CN109514595A - A kind of two-freedom parallel connection articulation mechanism - Google Patents
A kind of two-freedom parallel connection articulation mechanism Download PDFInfo
- Publication number
- CN109514595A CN109514595A CN201811625585.0A CN201811625585A CN109514595A CN 109514595 A CN109514595 A CN 109514595A CN 201811625585 A CN201811625585 A CN 201811625585A CN 109514595 A CN109514595 A CN 109514595A
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- China
- Prior art keywords
- output shaft
- driver
- articulation mechanism
- axis
- parallel connection
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- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 230000001419 dependent effect Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000004394 hip joint Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The present invention relates to a kind of two-freedom parallel connection articulation mechanisms, including fixed device, cross hinge structure, the first driver and the second driver, two drivers to be fixed on fixed device, and the axis perpendicular of output shaft.The output shaft of first driver can drive cross hinge structure continuous rotation, and corner size depends on the corner of two drivers.The extended line of the output shaft axis of second driver intersects with cross hinge center, and the output shaft of cross hinge is moving platform.Two-freedom parallel connection articulation mechanism of the invention, can get biggish angle range, and continuous rotation can be achieved in moving platform under the driving of the first driver (corner can be infinitely great).The swing around ± 90 degree of another axis (orthogonal with previous axis) can be achieved in cross hinge output shaft under the driving of the second driver, and corner size is only dependent upon the corner of the second driver.The rotation of moving platform both direction can carry out respectively, can also carry out simultaneously.
Description
Technical field
The present invention relates to multi-freedom joint technical field, in particular to a kind of two-freedom parallel connection articulation mechanism.
Background technique
Two-freedom degree joint mechanism, which refers to, to be had there are two the articulation mechanism that rotational freedom, especially two axial lines intersect vertically,
The prototype of this articulation mechanism from human body and animal body, such as human body and the neck joint of other walking class animals, ankle-joint,
Shoulder joint, waist joint, hip joint etc., two-freedom degree joint mechanism is in robot, Five-axis NC Machining Center, radar or camera pose tune
There is extensive application in the fields such as whole device, therefore, promote the properties of two-freedom degree joint while simplifying two-freedom degree joint
Structure is one of technical issues that need to address.
Compared to traditional tandem articulation mechanism, parallel articulation mechanism has the advantages such as precision is high, bearing capacity is strong, existing
Some two-freedom parallel connection articulation mechanisms all have two branches, and moving platform has the freedom degree rotated around two axis, such as Fig. 1-Fig. 3 institute
Show, these existing two-freedom parallel connection articulation mechanisms are able to achieve rotary freedom there are two moving platform tools, but angle range
It is all smaller, it is difficult to reach ± 90 degree, and joint structure is more complicated, passive pair number is more, it is difficult to meet the requirements more harsh
Application demand.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, provide a kind of rotation of two-freedom and angle range it is big,
Passive pair quantity is few, the simple two-freedom parallel connection articulation mechanism of structure.
The technical scheme is that a kind of two-freedom parallel connection articulation mechanism, including fixed device, cross hinge structure,
First driver, the second driver and articulation mechanism output shaft, the output shaft of the output shaft of the first driver and the second driver
Relative position be fixed to each other by fixed device, it is characterised in that: the output shaft of the first driver passes through cross hinge structure band
Movable joint mechanism output shaft is rotated around first axle, and the output shaft of the second driver drives articulation mechanism output shaft around second axis
Rotation.
Further, cross hinge structure includes first U-shaped frame and the second U-shaped frame of two orthogonal settings, and is connected to
Output shaft and the pass of the first driver are separately connected in cross structure between two U-shaped frames, the first U-shaped frame and the second U-shaped frame
Save mechanism output shaft.
Further, the output shaft of the first driver is connected with the first rotation axis, driving the first U-shaped frame rotation, thus band
Dynamic second U-shaped frame and articulation mechanism output shaft are rotated around first axle, realize the movement of the first freedom degree rotating.
