CN111195923A - A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints - Google Patents
A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints Download PDFInfo
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- CN111195923A CN111195923A CN202010038445.4A CN202010038445A CN111195923A CN 111195923 A CN111195923 A CN 111195923A CN 202010038445 A CN202010038445 A CN 202010038445A CN 111195923 A CN111195923 A CN 111195923A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 abstract description 17
- 239000002131 composite material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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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
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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Abstract
本发明公开一种基于三自由度球形关节的新型串联机构和机器人，其包括至少两个串联的三自由度的球形关节；球形关节包括底座、输出台和多个连杆部件，底座通过多个并联的连杆部件与输出台连接；连杆部件包括多个依次连接的弧形连杆，其中一个弧形连杆通过设置的下连接轴与底座连接，相邻两个球形关节通过底座和输出台相互连接。本发明通过多个球形关节串联，球形关节的圆弧形连杆并联运动合成实现关节输出端的任意方向的偏转。该关节用于串联机械臂，可在最短长度的情况下实现机械臂末端的运动输出，实现高自由度同时体积较小并节省结构空间。
The invention discloses a novel series mechanism and robot based on a three-degree-of-freedom spherical joint, which comprises at least two three-degree-of-freedom spherical joints connected in series; The connecting rod parts connected in parallel are connected with the output stage; the connecting rod parts include a plurality of arc-shaped connecting rods connected in sequence, one of the arc-shaped connecting rods is connected with the base through the set lower connecting shaft, and two adjacent spherical joints pass through the base and output connected to each other. The invention realizes the deflection of the joint output end in any direction through the series connection of a plurality of spherical joints, and the parallel movement of the arc-shaped connecting rods of the spherical joints. The joint is used for a series manipulator, which can realize the motion output of the end of the manipulator with the shortest length, and realize a high degree of freedom while being small in size and saving structural space.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a novel series mechanism based on a three-degree-of-freedom spherical joint and a novel series robot based on the three-degree-of-freedom spherical joint.
Background
The traditional robot generally adopts a serial or parallel connection mode, occupies a large volume, needs a large volume in order to realize high degree of freedom, and occupies a large amount of space.
Disclosure of Invention
The invention mainly aims to provide a novel series mechanism and a novel series machine based on a three-degree-of-freedom spherical joint, and aims to solve the problems that the existing mechanism and the existing robot need larger volume and occupy a large amount of space when realizing high degree of freedom.
In order to achieve the above object, the present invention provides a novel serial mechanism based on three-degree-of-freedom spherical joints, which includes at least two serially connected three-degree-of-freedom spherical joints; the spherical joint comprises a base, an output platform and a plurality of connecting rod components, and the base is connected with the output platform through the plurality of connecting rod components connected in parallel; the connecting rod part comprises a plurality of arc-shaped connecting rods which are connected in sequence, one of the arc-shaped connecting rods is connected with the base through a lower connecting shaft, and two adjacent spherical joints are connected with the output platform through the base.
Preferably, each spherical joint the base with all be provided with fixed subassembly on the output platform, spherical joint is through the fixed subassembly interconnect who sets up.
Preferably, the fixing component is a flange, and the flange is fixedly connected through bolts.
Preferably, a connector is arranged at the end part of the novel serial mechanism based on the three-degree-of-freedom spherical joint and/or between two adjacent spherical joints.
Preferably, the connector is columnar, and flanges are arranged at two ends of the columnar connector and connected with the spherical joints.
Preferably, the arc connecting rod includes connecting rod one, connecting rod two and connecting rod three that the head and the tail connected gradually, the arc the radius of connecting rod one, connecting rod two and connecting rod three reduces gradually, the one end of connecting rod one through the lower connecting axle that sets up with the base rotates and is connected, the other end of connecting rod one with the perpendicular and fixed connection of one end of connecting rod two, connecting rod two with connecting rod three is articulated, connecting rod three with the output platform is articulated.
The invention also provides a novel series robot based on the three-degree-of-freedom spherical joint, which is characterized by comprising a driving and controlling component and the novel series mechanism based on the three-degree-of-freedom spherical joint as recited in any one of claims 1 to 6; and the output shaft of the driving and controlling assembly is connected with the lower connecting shaft of the novel series connection mechanism.
Preferably, the driving and controlling components are driving and controlling integrated mechanisms, and each connecting shaft is connected with one driving and controlling component.
Preferably, the driving and controlling assemblies connected with the connecting rod are respectively fixedly connected with the base connected with the connecting rod.
