding pair external member (8))；
Wherein, rack (1), composite rotation secondary (2), first connecting rod (3), the first revolute pair (4), second connecting rod (5), second
Revolute pair (6), third connecting rod (7), sliding pair external member (8), fourth link (9).
Specific implementation mode
The present invention will be further described below with reference to the drawings.
As shown in figure (2) and (3), for convenience of description, using number corresponding with figure (1).The joint structure scheme includes
Rack (1), composite rotation secondary (2), first connecting rod (3), the first revolute pair (4), second connecting rod (5), the second revolute pair (6), the
Three-link (7), sliding pair external member (8) and fourth link (9), rack (1) are fixedly connected on the outer ring of composite rotation secondary (2),
One end of first connecting rod (3) is connected on the inner ring of composite rotation secondary (2).
Composite rotation pair (2) includes inside and outside two ball bearings, other bearings can also be used to connect, such as ball bearing, rolling
Needle bearing etc..The central shaft of two ball bearings keeps overlapping, upper end horizontal alignment, meanwhile, the outer ring of internal ball bearing with
The inner ring of external ball bearing is fixedly connected, and ensureing composite rotation secondary (2), integrally there are two rotational freedoms for tool, can be around internal ball
Bearing centre axis rotates, and can also be rotated around external ball bearing centre axis.The inner ring of internal ball bearing constitutes composite rotation secondary (2)
Inner ring, the outer ring of external revolute pair constitute the outer ring of composite rotation secondary (2).
The other end of first connecting rod (3) is fixedly connected on the outer ring of the first revolute pair (4), and the first revolute pair (4) is preferred
For ball bearing, other bearings can also be used to connect, such as ball bearing, needle bearing.The inner ring of first revolute pair (4) is fixed
One end of second connecting rod (5) is connected, the other end of second connecting rod (5) is fixedly connected on the inner ring of the second revolute pair (6), and second
Revolute pair (6) is preferably ball bearing, other bearings can also be used to connect, such as ball bearing, needle bearing.Second revolute pair
(6) outer ring is fixedly connected with one end of third connecting rod (7), and the other end of third connecting rod (7) is fixedly connected on sliding pair external member (8)
Outer ring on, sliding pair external member (8) is preferably sliding bearing, in order to facilitate display member internal structure, therefore in figure (2) and (3)
In conceal sliding pair external member (8), the inner ring of sliding pair external member (8) is sleeved in fourth link (9), can be in fourth link (9)
Free to slide, fourth link (9) is connect with the central point of rack (1) by typed ball bearing pair, ensures that fourth link (9) can be around rack
(1) central point Universal rotary.
Wherein, first connecting rod (3), second connecting rod (5) and third connecting rod (7) are stiff case, and fourth link (9) is bar
Body.
As shown in figure (2), for the benefit of illustrate the structure of the present embodiment, respectively by first connecting rod (3), second connecting rod (5) and
The line at the midpoint on the both sides up and down in the plane of symmetry section of third connecting rod (7) represents direction and the length of each connecting rod.
The central shaft of composite rotation pair (2) in the vertical direction, the central shaft of first connecting rod (3) and composite rotation secondary (2)
Between angle be α1, it is fixed on due to first connecting rod (3) on the inner ring of composite rotation secondary (2), first connecting rod (3) can be with
Opposite composite rotation secondary (2) can carry out fixed-axis rotation, the relative rotation angle between first connecting rod (3) and composite rotation secondary (2)
θ1Ranging from 0 °~360 °, i.e. first connecting rod (3) can be freely rotated with dead axle.
Angle between second connecting rod (5) and first connecting rod (3) is α2, and second connecting rod (5) can with respect to first connecting rod (3)
Carry out fixed-axis rotation, the relative rotation angle, θ between second connecting rod (5) and first connecting rod (3)2It is 0 °~90 °.
Angle between third connecting rod (7) and second connecting rod (5) is α3, and third connecting rod (7) can with respect to second connecting rod (5)
Fixed-axis rotation is carried out, third connecting rod (7) relatively rotates angle, θ with second connecting rod (5)3For with second connecting rod (5) and first connecting rod
(3) the relative rotation angle, θ between2It is identical, also it is 0 °~90 °.
Fourth link (9) is mutually parallel with third connecting rod (7), and the glide direction and third connecting rod of sliding pair external member (8)
(7) remain parallel with fourth link (9).
