CN201960564U - Two-freedom degree robot shoulder joint mechanism - Google Patents
Two-freedom degree robot shoulder joint mechanism Download PDFInfo
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- CN201960564U CN201960564U CN2011200686959U CN201120068695U CN201960564U CN 201960564 U CN201960564 U CN 201960564U CN 2011200686959 U CN2011200686959 U CN 2011200686959U CN 201120068695 U CN201120068695 U CN 201120068695U CN 201960564 U CN201960564 U CN 201960564U
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Abstract
The utility model relates to a two-freedom degree robot shoulder joint mechanism, which consists of a pedestal, a motion output seat, and three branched chains connected with the pedestal and the motion output seat, wherein the structures of the first branched chain and the second branched chain are the same, and respectively consist of a moving pair, two rotating pairs, and connecting bars between the moving pair and the two rotating pairs up and down; the third branched chain connects the pedestal with the motion output seat through a universal joint; and the two axial lines of the cross axle of the universal joint are respectively parallel with the axial lines of the rotating pairs of the first branched chain and the second branched chain. The motion output seat can be connected with a mechanical arm to realize two rotating motion outputs. The two-freedom degree robot shoulder joint mechanism has fewer joints; and the total number of the freedom degrees of the rotating pairs is eight; therefore, the problems of easy bending and torsional deflection of a parallel mechanism caused by excessive freedom degrees of the rotating pairs can be effectively improved. The two-freedom degree robot shoulder joint mechanism has the advantages of simple structure, strong carrying capability, quick response speed, good manufacturability and the like. Moreover, the two-freedom degree robot shoulder joint mechanism is suitable to be served as a shoulder joint mechanism for humanoid robots.
Description
Technical field:
The utility model relates to the robot field, particularly relates to a kind of two-freedom shoulder joint of anthropomorphic robot.
Background technology:
Anthropomorphic robot is the senior developing stage of Robotics, and it has comprehensively embodied the research and development level of all many-sides such as theory of mechanisms, motion and dynamics of higher-level robot, is a very complicated integrated system.Wherein, robot shoulder joint is one of difficult point in the anthropomorphic robot design.Early stage robot shoulder joint adopts cascaded structure usually, has deficiencies such as complex structure, inertia be big.In order to overcome these weak points, many researchers propose to adopt the shoulder joint of lower-mobility parallel institution as anthropomorphic robot, and some mechanisms (as sphere 3-RRR mechanism, 3-UPU, 3RUU, 3UPR etc.) have been designed in succession, but, adopt the shoulder joint of parallel institution still to come with some shortcomings, as: manufacturability is poor, complex structure, manufacturing cost are high.
Summary of the invention:
The purpose of this utility model is the problems referred to above that exist at existing technology, and a kind of simple in structure, reasonable in design, good manufacturability, bearing capacity two-freedom robot shoulder joint mechanism strong, that make easily are provided.
Technical problem to be solved in the utility model realizes by the following technical solutions.
A kind of two-freedom robot shoulder joint mechanism is made up of pedestal 1, motion output seat 2 and three side chain M1, M2, M3 connecting above-mentioned two Connection Blocks.Wherein, article one side chain M1, second side chain M2 structure are identical, and article one side chain M1 is made up of a moving sets P1 and two revolute pair R11, R12 and connecting rod L1, L2 between them respectively from top to bottom; Second side chain M2 is made up of a moving sets P2 and two revolute pair R21, R22 and connecting rod L3, L4 between them respectively from top to bottom; Article three, side chain links pedestal 1 and motion output seat 2 by a universal joint U, and the axis I of the cross axle of universal joint U parallels with the revolute pair R11 of the first side chain M1, R12 axis, and the axis II of the cross axle of universal joint U parallels with the revolute pair R21 of the second side chain M2, R22 axis.
Connecting rod L1, L3 links by moving sets P1, P2 and pedestal 1 respectively, moving sets P1, P2 are the driving pair of mechanism, and the axis of moving sets P1 parallels with the axis of moving sets P2, the axis of the axis of moving sets P1 and revolute pair R11, R12 is perpendicular, and the axis of the axis of moving sets P2 and revolute pair R21, R22 is perpendicular; Connecting rod L2, L4 link by revolute pair R11, R21 and connecting rod L1, L3 respectively; Connecting rod L2, L4 link by revolute pair R12, R22 and motion output seat 2 respectively, and cross axle axis I, the II coplane of the axis of revolute pair R12, R22 and universal joint U.
Described a kind of two-freedom robot shoulder joint mechanism, pedestal 1 is similar triangles with motion output seat 2, and is isosceles right triangle.Motion output seat 2 can link to each other with mechanical arm, drives corresponding connecting rod L1, L2 and connecting rod L3, L4 respectively by two electric pushrods (electronic cylinder), and the two dimension of exporting seat 2 that can realize moving is rotated, but the two-dimentional rotational motion of simulating human shoulder joint.Also can on motion output seat 2, be connected in series a revolute pair, can design the Three Degree Of Freedom series-parallel connection shoulder joint mechanism of Three dimensional rotation output.
Description of drawings:
Fig. 1 is a structural representation of the present utility model.
The specific embodiment:
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with specific embodiment and diagram, further set forth the utility model.