Further, the output shaft of the second driver is connected with the second rotation axis, and the second rotation axis passes through connecting rod and joint
Mechanism exports axis connection, is connected between connecting rod and articulation mechanism output shaft by revolute pair (bearing), the second driver output shaft
Rotation drive connecting rod and articulation mechanism output shaft to rotate around second axis, realize that the second freedom degree rotating moves.
Further, above-mentioned first axle is overlapped and above-mentioned second axis and the with the axis of the output shaft of the first driver
The axis of the output shaft of two drivers is overlapped.
Further, articulation mechanism output shaft can be around first axle continuous rotation.
Further, articulation mechanism output shaft can be swung around second axis.
Further, the output shaft of the first driver is structure as a whole with the first rotation axis, the output shaft of the second driver
It is structure as a whole with the second rotation axis.
Further, connecting rod is L-type.
Further, in the intersection point of the output shaft of the output shaft of the first driver and the second driver and cross hinge structure
The heart is overlapped.
Further, the first rotation axis and articulation mechanism output shaft are coaxially disposed, and its axis passes through cross hinge structure
Center.
The invention has the following advantages: two-freedom parallel connection articulation mechanism structure of the invention is simple, can get compared with
The corner of big angle range, especially one of rotational freedom can be infinitely great；The angle range of second rotational freedom
It is ± 90 degree, the swing angle and the first rotational freedom decouple, that is, are only dependent upon the corner of the second driver.Both direction
Rotation can carry out respectively, can also carry out simultaneously.Two-freedom parallel connection articulation mechanism of the invention is in addition to can be used for robot etc.
Outside the joint drive in field, because output shaft can follow the first driver continuous rotation, this feature can make the present invention for more
Kind process equipment, the first driver can be used as spindle motor, for controlling spindle speed；First driver can also drive vehicle
Wheel, entire mechanism can realize the control of wheel posture, in addition to this can also be used to the driving of two-freedom platform, versatility
By force, there is good Social benefit and economic benefit.
Detailed description of the invention
Fig. 1 is prior-art illustration one.
Fig. 2 is prior-art illustration two.
Fig. 3 is prior-art illustration three.
Fig. 4 is present invention movement pre-structure schematic diagram.
Fig. 5 is the mechanism posture schematic diagram that the present invention is only rotated around first axle.
Fig. 6 is the mechanism posture schematic diagram that the present invention is only rotated around second axis.
Fig. 7 is the mechanism posture schematic diagram that the present invention is rotated around first axle and second axis simultaneously.
Fig. 8 is the application example schematic diagram that the present invention is used for robot dog thigh hip joint.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
Or it is constructed and is operated with specific orientation, therefore be not considered as limiting the invention.In addition, term " first ", " the
Two " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be mechanical connection,
It is also possible to be electrically connected；It can be directly connected, can also be also possible to inside two elements indirectly connected through an intermediary
Connection.For the ordinary skill in the art, above-mentioned term in the present invention specific can be understood with concrete condition
Meaning.
As shown in figure 4, a kind of two-freedom parallel connection articulation mechanism, including fixed device 2, cross hinge structure 7, first drive
The output shaft of device 1 and the second driver 3, the first driver 1 and the second driver 3 intersects, is preferably orthogonal, the first driver 1
The output shaft of output shaft and the second driver 3 passes through fixed device 2 and fixes its relative position, and the output shaft of the first driver 1 can
Drive 7 continuous rotation of cross hinge structure.Fixed device can there are many forms, articulation mechanism to be fixed to by fixed device 2
On other components, which can also be integrally formed with other components.
Cross hinge structure 7 includes the first U-shaped frame and the second U-shaped frame of two orthogonal settings, and is connected to two U-shaped frames
Between cross structure, be separately connected the first rotation axis 8 and articulation mechanism output shaft 6 in the first U-shaped frame and the second U-shaped frame,
One rotation axis 8 and the preferred coaxial arrangement of articulation mechanism output shaft 6, and its axis preferably passes through the center of cross structure.
