CN1251842C - Bio-robot waist mechanism - Google Patents
Bio-robot waist mechanism Download PDFInfo
- Publication number
- CN1251842C CN1251842C CN 02109592 CN02109592A CN1251842C CN 1251842 C CN1251842 C CN 1251842C CN 02109592 CN02109592 CN 02109592 CN 02109592 A CN02109592 A CN 02109592A CN 1251842 C CN1251842 C CN 1251842C
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- plate
- differential gear
- output shaft
- motor
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to robot engineering, particularly to a waist mechanism of an anthropomorphic robot, which comprises two driving mechanisms closed by two differential gear trains, an upper plate, a lower plate, a middle plate, connecting rods and flexible ropes, wherein the two differential gear trains have two freedom degrees. The two differential gear trains still have two freedom degrees after driving is closed; the driving mechanisms of the two differential gear trains are installed on the lower plate. The upper ends of the first connecting rod and the second connecting rod are fixedly installed on the central axis line of the middle plate. The lower end of the first connecting rod is connected with a first output shaft jointly driven by a first motor and a second motor; the lower end of the second connecting rod is hinged to the lower plate. A third connecting rod and a fourth connecting rod are fixedly connected with both ends of the middle plate and the upper plate to the central axis lines of middle plate and the upper plate. Both ends of each of the first flexible rope and the second flexible rope are respectively fixedly connected between the central axis line of the upper plate and a second output shaft jointly driven by the first motor and the second motor. The present invention has the characteristics of high system stability, high motion precision, less power consumption, large variable rigidity motion range, etc.
Description
Technical field
The present invention relates to robot engineering, specifically a kind of bio-robot waist mechanism.
Background technology
Traditional bio-robot waist mechanism usually adopts the tandem drive mode, realizes the motion of pitching and inclination both direction.There is following shortcoming in this mode:
1) because tandem drive makes the drive motors of one of them direction and the load that driving-chain becomes another motor, increased the load of motor;
2) tandem drive requires the motor of driving both direction motion and driving-chain to be in two Different Plane up and down, has increased the height of waist, and the anthropomorphic robot center of gravity is improved, and has reduced the kinetic stability of anthropomorphic robot;
3) error of tandem drive is the accumulation of two joint errors, causes the amplification of waist error.
In addition, bio-robot waist mechanism also can adopt the parallel institution mode, and its parallel institution can be arranged drive motors in one plane, overcome the above-mentioned shortcoming of serial mechanism, but the range of movement of parallel institution is little, has limited the range of movement of anthropomorphic robot.
Summary of the invention
The purpose of this invention is to provide that a kind of stability of a system is good, kinematic accuracy is high, power consumption is little, become the big a kind of bio-robot waist mechanism of rigidity range of movement.
To achieve these goals, technical scheme of the present invention is: by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate, first, two small ends are fixedly mounted on the central transverse axis of intermediate plate, first, two connecting rod lower ends are hinged on the central transverse axis of lower plate, the first connecting rod lower end with by first, common first output shaft that drives of two motors connects, the 3rd, the lower end that is in same horizontal plane and the intermediate plate of four connecting rods are affixed, the upper end and the upper plate that are in same horizontal plane are hinged, the 3rd, four connecting rod two ends are connected on longitudinal center's axis of intermediate plate and upper plate, and first, two gentle rope two ends be fixed in respectively the central transverse axis of upper plate with by first, between common second output shaft that drives of two motors; Described first and second gentle rope oppositely joins by the cylinder and second output shaft.
Bio-robot waist mechanism of the present invention has following advantage:
1) the present invention adopts the drive motors of both direction and driving-chain to be arranged on the lower plate, has reduced the load of motor, has reduced the height of waist, thereby has reduced the center of gravity (height of waist reduce near half) of anthropomorphic robot, has improved the stability of system.
2) because the present invention adopts two differential gear train sealing kinds of drive, and adder wherein has the characteristics of Dual-motors Driving unidirectional motion, thereby greatly reduce power of motor (drive motors power reduces by 40%), reduced the electrical source consumption of anthropomorphic robot.
3) owing to adopted gentle rope to drive, can realize that bio-robot waist becomes rigidity control, improve the compliance and the antijamming capability of system, safer when anthropomorphic robot is cooperated with the people.