The length of first connecting rod (3) is d1, the length of second connecting rod (5) is d2, the length of third connecting rod (7) is d3, each
The relational expression of angle between the length and connecting rod of connecting rod is as follows：
d1=r1sinα1；
d2=r1cosα1sinα2；
d3=r1cosα1cosα2sinα3；
Wherein, r1It is the outer radii of composite rotation secondary (2).
Meanwhile the angle between connecting rod also meets following relationship：
α3=α2-α1；
α2＞ α1。
In actual operation, connected by the way that fourth link (9) is transferred drive the 4th around the central point Universal rotary of rack (1)
Sliding pair external member (8) on bar (9) is slided, since sliding pair external member (8) outer ring and one end of third connecting rod (7) are fixed and connected
It connects, therefore third connecting rod (7) can follow sliding pair external member (8) to be slided along fourth link (9).
The other end of third connecting rod (7) is connect with the outer ring of the second revolute pair (6), therefore one end is fixed on the second revolute pair
(6) second connecting rod (5) of inner ring can be with respect to the second revolute pair (6) fixed-axis rotation.
Second connecting rod (5) other end is fixed on the inner ring of the first revolute pair (4), therefore the inner ring of the first revolute pair (4)
It can be rotated synchronously by second connecting rod (5) and the inner ring of the second revolute pair (6).
Since the opposite inner ring of outer ring meeting of the first revolute pair (4) rotates, also one end can be made to be fixed on first turn
First connecting rod (3) rotation of dynamic pair (4) outer ring.Because of degree of freedom that there are two composite rotation pair (2) tools, and first connecting rod (3)
The other end is fixed on secondary (2) inner ring of composite rotation, so composite rotation pair (2) can meet all turns of first connecting rod (3)
Dynamic angle, to ensure that fourth link (9) can rotate freely.
It can be seen that Three Degree Of Freedom adjustable point may be implemented in the position by changing fourth link (9), the joint structure
Rotation is to adapt to actual production needs, to solve the problems, such as that the movement in production cannot be carried out continuously.It can adjust simultaneously
The size of each revolute pair inner ring accommodates object, to meet the needs for using the structure inside joint structure, solves as navigated
Its clothes, the knee of high undersea hydrostatic pressures clothes etc. or the problem of elbow bending difficulty, make articular portion activity by simpler structure
It is more flexible.
The present invention above by the specific implementation mode by the embodiment shown in that figure, is made to the above of the present invention
Further description, but the range that this should not be interpreted as to above-mentioned theme of the invention is only limitted to described example.
Claims (6)
1. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation, which is characterized in that including rack (1), composite rotation secondary (2),
First connecting rod (3), the first revolute pair (4), second connecting rod (5), the second revolute pair (6), third connecting rod (7), sliding pair external member (8)
With fourth link (9)；
The outer ring of composite rotation pair (2) is connected with rack (1), global coordinate system xyz there are one fixations at rack (1), compound turn
Dynamic pair (2) is fixed at the origin o of coordinate system xyz, one end stationary phase of the inner ring and first connecting rod (3) of composite rotation pair (2)
Even, the other end of first connecting rod (3) is fixedly connected with the outer ring of the first revolute pair (4), the inner ring of the first revolute pair (4) and the
One end of two connecting rods (5) is fixedly connected, and other end and the second revolute pair (6) inner ring of second connecting rod (5) are fixedly linked, and second
The outer ring of revolute pair (6) is fixedly connected with one end of third connecting rod (7), other end and the sliding pair external member of third connecting rod (7)
(8) outer ring is fixedly connected, the inner ring formation sliding pair of fourth link (9) and sliding pair external member (8), and the one of fourth link (9)
End is that typed ball bearing pair is connect with origin o；
The composite rotation pair central shaft of (2) and the y-coordinate axis keeping parallelism of global coordinate system, first connecting rod (3) and composite rotation
Angle between the central shaft of secondary (2) is α1, and first connecting rod (3) can carry out fixed-axis rotation with respect to composite rotation secondary (2), first
Relative rotation angle between connecting rod (3) and composite rotation secondary (2) is θ1, the folder between second connecting rod (5) and first connecting rod (3)
Angle is α2, and second connecting rod (5) can carry out fixed-axis rotation with respect to first connecting rod (3), second connecting rod (5) and first connecting rod (3) it
Between relative rotation angle be θ2, the angle between third connecting rod (7) and second connecting rod (5) is α3, and third connecting rod (7) is opposite
Second connecting rod (5) can carry out fixed-axis rotation, and it is θ that third connecting rod (7) relatively rotates angle with second connecting rod (5)3, fourth link
(9) it is mutually parallel in sliding vice division chief with third connecting rod (7), and the glide direction of sliding pair and third connecting rod (7) and fourth link
(9) remain parallel；
All revolute pair Internal and external cycles can relatively rotate, and all connecting rods have referred to the object of connection function, are not limited only to rod-shaped
Object；
The length of first connecting rod (3) is d1, the length of second connecting rod (5) is d2, the length of third connecting rod (7) is d3。
2. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation according to claim 1, which is characterized in that
d1=r1sinα1；
d2=r1cosα1sinα2；
d3=r1cosα1cosα2sinα3；
Wherein, r1For using origin o as the arbitrarily round radius in the center of circle.
3. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation according to claim 1, which is characterized in that
α3=α2-α1；
α2＞ α1。
4. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation according to claim 1, which is characterized in that composite rotation
Secondary (2) include inside and outside two revolute pairs, and the central shaft of two revolute pairs keeps overlapping, upper end horizontal alignment, meanwhile, it is internal
The outer ring of revolute pair is fixedly connected with the inner ring of external revolute pair, and to ensure the composite rotation secondary (2) tool, there are two rotations
Degree of freedom, the inner ring of inner rotation pair constitute the inner ring of composite rotation secondary (2), and the outer ring of external revolute pair constitutes composite rotation pair
(2) outer ring.
5. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation according to claim 1, which is characterized in that θ1Value
Ranging from 0 °~360 °, θ2With θ3Value range it is identical, be 0 °~90 °.
6. a kind of articulation mechanism of Three Degree Of Freedom adjustable point rotation according to claim 1, which is characterized in that all rotations
Pair is all made of ball bearing, and sliding pair external member (8) uses sliding bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453291.8A CN108582152B (en) | 2018-05-14 | 2018-05-14 | Joint mechanism with three degrees of freedom and capable of rotating at fixed point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453291.8A CN108582152B (en) | 2018-05-14 | 2018-05-14 | Joint mechanism with three degrees of freedom and capable of rotating at fixed point |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108582152A true CN108582152A (en) | 2018-09-28 |
| CN108582152B CN108582152B (en) | 2020-09-29 |
Family
ID=63636924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810453291.8A Expired - Fee Related CN108582152B (en) | 2018-05-14 | 2018-05-14 | Joint mechanism with three degrees of freedom and capable of rotating at fixed point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582152B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3405406A (en) * | 1966-07-19 | 1968-10-15 | Nasa Usa | Hard space suit |
| US4594734A (en) * | 1984-12-20 | 1986-06-17 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Shoulder and hip joint for hard space suits |
| US4598427A (en) * | 1984-12-20 | 1986-07-08 | The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration | Elbow and knee joint for hard space suits |
| CN105659759B (en) * | 2006-11-03 | 2009-07-01 | 北京空间飞行器总体设计部 | A kind of four-bar linkage for spacecraft |
| CN107082124A (en) * | 2017-06-14 | 2017-08-22 | 电子科技大学 | Space suit hip joint |
-
2018
- 2018-05-14 CN CN201810453291.8A patent/CN108582152B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3405406A (en) * | 1966-07-19 | 1968-10-15 | Nasa Usa | Hard space suit |
| US4594734A (en) * | 1984-12-20 | 1986-06-17 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Shoulder and hip joint for hard space suits |
| US4598427A (en) * | 1984-12-20 | 1986-07-08 | The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration | Elbow and knee joint for hard space suits |
| CN105659759B (en) * | 2006-11-03 | 2009-07-01 | 北京空间飞行器总体设计部 | A kind of four-bar linkage for spacecraft |
| CN107082124A (en) * | 2017-06-14 | 2017-08-22 | 电子科技大学 | Space suit hip joint |
Non-Patent Citations (1)
| Title |
|---|
| 王振伟等: ""面向星表探测的航天服关节系统概念设计"", 《载人航天》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
| CN110877337B (en) * | 2019-11-29 | 2020-11-24 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108582152B (en) | 2020-09-29 |
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