The output shaft of first driver 1 be connected with the first rotation axis 8 or the output shaft of the first driver 1 directly as
First rotation axis 8 drives the rotation of the first U-shaped frame, so that the second U-shaped frame and articulation mechanism output shaft 6 be driven to turn around first axle
It is dynamic, realize the movement of the first freedom degree rotating, which can be overlapped with the axis of the output shaft of the first driver 1, can also not
It is overlapped；
The output shaft of second driver 3 or the second rotation axis 9 being connected with exporting axis are defeated by connecting rod 4 and articulation mechanism
Shaft 6 connects, and by revolute pair between connecting rod 4 and articulation mechanism output shaft 6, preferably bearing 5 is connected, and passes through the second driver 3
The rotation of output shaft drives connecting rod 4 and articulation mechanism output shaft 6 to rotate around second axis, which can drive with second
The axis of the output shaft of dynamic device 3 is overlapped, and can not also be overlapped, and realizes the movement of the second freedom degree rotating.
Connecting rod 4 is preferably L-type, can also be other shapes, such as U-shaped, S type.
First freedom degree is preferably roll freedom degree, and the second freedom degree is preferably pitch freedom.
First driver 1 can drive articulation mechanism output shaft 6 around the continuous multiple rotations of first axle, while articulation mechanism is defeated
Shaft 6 can be driven by the second driver 3 and swing around second axis, can not also swing.
The rotation around second axis of articulation mechanism output shaft 6 and its rotational angle are only dependent upon the defeated of the second driver 3
Out, reachable ± 90 degree of corner.
The intersection point of the output shaft of the output shaft of first driver 1 and the second driver 3 is preferably heavy with the center of cross structure
It closes.
Above-mentioned first driver and the second driver can be motor or Pneumatic swinging cylinder or swing hydraulic pressure cylinder.
As illustrated in figs. 5-7, two-freedom parallel connection articulation mechanism of the invention shows before movement with post exercise mechanism posture
Be intended to, the movement of the first freedom degree and the second freedom degree do not interfere with each other, and two rotations can be carried out individually, can also simultaneously into
Row.
As shown in figure 8, being that one on robot dog thigh hip joint of two-freedom parallel connection articulation mechanism of the invention answers
With example, i.e. two-freedom parallel connection joint machine is hip joint, it can be achieved that the roll of robot dog thigh and pitching movement.
Two-freedom parallel connection articulation mechanism of the invention is other than the joint drive that can be used for robot, additionally it is possible to be used for
Any hope while the application with two rotary freedoms, it is versatile, there is good Social benefit and economic benefit.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of two-freedom parallel connection articulation mechanism, including fixed device (2), cross hinge structure (7), the first driver (1), the
Two drivers (3) and articulation mechanism output shaft (6), the output shaft of the output shaft and the second driver (3) of the first driver (1)
Relative position passes through fixed device (2) and is fixed to each other, it is characterised in that: the output shaft of the first driver (1) is hinged by cross
Structure (7) drives articulation mechanism output shaft (6) to rotate around first axle, and the output shaft of the second driver (3) drives articulation mechanism defeated
Shaft (6) is rotated around second axis.
2. a kind of two-freedom parallel connection articulation mechanism according to claim 1, it is characterised in that: cross hinge structure (7) packet
Include first U-shaped frame and the second U-shaped frame of two orthogonal settings, and the cross structure being connected between two U-shaped frames, the first U
Type frame and the second U-shaped frame are separately connected the output shaft and articulation mechanism output shaft (6) of the first driver (1).
3. a kind of two-freedom parallel connection articulation mechanism according to claim 2, it is characterised in that: the first driver (1)
Output shaft is connected with the first rotation axis (8), driving the first U-shaped frame rotation, to drive the second U-shaped frame and articulation mechanism output shaft
(6) it is rotated around first axle, realizes the movement of the first freedom degree rotating.
4. a kind of two-freedom parallel connection articulation mechanism according to claim 3, it is characterised in that: the second driver (3)
Output shaft is connected with the second rotation axis (9), and the second rotation axis (9) is connect by connecting rod (4) with articulation mechanism output shaft (6), even
It is connect between bar (4) and articulation mechanism output shaft (6) by revolute pair (5), the rotation of the second driver (3) output shaft, which drives, to be connected
Bar (4), articulation mechanism output shaft (6) are rotated around second axis, realize the movement of the second freedom degree rotating.
