CN201922451U - Hip joint imitated mechanism - Google Patents
Hip joint imitated mechanism Download PDFInfo
- Publication number
- CN201922451U CN201922451U CN2010206741705U CN201020674170U CN201922451U CN 201922451 U CN201922451 U CN 201922451U CN 2010206741705 U CN2010206741705 U CN 2010206741705U CN 201020674170 U CN201020674170 U CN 201020674170U CN 201922451 U CN201922451 U CN 201922451U
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- China
- Prior art keywords
- motor
- moving platform
- pedestal
- linking arm
- connecting rod
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Abstract
A hip joint imitated mechanism comprises a base, a moving platform arranged on the base, and a first motor and a second motor which are linked with the moving platform, wherein the moving platform is a crossing shaft, the moving platform is provided with a horizontal connecting arm parallel to the base, as well as an upper vertical connecting arm and a lower vertical connecting arm which are vertical to the base, and the lower vertical connecting arm is connected with the base through a universal joint; the first motor is linked with the horizontal connecting arm through a first driving rod, the first driving rod is an L-shaped connecting rod, one end of the first connecting rod is fixedly connected with the output end of the first motor, the other end of the first driving rod is hinged with the horizontal connecting arm, the second motor is connected to the base through a guide mechanism in a sliding manner, the guide mechanism comprises a guide sliding rod fixedly connected with the second motor, and a guide rail fixed on the base and allowing the guide rod to slide along the guide rail; and the second motor is connected with the moving platform through a link mechanism. The hip joint imitated mechanism provided by the utility model has the advantages of simple structure, strong bearing capability, smaller volume, motion decoupling, and good processing and assembling manufacturability.
Description
Technical field
The utility model relates to the anthropomorphic robot field, particularly relates to a kind of two-freedom and rotates anthropomorphic hip joint mechanism.
Technical background
The anthropomorphic robot is the senior developing stage of sophisticated machine people technology, and it integrates multi-door subjects theory and technology such as machinery, electronics, material, computer, sensor, control, is one of present development in science and technology most active fields.A lot of countries have dropped into great amount of manpower and material resources, and it has been carried out research in depth.Wherein, hip joint of anthropomorphic robot is one of difficult point during the anthropomorphic robot designs.Early stage hip joint of anthropomorphic robot adopts cascaded structure usually, has weak points such as complex structure, inertia be big.In order to overcome these weak points, many researchers have turned to two freedom rotary parallel mechanism to notice, have advantages such as simple in structure, that bearing capacity is strong, as people such as Gosselin and professors Zhang Lijie a kind of sphere two one-rotation parallel mechanisms are studied, this mechanism is an a kind of plane 5R mechanism, this mechanism is very high to manufacturing and installation accuracy requirement, otherwise, stuck phenomenon can take place; Professor Zhang Lijie has proposed a kind of redundant two one-rotation parallel mechanisms, problem such as this mechanism exists that complex structure, bearing capacity are little, processing and assembly process process are bad; People such as professor Huang Zhen have proposed a kind of 2-PSS/S parallel institution, and this mechanism adopts the ball pivot form, has limited its angle of rotation, makes the working space of this mechanism less; Once reached good fortune and proposed a kind of decoupling zero two one-rotation parallel mechanisms, there are problems such as bearing capacity is less in this mechanism, or the like.
The utility model content
For overcoming the above-mentioned shortcoming of prior art, it is a kind of simple in structure that the utility model provides, and bearing capacity is strong, and volume is less, mobile decoupling, processing and the good anthropomorphic hip joint of assembly process process mechanism.
A kind of anthropomorphic hip joint mechanism comprises pedestal, be arranged at moving platform on the pedestal and with first motor and second motor of moving platform interlock;
It is characterized in that: described moving platform is a cross axle, and described moving platform has the horizontal linking arm that is parallel to pedestal and last vertical linking arm and sagging straight linking arm perpendicular to pedestal, and described sagging straight linking arm is connected with described pedestal by universal joint;
Described first motor is by first drive rod and described horizontal linking arm interlock, and described first drive rod is a L type connecting rod, an end of described first drive rod and the output shaft of first motor is affixed, the other end and described horizontal linking arm are hinged;
Described second motor is connected on the described pedestal slidably by guiding mechanism, and described guiding mechanism comprises with the affixed guiding slide bar of second motor and is fixed in pedestal, makes the guide rail of guiding slide bar along its slip;
Described second motor is by linkage and described moving platform interlock.
Further, described linkage comprises second drive rod affixed with the output shaft of described second motor, with the described affixed first connecting rod of vertical linking arm of, with the second connecting rod that is connected the described first connecting rod and second drive rod; Described second connecting rod is hinged with the described first connecting rod and second drive rod respectively.
Further, described sagging straight linking arm is connected with supporting base on being fixed on pedestal by universal joint, described first motor be set up in one with the affixed vertical support frame of pedestal on.
Technical conceive of the present utility model is: control moving platform respectively towards two different direction upsets by first motor and second motor.
When first machine operation, first drive rod rotates, first drive rod drives the moving platform upset by the horizontal linking arm of moving platform, simultaneously, the linkage between the moving platform and second motor is followed the moving platform upset, slide bar slides at the induced effect lower edge of linkage guide rail, and second motor is followed slide bar and slided.
When second machine operation, second drive rod rotates, and second drive rod promotes first, second connecting rod and seesaws, and connecting rod drives the moving platform upset.In moving platform when upset,, because of horizontal linking arm is a hinged relationship with first drive rod, first drive rod does not influence moving platform and overturns.
