CN114040833A - 机器人颈部机构 - Google Patents

机器人颈部机构 Download PDF

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Publication number
CN114040833A
CN114040833A CN202180003394.4A CN202180003394A CN114040833A CN 114040833 A CN114040833 A CN 114040833A CN 202180003394 A CN202180003394 A CN 202180003394A CN 114040833 A CN114040833 A CN 114040833A
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CN
China
Prior art keywords
linear
upper platform
neck mechanism
linear actuator
length
Prior art date
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Pending
Application number
CN202180003394.4A
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English (en)
Inventor
穆罕默德·伊曼·莫赫莱斯普尔·伊斯法哈尼
丁厚柱
张呈昆
谭欢
熊友军
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Publication date
Application filed by Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Publication of CN114040833A publication Critical patent/CN114040833A/zh
Pending legal-status Critical Current

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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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机器人(2)颈部机构(1)，包括第一线性驱动器(12)、与第一线性驱动器(12)平行的第二线性驱动器(13)、旋转台(15)、以及位于第一线性驱动器(12)和第二线性驱动器(13)的后方和之间的支撑轴(14)。第一线性驱动器(12)和第二线性驱动器(13)均经由接头连接在上部平台(11)和旋转台(15)之间，并且支撑轴(14)经由接头连接在上部平台(11)和旋转台(15)之间。旋转马达(16)配置为旋转旋转台(15)以偏摆上部平台(11)，并且第一线性驱动器(12)和第二线性驱动器(13)配置为俯仰或翻转上部平台(11)。该颈部机构由于具有多个驱动器的平行结构，能够避免多个驱动器之间运动的相互干扰。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN202180003394.4A 2020-04-28 2021-04-28 机器人颈部机构 Pending CN114040833A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/861,201 US20210331310A1 (en) 2020-04-28 2020-04-28 Neck mechanism for robot
US16/861,201 2020-04-28
PCT/CN2021/090703 WO2021219036A1 (zh) 2020-04-28 2021-04-28 机器人颈部机构

Publications (1)

Publication Number Publication Date
CN114040833A true CN114040833A (zh) 2022-02-11

Family

ID=78221773

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180003394.4A Pending CN114040833A (zh) 2020-04-28 2021-04-28 机器人颈部机构

Country Status (3)

Country Link
US (1) US20210331310A1 (zh)
CN (1) CN114040833A (zh)
WO (1) WO2021219036A1 (zh)

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* Cited by examiner, † Cited by third party
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JP6512370B2 (ja) * 2016-10-20 2019-05-15 三菱電機株式会社 ３回転自由度接続機構、ロボットおよびロボットアーム

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TW201201891A (en) * 2010-07-05 2012-01-16 Jung-Tang Huang Rope-driven dynamic platform
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CN107450599A (zh) * 2016-06-01 2017-12-08 维蒂克影像国际无限责任公司 精确定位的旋转台
CN109564436A (zh) * 2016-07-15 2019-04-02 深圳市大疆创新科技有限公司 用于提供稳定性支撑的系统和方法
CN111065495A (zh) * 2017-09-15 2020-04-24 Groove X 株式会社 有趣地进行动作的机器人及其构造

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200936299A (en) * 2007-02-28 2009-09-01 Boaz Eidelberg Integrated large XY rotary positioning table with virtual center of rotation
TW200844921A (en) * 2007-05-08 2008-11-16 Jung-Tang Huang Dynamic platform including rope-driving apparatus
TW201201891A (en) * 2010-07-05 2012-01-16 Jung-Tang Huang Rope-driven dynamic platform
CN104114107A (zh) * 2012-02-15 2014-10-22 直观外科手术操作公司 用于针对性干预措施的紧凑型针形操纵器
CN203045724U (zh) * 2012-12-17 2013-07-10 广州中国科学院先进技术研究所 一种二自由度空间并联机构
CN103831828A (zh) * 2014-03-21 2014-06-04 智慧城市系统服务（中国）有限公司 机器人及其颈部机构
CN103895005A (zh) * 2014-04-10 2014-07-02 东南大学 一种仿人颈并联机器人及控制该机器人的方法
CN104199465A (zh) * 2014-07-16 2014-12-10 北京遥测技术研究所 一种高集成化高精度平板自跟踪天线伺服控制系统
CN107450599A (zh) * 2016-06-01 2017-12-08 维蒂克影像国际无限责任公司 精确定位的旋转台
CN109564436A (zh) * 2016-07-15 2019-04-02 深圳市大疆创新科技有限公司 用于提供稳定性支撑的系统和方法
CN111065495A (zh) * 2017-09-15 2020-04-24 Groove X 株式会社 有趣地进行动作的机器人及其构造

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US20210331310A1 (en) 2021-10-28
WO2021219036A1 (zh) 2021-11-04

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