5. a kind of two-freedom parallel connection articulation mechanism according to claim 1 or 2 or 3 or 4, it is characterised in that: above-mentioned
One axis be overlapped with the axis of the output shaft of the first driver (1) and/or above-mentioned second axis and the second driver (3) it is defeated
The axis of shaft is overlapped.
6. a kind of two-freedom parallel connection articulation mechanism according to claim 1 or 2 or 3 or 4, it is characterised in that: joint machine
Structure output shaft (6) can be around the continuous single-turn or multi-turn rotation of first axle.
7. a kind of two-freedom parallel connection articulation mechanism according to claim 1 or 2 or 3 or 4, it is characterised in that: first drives
The output shaft of dynamic device (1) is structure as a whole with the first rotation axis (8) and/or the output shaft of the second driver (3) and second rotates
Axis (9) is structure as a whole.
8. a kind of two-freedom parallel connection articulation mechanism according to claim 1 or 2 or 3 or 4, it is characterised in that: connecting rod (4)
For L-type.
9. a kind of two-freedom parallel connection articulation mechanism according to Claims 2 or 3 or 4, it is characterised in that: the first driver
(1) intersection point of output shaft of output shaft and the second driver (3) is overlapped with the center of cross structure.
10. a kind of two-freedom parallel connection articulation mechanism according to Claims 2 or 3 or 4, it is characterised in that: the first rotation
Axis (8) and articulation mechanism output shaft (6) are coaxially disposed, and the center that its axis passes through cross structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811625585.0A CN109514595A (en) | 2018-12-28 | 2018-12-28 | A kind of two-freedom parallel connection articulation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811625585.0A CN109514595A (en) | 2018-12-28 | 2018-12-28 | A kind of two-freedom parallel connection articulation mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN109514595A true CN109514595A (en) | 2019-03-26 |
Family
ID=65797074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811625585.0A Pending CN109514595A (en) | 2018-12-28 | 2018-12-28 | A kind of two-freedom parallel connection articulation mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN109514595A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113561162A (en) * | 2021-08-30 | 2021-10-29 | 苏州极攀企业管理合伙企业(有限合伙) | Five-degree-of-freedom series-parallel machining robot |
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| US5159988A (en) * | 1989-12-14 | 1992-11-03 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
| US5765443A (en) * | 1996-07-24 | 1998-06-16 | Fujitsu Ltd | Joint mechanism and robot having the joint mechanism |
| CN101618546A (en) * | 2008-07-01 | 2010-01-06 | 微星科技股份有限公司 | Movement mechanism with multiple degrees of freedom |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN102284958A (en) * | 2011-08-18 | 2011-12-21 | 浙江工业大学 | Hip joint imitated mechanism |
| CN103112014A (en) * | 2013-02-22 | 2013-05-22 | 浙江工业大学 | Industrial robot joint |
| CN104760054A (en) * | 2015-04-10 | 2015-07-08 | 华北水利水电大学 | Orthorhombic three-freedom joint driven by pneumatic artificial muscles |
| CN209533445U (en) * | 2018-12-28 | 2019-10-25 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
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2018
- 2018-12-28 CN CN201811625585.0A patent/CN109514595A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5159988A (en) * | 1989-12-14 | 1992-11-03 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
| US5765443A (en) * | 1996-07-24 | 1998-06-16 | Fujitsu Ltd | Joint mechanism and robot having the joint mechanism |
| CN101618546A (en) * | 2008-07-01 | 2010-01-06 | 微星科技股份有限公司 | Movement mechanism with multiple degrees of freedom |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
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| CN104760054A (en) * | 2015-04-10 | 2015-07-08 | 华北水利水电大学 | Orthorhombic three-freedom joint driven by pneumatic artificial muscles |
| CN209533445U (en) * | 2018-12-28 | 2019-10-25 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113561162A (en) * | 2021-08-30 | 2021-10-29 | 苏州极攀企业管理合伙企业(有限合伙) | Five-degree-of-freedom series-parallel machining robot |
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