CN111730583A - Two-degree-of-freedom asymmetric parallel rotating mechanism - Google Patents
Two-degree-of-freedom asymmetric parallel rotating mechanism Download PDFInfo
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- CN111730583A CN111730583A CN202010597198.1A CN202010597198A CN111730583A CN 111730583 A CN111730583 A CN 111730583A CN 202010597198 A CN202010597198 A CN 202010597198A CN 111730583 A CN111730583 A CN 111730583A
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a two-degree-of-freedom asymmetric parallel rotating mechanism which comprises a first connecting rod, a second connecting rod connected with the first connecting rod through a first rotating pair, a third connecting rod connected with the second connecting rod through a second rotating pair, a spherical hinge pair, a ball rod connected with the spherical hinge pair, a universal pair connected between the other end of the ball rod and the third connecting rod, a first driving assembly used for providing driving force for the second connecting rod to enable the second connecting rod to rotate around a first rotating axis relative to the first connecting rod, and a second driving assembly used for providing driving force for the spherical hinge pair to enable the third connecting rod to rotate around a second rotating axis relative to the second connecting rod. The invention can be applied to the mechanical arm of a robot to realize two-degree-of-freedom rotation driving, the driving parts of the mechanism can be fixedly arranged on the front-arranged rod piece or the base, the mass of the rear-arranged mechanism can be greatly reduced, and the power of the front-arranged driving part is reduced, so that the whole mechanical arm has a more compact and more flexible structure.
Description
Technical Field
The invention relates to the field of robots, in particular to a two-degree-of-freedom asymmetric parallel rotating mechanism.
Background
The kinematic mechanisms can be divided into serial mechanisms and parallel mechanisms according to the number of kinematic chains. The series mechanism is an open-loop mechanism in which a plurality of basic rod pieces with single degree of freedom are sequentially connected, the output motion of each front rod piece is the input of a rear rod piece, and only one motion chain is arranged between a base and an end effector; the parallel mechanism is a closed loop mechanism which is formed by connecting a designated platform (base) and a movable platform (end effector) through at least two independent kinematic chains, has two or more degrees of freedom and is driven in a parallel mode.
The series mechanism and the parallel mechanism have advantages and disadvantages respectively.
The series mechanism has the advantages of large working space, simple structure, mature control algorithm and the like, and is widely applied to the fields of industrial mechanical arms and the like at present. However, each single degree of freedom rod of the tandem mechanism must be provided with a driving member, such as an electric motor, an electric cylinder, a hydraulic cylinder or a hydraulic motor, etc., and the rod closer to the base not only bears the load of the next rod connected thereto, but also the weight from the corresponding driving member. Considering that the mass of the driving components is often larger, they generate a large centrifugal load when the robot works, and as a result, a front driving component with larger power is needed, and more energy is consumed. Moreover, in order to ensure sufficient strength and rigidity, the structure of the serial mechanical arm is often designed to be very robust, and the whole robot is heavy. The parallel mechanism has the following advantages: no accumulated error exists, and the precision is higher; compact structure, high rigidity and large bearing capacity.
Many of the rotary drive mechanisms currently used in robotic arms have the disadvantage of either being very "rugged" due to the use of serial arm configurations or requiring more powerful front drive components due to the mounting of the drive components on the rear mechanism.
A more reliable solution is now needed.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a two-degree-of-freedom asymmetric parallel rotation mechanism, aiming at the above-mentioned deficiencies in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a two-degree-of-freedom asymmetric parallel rotation mechanism comprises a first connecting rod, a second connecting rod connected with the first connecting rod through a first rotation pair, a third connecting rod connected with the second connecting rod through a second rotation pair, a spherical hinge pair, a ball rod connected with the spherical hinge pair, a universal pair connected between the other end of the ball rod and the third connecting rod, a first driving assembly used for providing driving force for the second connecting rod to enable the second connecting rod to rotate around a first rotation axis relative to the first connecting rod, and a second driving assembly used for providing driving force for the spherical hinge pair to enable the third connecting rod to rotate around a second rotation axis relative to the second connecting rod;
the first rotation axis and the second rotation axis are not parallel, so that the third link can perform posture adjustment in both rotation directions.
Preferably, the universal pair is replaced by a spherical hinge pair.
Preferably, the positions of the spherical hinge pair and the universal pair at the two ends of the cue are exchanged.
Preferably, the first rotation pair includes a first rotation shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel.
Preferably, the first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with an input end of the crank and rocker mechanism, and an output end of the crank and rocker mechanism is connected with the second connecting rod.