Of the present utility model being articulated and connected is bearing pin and directly inserts in connecting rod or the drive rod, and bearing pin is for riveted joint connects, and the utlity model has simple in structurely, and bearing capacity is strong, and volume is less, mobile decoupling, processing and the good advantage of assembly process process.
Description of drawings
Fig. 1 is a schematic diagram of the present utility model.
The specific embodiment
With reference to accompanying drawing, further specify the utility model:
A kind of anthropomorphic hip joint mechanism comprises pedestal 1, be arranged at moving platform 5 on the pedestal 1 and with first motor 2 and second motor 7 of moving platform 5 interlocks;
Described moving platform 5 is a cross axle, and described moving platform 5 has the horizontal linking arm 41 that is parallel to pedestal and last vertical linking arm 43 and sagging straight linking arm 42 perpendicular to pedestal, and described sagging straight linking arm 42 is connected with described pedestal 1 by universal joint;
Described first motor 2 is by first drive rod 3 and described horizontal linking arm 41 interlocks, described first drive rod 3 is a L type connecting rod, an end of described first the drive rod 3 and output shaft of first motor 2 is affixed, the other end and described horizontal linking arm 41 are hinged;
Described second motor 7 is connected on the described pedestal 1 slidably by guiding mechanism, and described guiding mechanism comprises with the affixed guiding slide bar 11 of second motor 7 and is fixed in pedestal 1, makes the guide rail 10 of guiding slide bar 11 along its slip;
Described second motor 7 is by linkage and described moving platform 5 interlocks.
Described linkage comprises second drive rod 9 affixed with the output shaft of described second motor 7, with the described affixed first connecting rod 6 of vertical linking arm 43 of, with the second connecting rod 8 that is connected the described first connecting rod 6 and second drive rod 9; Described second connecting rod 8 is hinged with the described first connecting rod 6 and second drive rod 9 respectively.
Described sagging straight linking arm 41 is connected with supporting base 12 on being fixed on pedestal 1 by universal joint, described first motor 2 be set up in one with the affixed vertical support frame of pedestal 1 on.
Technical conceive of the present utility model is: control moving platform 5 respectively towards two different direction upsets by first motor 2 and second motor 7.
When 2 work of first motor, first drive rod 3 rotates, first drive rod 3 drives moving platform 5 upsets by the horizontal linking arm 41 of moving platform 5, simultaneously, the linkage between the moving platform 5 and second motor 7 is followed moving platform 5 upsets, slide bar 11 slides at the induced effect lower edge of linkage guide rail 10, and second motor 7 is followed slide bar 11 and slided.
When 7 work of second motor, second drive rod 9 rotates, and second drive rod 9 promotes first, second connecting rod 6,8 and seesaws, and connecting rod 6,8 drives moving platform 5 upsets.During moving platform 5 upset, because of horizontal linking arm 41 is a hinged relationship with first drive rod 3, first drive rod 3 does not influence moving platform 5 and overturns.
The described content of this specification embodiment only is enumerating the way of realization of utility model design; protection domain of the present utility model should not be regarded as only limiting to the concrete form that embodiment states, protection domain of the present utility model also reach in those skilled in the art according to the utility model design the equivalent technologies means that can expect.
Claims (3)
1. an anthropomorphic hip joint mechanism comprises pedestal, be arranged at moving platform on the pedestal and with first motor and second motor of moving platform interlock;
It is characterized in that: described moving platform is a cross axle, and described moving platform has the horizontal linking arm that is parallel to pedestal and last vertical linking arm and sagging straight linking arm perpendicular to pedestal, and described sagging straight linking arm is connected with described pedestal by universal joint;
Described first motor is by first drive rod and described horizontal linking arm interlock, and described first drive rod is a L type connecting rod, an end of described first drive rod and the output shaft of first motor is affixed, the other end and described horizontal linking arm are hinged;
Described second motor is connected on the described pedestal slidably by guiding mechanism, and described guiding mechanism comprises with the affixed guiding slide bar of second motor and is fixed in pedestal, makes the guide rail of guiding slide bar along its slip;
Described second motor is by linkage and described moving platform interlock.
2. anthropomorphic hip joint as claimed in claim 1 mechanism, it is characterized in that: described linkage comprises second drive rod affixed with the output shaft of described second motor, with the described affixed first connecting rod of vertical linking arm of, with the second connecting rod that is connected the described first connecting rod and second drive rod; Described second connecting rod is hinged with the described first connecting rod and second drive rod respectively.
3. anthropomorphic hip joint as claimed in claim 1 or 2 mechanism is characterized in that: described sagging straight linking arm is connected with supporting base on being fixed on pedestal by universal joint, described first motor be set up in one with the affixed vertical support frame of pedestal on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206741705U CN201922451U (en) | 2010-12-22 | 2010-12-22 | Hip joint imitated mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206741705U CN201922451U (en) | 2010-12-22 | 2010-12-22 | Hip joint imitated mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201922451U true CN201922451U (en) | 2011-08-10 |
Family
ID=44426320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206741705U Expired - Lifetime CN201922451U (en) | 2010-12-22 | 2010-12-22 | Hip joint imitated mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201922451U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
-
2010
- 2010-12-22 CN CN2010206741705U patent/CN201922451U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110810 Effective date of abandoning: 20120502 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20110810 Effective date of abandoning: 20120502 |