Preferably, the drive control assembly comprises a servo motor, a speed reducer and a driver, an output shaft of the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the connecting shaft, and the driver is connected with the servo motor.
Preferably, the drive control assembly comprises a servo motor, a speed reducer and a driver, an output shaft of the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the connecting shaft, and the driver is connected with the servo motor.
In the technical scheme, the invention provides a solution for serially connecting a plurality of spherical joints, and the deflection of the joint output end in any direction is realized through the parallel motion synthesis of the arc-shaped connecting rods of the spherical joints. The joint is used for serially connecting mechanical arms, motion output of the tail end of each mechanical arm can be realized under the condition of the shortest length, the output freedom of a single joint is three, the output of six degrees of freedom of the whole robot can be realized by serially connecting two spherical parallel joints, the high-freedom degree is realized, the size is smaller, and the structural space is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a novel serial robot based on a three-degree-of-freedom spherical joint according to the present invention.
Fig. 2 is a schematic structural diagram of the novel series mechanism based on the three-degree-of-freedom spherical joint according to the present invention.
Fig. 3 is a schematic structural diagram of the spherical joint of the present invention.
Fig. 4 is a schematic structural view of a single connecting rod part of the spherical joint of the invention.
| Reference numerals | Name (R) | Reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
2 | Output table | 3 | Connecting |
| 4 | Connecting |
5 | Connecting rod II | 6 | Connecting rod III |
| 7 | |
8 | Lower connecting |
9 | Lower connecting |
| 10 | Upper supporting |
11 | Upper connecting |
12 | Upper connecting |
| 13 | Driving and controlling |
14 | |
15 | Connector with a locking member |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 2 to 4, the present invention provides a novel serial mechanism based on three-degree-of-freedom spherical joints, including at least two serially connected three-degree-of-freedom spherical joints 14, where the spherical joints 14 include a base 1, an output stage 2, and a plurality of connecting rod components 3, and the base 1 is connected to the output stage 2 through the plurality of parallel connecting rod components 3; the connecting rod component 3 comprises a plurality of arc-shaped connecting rods which are sequentially connected, one of the arc-shaped connecting rods is connected with the base 1 through a lower connecting shaft 13, and two adjacent spherical joints 14 are connected with the output platform 2 through the base 1.
In the technical scheme of the invention, in order to reduce the volume and improve the flexibility of the robot, the invention provides a solution for serially connecting a plurality of spherical joints 14, and the deflection of the joint output end in any direction is realized through the parallel motion synthesis of the arc-shaped connecting rods of the spherical joints 14. The joint is used for serially connecting mechanical arms, motion output of the tail end of each mechanical arm can be realized under the condition of the shortest length, the output freedom of a single joint is three, the output of six degrees of freedom of the whole robot can be realized by serially connecting two spherical parallel joints, the high-freedom degree is realized, the size is smaller, and the structural space is saved. Meanwhile, the arc-shaped connecting rod has higher mechanical property, effectively shortens and saves the movement space of the robot, and improves the flexibility of the robot; and the installation and maintenance are easy.
Further, each spherical joint 14 base 1 includes lower support plate 8 and lower connecting plate 12, lower support plate 8 upwards equipartition in circumference with lower connecting plate 12 that connecting rod 4 is connected, lower connecting plate 12 through the lower connecting axle 13 that sets up with connecting rod 4 is connected, connecting rod 4 with connecting axle 13 is connected perpendicularly down, connecting axle 13 through the bearing that sets up with lower support plate 8 is connected perpendicularly down. Each spherical joint 14 output platform 2 includes backup pad 11 and upper junction plate 9, go up 11 circumference of backup pad equipartitions have with the upper junction plate 9 that three 6 connecting rods connect, upper junction plate 9 through the last connecting axle 10 that sets up with three 6 connecting rods connect, three 6 connecting rods with last connecting axle 10 is connected perpendicularly, go up connecting axle 10 through the bearing that sets up with go up 11 vertical connections of backup pad. The base 1 of one of the ball joints 14 of two adjacent ball joints 14 is connected to the output stage 2 of the other ball joint 14. Furthermore, the first link 4, the second link 5 and the third link 6 of each spherical joint 14 are concentrically arranged. The first connecting rod 4, the second connecting rod 5 and the third connecting rod are arranged in a concentric sphere mode. When rotating, the connecting rods cannot be clamped mutually, and the rotating angle of the connecting rods is larger.
Referring to fig. 2 to 4, in another embodiment of the novel serial mechanism based on three-degree-of-freedom spherical joints of the present invention, each of the spherical joints 14 is provided with a fixing component on the base 1 and the output stage 2, and the spherical joints 14 are connected to each other through the provided fixing components. The fixing component is a flange, and the flange is fixedly connected through bolts.