Preferably, the first motor is fixedly connected to the first connecting rod, the crank and rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
Preferably, the second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with the input end of the double-crank mechanism, and the output end of the double-crank mechanism is connected with the spherical hinge pair.
Preferably, the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank with a first end in rotational connection with the front end of the first connecting rod and a second end in rotational connection with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
Preferably, the first drive assembly comprises a first linear actuator rotatably connected to the first link, the output rod of the first linear actuator being rotatably connected to the second link.
Preferably, the second drive assembly comprises a second linear actuator rotatably connected to the first link, a second crank having a first end rotatably connected to the front end of the first link and a second end rotatably connected to the output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
The invention has the beneficial effects that: the invention provides a two-degree-of-freedom asymmetric parallel rotation driving mechanism which can be applied to a mechanical arm of a robot to realize two-degree-of-freedom rotation driving.
Drawings
FIG. 1 is a schematic diagram of a two-degree-of-freedom asymmetric parallel rotating mechanism according to the present invention;
fig. 2 is a schematic structural view of a two-degree-of-freedom asymmetric parallel rotation mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic structural view of another angle of the two-degree-of-freedom asymmetric parallel rotation mechanism in embodiment 1 of the present invention;
fig. 4 is a schematic structural view of another angle of the two-degree-of-freedom asymmetric parallel rotation mechanism in embodiment 1 of the present invention;
fig. 5 is a schematic structural view of a two-degree-of-freedom asymmetric parallel rotation mechanism in embodiment 2 of the present invention.
Description of reference numerals:
1-a first link; 2-a first revolute pair; 3-a second link; 4-a second revolute pair; 5-a third connecting rod; 6, a spherical hinge pair; 7-a ball arm; 8, a universal pair; 9 — a first drive assembly; 10-a second drive assembly; 60-spherical hinge seat; 61-spherical hinge; 90-crank rocker mechanism; 91 — a first motor; 92-a first crank; 93 — a first rocker; 94-a first linear actuator; 100-a double crank mechanism; 101-a second motor; 102 — rear crank; 103-a second rocker; 104-front crank; 105 — a second linear actuator; 106 — second crank.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1, the two-degree-of-freedom asymmetric parallel rotation mechanism of the present embodiment includes a first link (L)i-1) Through the first rotating pair (R)1) A second link (L) connected with the first linki)、Through the second rotating pair (R)2) A third link (L) connected with the second linki+1) A ball and socket joint pair (or spherical pair, S), a ball bar (l) connected to the ball and socket joint pair, a universal joint pair (also called hooke pair, U) connected between the other end of the ball bar and the third link, a first driving assembly for providing a driving force (e.g., moment M in fig. 1) to the second link to rotate the second link relative to the first link about a first rotation axis, and a second driving assembly for providing a driving force (e.g., force F in fig. 1) to the ball and socket joint pair to rotate the third link relative to the second link about a second rotation axis;
wherein the first and second rotation axes are not parallel, and the first rotation pair (R) is driven and controlled by a moment M and a force F respectively1) The rotation angle and the position of the spherical hinge pair (S) can control the connecting rod (L)i+1) The posture adjustment of two spatial rotation angles is realized.
In another embodiment, the universal joint pair can be replaced by a spherical hinge pair, namely, both ends of the club can be spherical hinge pairs.
In another embodiment, the positions of the spherical hinge pair and the universal pair at the two ends of the club are reversed.
The foregoing is a general idea of the present invention, and more specific examples are provided below to further explain the present invention in detail.
Example 1
Referring to fig. 2-4, in the present embodiment, the first rotating pair includes a first rotating shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel. In this embodiment, the axes of the first rotating shaft and the second rotating shaft are perpendicular to each other.
The first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with the input end of the crank and rocker mechanism, and the output end of the crank and rocker mechanism is connected with the second connecting rod. Furthermore, the first motor is fixedly connected to the first connecting rod, the crank and rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
The second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with the input end of the double-crank mechanism, and the output end of the double-crank mechanism is connected with the spherical hinge pair. Further, the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank of which a first end is rotationally connected with the front end of the first connecting rod and a second end is rotationally connected with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
In a preferred embodiment, the first motor and the second motor are each provided with a reduction gear.
Referring to fig. 2 and 3, the first motor rotates, and the crank rocker mechanism can drive the second connecting rod to rotate in the pitching direction relative to the first connecting rod; the second motor rotates, the third connecting rod can be driven to rotate relative to the second connecting rod through the transmission of the double-crank mechanism, the spherical hinge pair and the universal joint, and the pitching and rotating angles of the third connecting rod in the space can be controlled by controlling the rotating angles of the two motors.
The two-degree-of-freedom rotary driving mechanism is mainly applied to a mechanical arm of a robot to realize two-degree-of-freedom rotary driving, the two motors can be arranged on a front rod piece (a first connecting rod) and also can be arranged on a base for installing and connecting the first connecting rod, and the arrangement position of the motor with larger mass is moved forwards (away from the tail end direction of the mechanical arm), so that the mass of a rear mechanism (close to the tail end direction of the mechanical arm) can be greatly reduced, the power of a front driving part is reduced, and the whole mechanical arm structure is more compact and flexible.
Example 2
Referring to fig. 5, the present embodiment is different from embodiment 1 mainly in that: change the motor among the drive assembly into linear actuator, specifically do: in this embodiment, the first drive assembly includes a first linear actuator rotatably coupled to the first link, and an output rod of the first linear actuator is rotatably coupled to the second link.
The second driving assembly comprises a second linear actuator which is rotatably connected to the first connecting rod, and a second crank, wherein the first end of the second crank is rotatably connected with the front end of the first connecting rod, and the second end of the second crank is rotatably connected with an output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
The first and second linear actuators can be selected from hydraulic cylinders, pneumatic cylinders, electric cylinders, etc.
The output rod of the first linear actuator stretches and can drive the second connecting rod to rotate in the pitching direction relative to the first connecting rod; the output rod of the second linear actuator stretches out and draws back, and the third connecting rod can be driven to perform rotary motion relative to the second connecting rod through the transmission of the double-crank mechanism, the spherical hinge pair and the universal joint, and the pitching and the rotary angle of the third connecting rod in the space can be controlled by controlling the extension amounts of the two linear actuators.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. A two-degree-of-freedom asymmetric parallel rotation mechanism is characterized by comprising a first connecting rod, a second connecting rod connected with the first connecting rod through a first rotation pair, a third connecting rod connected with the second connecting rod through a second rotation pair, a spherical hinge pair, a ball rod connected with the spherical hinge pair, a universal pair connected between the other end of the ball rod and the third connecting rod, a first driving assembly used for providing driving force for the second connecting rod to enable the second connecting rod to rotate around a first rotation axis relative to the first connecting rod, and a second driving assembly used for providing driving force for the spherical hinge pair to enable the third connecting rod to rotate around a second rotation axis relative to the second connecting rod;
the first rotation axis and the second rotation axis are not parallel, so that the third link can perform posture adjustment in both rotation directions.
2. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 1, wherein the universal pair is replaced with a ball-and-socket hinge pair.
3. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 1, wherein the spherical hinge pair and the universal pair at two ends of the ball rod are exchanged.
4. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 1, wherein the first revolute pair includes a first rotary shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel.
5. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 4, wherein the first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with an input end of the crank and rocker mechanism, and an output end of the crank and rocker mechanism is connected with the second connecting rod.
6. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 5, wherein the first motor is fixedly connected to the first connecting rod, the crank-rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
7. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 6, wherein the second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with an input end of the double-crank mechanism, and an output end of the double-crank mechanism is connected with the spherical hinge pair.
8. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 7, wherein the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank with a first end in rotational connection with the front end of the first connecting rod and a second end in rotational connection with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
9. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 4, wherein the first drive assembly comprises a first linear actuator rotatably connected to the first link, an output rod of the first linear actuator being rotatably connected to the second link.
10. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 9, wherein the second drive assembly comprises a second linear actuator rotatably connected to the first link, a second crank having a first end rotatably connected to the front end of the first link and a second end rotatably connected to an output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010597198.1A CN111730583A (en) | 2020-06-28 | 2020-06-28 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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| CN202010597198.1A CN111730583A (en) | 2020-06-28 | 2020-06-28 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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| CN111730583A true CN111730583A (en) | 2020-10-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113777619A (en) * | 2021-09-15 | 2021-12-10 | 深圳市中图仪器股份有限公司 | Distance measuring device with adjusting base |
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2020
- 2020-06-28 CN CN202010597198.1A patent/CN111730583A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113777619A (en) * | 2021-09-15 | 2021-12-10 | 深圳市中图仪器股份有限公司 | Distance measuring device with adjusting base |
| CN113777619B (en) * | 2021-09-15 | 2023-08-22 | 深圳市中图仪器股份有限公司 | Distance measuring device with adjusting base |
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