4) because two drive motors of the present invention are not arranged in series, therefore, there is not the accumulation of joint error, improved the kinematic accuracy of waist.
5) bio-robot waist mechanism of the present invention is except having overcome in the prior art the above-mentioned shortcoming of serial mechanism, and its range of movement is identical with serial mechanism, and is higher than parallel institution.
6) bio-robot waist mechanism of the present invention has been realized the miniaturization of anthropomorphic robot, has improved motion and power performance, has also prolonged driving power service life.
Description of drawings
Fig. 1 is two differential gear train sealings of the present invention transmission mechanism schematic diagram.
Fig. 2 is installed in structural representation on the lower plate for differential gear train sealing transmission system of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples in detail the present invention is described in detail.
Shown in Fig. 1～2, the present invention is by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate 4, first and second connecting rod 1,1
1The upper end is fixedly mounted on the central transverse axis of intermediate plate 5 first and second connecting rod 1,1
1The lower end is hinged on the central transverse axis of lower plate 4, first connecting rod 1 lower end with by first and second motor I
1, I
2The common first output shaft A that drives
1Connect third and fourth connecting rod 2,2
1Lower end that is in same horizontal plane and intermediate plate 5 affixed, the upper end and the upper plate 6 that are in same horizontal plane are hinged, third and fourth connecting rod 2,2
1Two ends are connected on longitudinal center's axis of intermediate plate 5 and upper plate 6, first and second gentle rope 3,3
1Two ends be fixed in respectively the central transverse axis of upper plate 6 with by first and second motor I
1, I
2The common second output shaft A that drives
2Between;
Described first and second gentle rope 3,3
1By the cylinder and the second output shaft A
2Oppositely join.
Bio-robot waist mechanism transmission process of the present invention:
Bio-robot waist mechanism of the present invention has adopted two differential gear train sealing transmission (see figure 1)s.There are two frees degree in a differential gear train, and after two differential gear train transmission sealings, still there are two frees degree in system, wherein, and I
1, I
2Be first and second drive motors, A
1, A
2It is first and second output shaft.During work, the first drive motors I
1Drive the first gear g
1, the first gear g
1With the second duplicate gear g
2Engagement, the second drive motors I
2Drive the 11 gear g
11, the 11 gear g
11With the 8th duplicate gear g
8Engagement, the 8th duplicate gear g
8With the 7th duplicate gear g
7Engagement, the 7th duplicate gear g
7With the 3rd duplicate gear g
3Engagement; Second and third duplicate gear g
2, g
3Drive installation is at first adder p
1On the first output shaft A
1Rotate; The second drive motors I
2Drive the 11 gear g
11, the 11 gear g
11With the 8th duplicate gear g
8Engagement, the first drive motors I
1Drive the first gear g
1, the first gear g
1With the second duplicate gear g
2Engagement, the second duplicate gear g
2With the 5th gear g
5Engagement, fourth, fifth gear g
4, g
5Coaxial rotation, the 4th gear g
4With the 6th gear g
6Engagement, the 6th gear g
6, the 9th gear g
9Coaxial rotation, the 9th gear g
9With the tenth duplicate gear g
10Engagement, the 8th duplicate gear g
8With the tenth duplicate gear g
10Drive second adder p
2On output shaft rotate the 12 gear g
12With second adder p
2Output shaft rotate the 12 gear g synchronously
12With the 14 gear g
14Engagement then drives the second output shaft A
2Rotate.
Differential gear train sealing transmission system is installed in (see figure 2) on the lower plate 4.The first output shaft A
1Drive first connecting rod 1, first connecting rod 1, second connecting rod 1
1The upper end is supported on the central transverse axis of intermediate plate 5, and is affixed with intermediate plate 5, first connecting rod 1, second connecting rod 1
1The lower end is hinged on the central transverse axis of lower plate 4, the lower end of first connecting rod 1 and the first output shaft A
1Connect second connecting rod 1
1Link to each other with lower plate 4 by hinge; Third and fourth connecting rod 2,2
1Lower end that is in same horizontal plane and intermediate plate 5 affixed, the upper end and the upper plate 6 that are in same horizontal plane are hinged, third and fourth connecting rod 2,2
1Two ends are fixed in respectively on longitudinal center's axis of intermediate plate 5 and upper plate 6, and then upper plate 6 is done synchronous elevating movement with intermediate plate 5, thereby realize the elevating movement of waist; First and second gentle rope 3,3
1One end is fixed on the central transverse axis of upper plate 6, and the other end is fixed in the second output shaft A
2On, both adopt reverse connection, promptly gentle rope 3,3
1The direction of motion is opposite, like this, and by gentle rope 3,3
1Drive upper plate 6, realize the inclination campaign.Parts such as anthropomorphic robot trunk are installed by upper plate 6.