In particular, the interconnection is more stable by the fixing member.
Referring to fig. 2 to 4, in another embodiment of the novel serial mechanism based on three-degree-of-freedom spherical joints of the present invention, a connector 15 is disposed at an end of the novel serial mechanism based on three-degree-of-freedom spherical joints and/or between two adjacent spherical joints 14. The connector 15 is columnar, and flanges are arranged at two ends of the columnar connector 15 and connected with the spherical joints 14.
Specifically, the connector 15 is used for extending or increasing the rotation range, so that the applicability of the novel series mechanism based on the three-degree-of-freedom spherical joint is increased.
Referring to fig. 2 to 4, in another embodiment of the novel serial mechanism based on a three-degree-of-freedom spherical joint of the present invention, the arc-shaped connecting rod includes a first connecting rod 4, a second connecting rod 5, and a third connecting rod 6, which are sequentially connected end to end, the radii of the arc-shaped first connecting rod 4, the second connecting rod 5, and the third connecting rod 6 are gradually decreased, one end of the first connecting rod 4 is rotatably connected to the base 1 through a lower connecting shaft 13, the other end of the first connecting rod 4 is perpendicular to and fixedly connected to one end of the second connecting rod 5, the second connecting rod 5 is hinged to the third connecting rod 6, and the third connecting rod 6 is hinged to the output platform 2.
Specifically, rely on the compound motion of arc connecting rod to realize the terminal resultant motion output of robot, can realize the motion of the arbitrary direction of output, satisfy the designing requirement of degree of freedom, the arc connecting rod carries out radian control and prevents the screens between the connecting rod, satisfies the degree of freedom requirement and has the structural design that requires to possess compact simultaneously, and the mechanical properties is better when bearing the weight of the arc connecting rod, can realize terminal heavy load. The radian through setting up can make the connecting rod prevent to block when rotating, makes the displacement angle and the displacement distance of output bigger.
Referring to fig. 1 to 4, the present invention further includes a novel serial robot based on three-degree-of-freedom spherical joints, including a driving and controlling component 13 and a novel serial mechanism based on three-degree-of-freedom spherical joints as claimed in any one of the claims; and the output shaft of the driving and controlling assembly 13 is connected with the lower connecting shaft 9 of the novel series connection mechanism.
Specifically, the driving and controlling assembly 13 is connected with the connecting rod component 3 through the lower connecting shaft 9, and the composite motion output of the tail end of the robot is realized through the composite motion of a plurality of connecting components.
Referring to fig. 1 to 4, in another embodiment of the novel serial robot based on three-degree-of-freedom spherical joints of the present invention, the driving and controlling components 13 are driving and controlling integrated mechanisms, and each of the connecting shafts is connected to one of the driving and controlling components 13.
Specifically, the driver controls the rotation of the servo motor, which is connected to the link member 3 through a speed reducer.
Referring to fig. 1 to 4, in another embodiment of the novel serial robot based on three-degree-of-freedom spherical joints of the present invention, a plurality of the driving and controlling components 13 connected to the first connecting rod are respectively and fixedly connected to the base 1 connected to the first connecting rod.
Specifically, the driving and controlling assembly 13 is connected with the connecting rod component 3 through the lower connecting shaft 9, and the composite motion output of the tail end of the robot is realized through the composite motion of a plurality of connecting components.
Referring to fig. 1 to 4, in another embodiment of the novel serial robot based on a three-degree-of-freedom spherical joint of the present invention, the driving and controlling assembly 13 includes a servo motor, a speed reducer, and a driver, an output shaft of the servo motor is connected to the speed reducer, an output shaft of the speed reducer is connected to the connecting shaft, and the driver is connected to the servo motor.
Specifically, the driver controls the rotation of the servo motor, which is connected to the link member 3 through the speed reducer.
Referring to fig. 1-4, in another embodiment of the novel serial robot based on three-degree-of-freedom spherical joints of the present invention, comprises a novel series mechanism consisting of two spherical joints 14 connected in series and a driving and controlling integrated driving and controlling component 13 consisting of six groups of servo motors, speed reducers and drivers, wherein the spherical joints 14 are combined by a base 1, an output table 2 and three groups of connecting rod components 3, the output shafts of the six groups of driving and controlling components 13 are respectively connected with and drive the six groups of connecting rod components 3 on the two spherical joints 14, the output shaft of the driving and controlling component 13 is fixedly connected with a first connecting rod 4 by screws, the first connecting rod 4 and a second connecting rod 5 are positioned by positioning pins and fixedly connected by bolts, the second connecting rod 5 and a third connecting rod 6 are connected by pins, the connecting rod III 6 is connected with the output end through a key to form a revolute pair. The robot changes the traditional mode that the transmission is realized by depending on a straight connecting rod, and the synthesized motion output of the tail end of the robot is realized by depending on the compound motion of a spherical connecting rod.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A novel series mechanism based on three-degree-of-freedom spherical joints is characterized by comprising at least two three-degree-of-freedom spherical joints which are connected in series; the spherical joint comprises a base, an output platform and a plurality of connecting rod components, and the base is connected with the output platform through the plurality of connecting rod components connected in parallel; the connecting rod part comprises a plurality of arc-shaped connecting rods which are connected in sequence, one of the arc-shaped connecting rods is connected with the base through a lower connecting shaft, and two adjacent spherical joints are connected with the output platform through the base.
2. The novel series mechanism based on three-degree-of-freedom spherical joints as claimed in claim 1, wherein each spherical joint is provided with a fixing component on the base and the output platform, and the spherical joints are connected with each other through the provided fixing components.
3. The novel series mechanism based on three-degree-of-freedom spherical joint as claimed in claim 2, wherein the fixing component is a flange, and the flange is fixedly connected through bolts.
4. The novel series mechanism based on three-degree-of-freedom spherical joints as claimed in claim 1, wherein a connector is arranged at the end of the novel series mechanism based on three-degree-of-freedom spherical joints and/or between two adjacent spherical joints.
5. The novel series mechanism based on three-degree-of-freedom spherical joint as claimed in claim 4, wherein the connector is cylindrical, and flanges are arranged at two ends of the cylindrical connector to connect with the spherical joint.
6. The novel series mechanism based on three-degree-of-freedom spherical joints as claimed in any one of claims 1-5, wherein the arc-shaped connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially connected end to end, the radius of the arc-shaped first connecting rod, the radius of the arc-shaped second connecting rod and the radius of the arc-shaped third connecting rod are gradually reduced, one end of the first connecting rod is rotatably connected with the base through a lower connecting shaft, the other end of the first connecting rod is perpendicular to and fixedly connected with one end of the second connecting rod, the second connecting rod is hinged with the third connecting rod, and the third connecting rod is hinged with the output platform.
7. A novel series robot based on three-degree-of-freedom spherical joints is characterized by comprising a driving and controlling component and the novel series mechanism based on three-degree-of-freedom spherical joints as claimed in any one of claims 1 to 6; and the output shaft of the driving and controlling assembly is connected with the lower connecting shaft of the novel series connection mechanism.
8. The novel series robot based on three-degree-of-freedom spherical joint as claimed in claim 7, wherein the driving and controlling components are driving and controlling integrated mechanisms, and each connecting shaft is connected with one driving and controlling component.
9. The novel series robot based on three-degree-of-freedom spherical joints as claimed in claim 7, wherein the base connected with the first connecting rod and connected with the plurality of driving and controlling components respectively is fixedly connected with the first connecting rod.
10. The novel series robot based on three-degree-of-freedom spherical joints as claimed in any one of claims 7 to 9, wherein the driving and controlling assembly comprises a servo motor, a speed reducer and a driver, an output shaft of the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the connecting shaft, and the driver is connected with the servo motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010038445.4A CN111195923A (en) | 2020-01-14 | 2020-01-14 | A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints |
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|---|---|---|---|
| CN202010038445.4A CN111195923A (en) | 2020-01-14 | 2020-01-14 | A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints |
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| CN111195923A true CN111195923A (en) | 2020-05-26 |
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| CN202010038445.4A Pending CN111195923A (en) | 2020-01-14 | 2020-01-14 | A Novel Series Mechanism and Robot Based on Three Degrees of Freedom Spherical Joints |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192607A (en) * | 2020-11-12 | 2021-01-08 | 北京交通大学 | Rope-driven large-motion-range flexible bionic ball-and-socket joint |
| CN117754625A (en) * | 2024-01-16 | 2024-03-26 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | A rope-driven three-degree-of-freedom high-stiffness spherical wrist joint |
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| CN112192607A (en) * | 2020-11-12 | 2021-01-08 | 北京交通大学 | Rope-driven large-motion-range flexible bionic ball-and-socket joint |
| CN117754625A (en) * | 2024-01-16 | 2024-03-26 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | A rope-driven three-degree-of-freedom high-stiffness spherical wrist joint |
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