As shown in Figure 1, a kind of two-freedom robot shoulder joint mechanism is made up of pedestal 1, motion output seat 2 and three side chain M1, M2, M3 connecting above-mentioned two Connection Blocks.Wherein, article one side chain M1, second side chain M2 structure are identical, and article one side chain M1 is made up of a moving sets P1 and two revolute pair R11, R12 and connecting rod L1, L2 between them respectively from top to bottom; Second side chain M2 is made up of a moving sets P2 and two revolute pair R21, R22 and connecting rod L3, L4 between them respectively from top to bottom; Article three, side chain links pedestal 1 and motion output seat 2 by a universal joint U, and the axis I of the cross axle of universal joint U parallels with the revolute pair R11 of the first side chain M1, R12 axis, and the axis II of the cross axle of universal joint U parallels with the revolute pair R21 of the second side chain M2, R22 axis.
Connecting rod L1, L3 links by moving sets P1, P2 and pedestal 1 respectively, moving sets P1, P2 are the driving pair of mechanism, and the axis of moving sets P1 parallels with the axis of moving sets P2, the axis of the axis of moving sets P1 and revolute pair R11, R12 is perpendicular, and the axis of the axis of moving sets P2 and revolute pair R21, R22 is perpendicular; Connecting rod L2, L4 link by revolute pair R11, R21 and connecting rod L1, L3 respectively; Connecting rod L2, L4 link by revolute pair R12, R22 and motion output seat 2 respectively, and guarantee revolute pair R12, the axis of R22 and cross axle axis I, the II coplane of universal joint U.Pedestal 1 is similar triangles with motion output seat 2, and is isosceles right triangle.
During use, pedestal is linked to each other with the torso portion of anthropomorphic robot, the output seat 2 of will moving links to each other with mechanical arm, moving sets P1 and P2 driving pair as shoulder joint mechanism, can realize that by linear electric motors or electric pushrod (electronic cylinder) or high-precision servo hydraulic cylinder etc. the power source of straight reciprocating motion drives corresponding connecting rod L1 respectively, L2 and connecting rod L3, L4, when each drives the displacement of moving different under secondary the control, remaining each revolute pair is then under the pulling of connecting rod and motion output seat 2, do corresponding motion, realize the two dimension rotation of motion output seat 2, the two-dimentional rotational motion of simulating human shoulder joint.Also can on motion output seat 2, be connected in series a revolute pair, can design the Three Degree Of Freedom series-parallel connection shoulder joint mechanism of Three dimensional rotation output.The utility model mechanism joint is few, the degree of freedom of kinematic pair sum has only 8, make it can improve parallel institution effectively because the easy generation deflection that degree of freedom of kinematic pair excessively causes and the problem of torsional deflection, and that this shoulder joint mechanism has is simple in structure, bearing capacity is strong, response speed is fast and advantage such as good manufacturability, is fit to do the shoulder joint mechanism of anthropomorphic robot.
Claims (3)
1. two-freedom robot shoulder joint mechanism, three side chain (M1 by pedestal (1), motion output seat (2) and above-mentioned two Connection Blocks of connection, M2, M3) form, it is characterized in that: article one side chain (M1), second side chain (M2) structure are identical, described article one side chain (M1) from top to bottom respectively by a moving sets (P1) and two revolute pairs (R11, R12) and the connecting rod between them (L1 L2) forms; Described second side chain (M2) from top to bottom respectively by a moving sets (P2) and two revolute pairs (R21, R22) and the connecting rod between them (L3 L4) forms; Article three, side chain links pedestal (1) and motion output seat (2) by a universal joint (U), and the axis (I) of the cross axle of universal joint (U) and the revolute pair (R11 of first side chain (M1), R12) axis parallels, (R21, R22) axis parallels the axis (II) of the cross axle of universal joint (U) with the revolute pair of second side chain (M2).
2. a kind of two-freedom robot shoulder joint according to claim 1 mechanism, it is characterized in that: connecting rod (L1, L3) (P1 P2) links moving sets (P1 with pedestal (1) by moving sets respectively, P2) be the driving pair of mechanism, and the axis of moving sets (P1) parallels with the axis of moving sets (P2), and the axis of moving sets (P1) and revolute pair (R11, axis R12) is perpendicular, the axis of moving sets (P2) and revolute pair (R21, axis R22) is perpendicular; Described connecting rod (L2, L4) respectively by revolute pair (R11, R21) (L1 L3) links with connecting rod; (L2, L4) (R12's described connecting rod R22) links with motion output seat (2), and revolute pair (R12, cross axle axis (I, II) coplane of axis R22) and universal joint (U) by revolute pair respectively.
3. according to claim 1 and 2 described a kind of two-freedom robot shoulder joint mechanisms, it is characterized in that described pedestal (1) and motion output seat (2) are similar triangles, and be isosceles right triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200686959U CN201960564U (en) | 2011-03-16 | 2011-03-16 | Two-freedom degree robot shoulder joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200686959U CN201960564U (en) | 2011-03-16 | 2011-03-16 | Two-freedom degree robot shoulder joint mechanism |
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| Publication Number | Publication Date |
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| CN201960564U true CN201960564U (en) | 2011-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200686959U Expired - Lifetime CN201960564U (en) | 2011-03-16 | 2011-03-16 | Two-freedom degree robot shoulder joint mechanism |
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| CN (1) | CN201960564U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166754A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | Two-degree-of-freedom shoulder joint mechanism for robot |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
-
2011
- 2011-03-16 CN CN2011200686959U patent/CN201960564U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166754A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | Two-degree-of-freedom shoulder joint mechanism for robot |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
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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: 20110907 Effective date of abandoning: 20130814 |
|
| RGAV | Abandon patent right to avoid regrant |