Claims (2)
1. bio-robot waist mechanism, it is characterized in that: by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate (4) first and second connecting rod (1,1
1) upper end be fixedly mounted on the central transverse axis of intermediate plate (5) first and second connecting rod (1,1
1) lower end is hinged on the central transverse axis of lower plate (4), first connecting rod (1) lower end with by first and second motor (I
1, I
2) the common first output shaft (A that drives
1) connect third and fourth connecting rod (2,2
1) lower end that is in same horizontal plane and intermediate plate (5) affixed, the upper end and the upper plate (6) that are in same horizontal plane are hinged, third and fourth connecting rod (2,2
1) two ends are connected on longitudinal center's axis of intermediate plate (5) and upper plate (6) first and second gentle rope (3,3
1) two ends be fixed in respectively the central transverse axis of upper plate (6) with by first and second motor (I
1, I
2) the common second output shaft (A that drives
2) between.
2. according to the described bio-robot waist mechanism of claim 1, it is characterized in that: described first and second gentle rope (3,3
1) by the cylinder and the second output shaft (A
2) oppositely join.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02109592 CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02109592 CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1454752A CN1454752A (en) | 2003-11-12 |
| CN1251842C true CN1251842C (en) | 2006-04-19 |
Family
ID=29256738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02109592 Expired - Fee Related CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1251842C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN115383790A (en) * | 2022-10-27 | 2022-11-25 | 中汽研汽车检验中心(宁波)有限公司 | Waist assembly of humanoid robot for automobile test |
-
2002
- 2002-04-29 CN CN 02109592 patent/CN1251842C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1454752A (en) | 2003-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1170658C (en) | Four-freedom parallel robot mechanism | |
| CN101844307B (en) | Redundancy-driven three-degree-of-freedom parallel mechanism | |
| CN204525460U (en) | A kind of two-way transfer robot of three bars based on parallel principle | |
| CN1701927A (en) | Flexible rope driven three and four degree of freedom decoupling parallel mechanism | |
| CN113459069B (en) | Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form | |
| CN1251842C (en) | Bio-robot waist mechanism | |
| CN2536361Y (en) | Anthropomorphic robot waist mechanism | |
| CN110181484B (en) | Robot combined in series-parallel | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN217297154U (en) | Multi-stage lifting mechanism for semiconductor wafer transmission system | |
| CN101259616A (en) | Branched chain nesting three-freedom moving platform continuously turning parallel connection robot mechanism | |
| CN2897579Y (en) | Mechanical hand access connector | |
| CN113459071A (en) | Three-degree-of-freedom parallel robot | |
| CN113276132A (en) | Service robot | |
| CN1987154A (en) | Mechanical driving device | |
| CN217345547U (en) | Multi-degree-of-freedom robot imitating two arms of human | |
| CN2484153Y (en) | Four-free-degree parallel machanism to achieve two-dimensional rotation and two-dimension translation | |
| CN201027162Y (en) | Plunger pump cylinder servo lifting mechanism of fastening type bottle filler | |
| CN201052618Y (en) | Multi-joint flexible mechanical arm | |
| CN1955514A (en) | Mechanical driving method and driving device using the method | |
| CN1228171C (en) | Three-freedom spatial parallel robot mechanism | |
| CN220688625U (en) | Six-degree-of-freedom platform capable of ascending and descending in large stroke | |
| CN2540260Y (en) | Class I three-freedom space prallel robot mechanism | |
| CN220622640U (en) | Cylinder driving type rotary mechanism | |
| CN112663718B (en) | Novel steering cylinder hinge device of internal combustion scraper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |