CN204772587U - Parallelly connected joint of imitative people's nape of flexible driven - Google Patents
Parallelly connected joint of imitative people's nape of flexible driven Download PDFInfo
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- CN204772587U CN204772587U CN201520388228.2U CN201520388228U CN204772587U CN 204772587 U CN204772587 U CN 204772587U CN 201520388228 U CN201520388228 U CN 201520388228U CN 204772587 U CN204772587 U CN 204772587U
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- side chain
- flexible side
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- moving platform
- joint
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Abstract
The utility model belongs to the technical field of anthropomorphic robot and space parallel mechanism, in particular to parallelly connected joint of imitative people's nape of flexible driven, include: move platform, frame and above -mentioned 4 identical side chains between them of hookup and middle side chain. Four identical side chains comprise flexible band form material, like wire rope etc. Middle side chain is constituteed by hooke hinge, reset spring and removal are vice. Easily make and control in this bionical joint, can be applied to the nape joint of anthropomorphic robot on, have better scientific research value and practicality.
Description
Technical field
The utility model belongs to anthropomorphic robot and space parallel mechanism technical field, particularly a kind of apery neck of soft drive joint in parallel
Background technology
Along with the development of science and technology, research and the development of anthropomorphic robot are also day by day perfect, more and more true to nature and naturalization.Anthropomorphic robot is as the important component part in family of robot, and the application in human society life every aspect is increasing, and it is many-sided convenient also to bring to our life.The development of anthropomorphic robot is based in the research of various bionic joint and the basis of design, the diversity of bionic joint kind, and the simplification of control aspect and processing and manufacturing aspect, all give more optimize and the research of intelligentized anthropomorphic robot provide may and reference frame.Visible, the research of bionic joint has important scientific research value and using value.
Summary of the invention
The present invention is with the convenience of the manufacture of bionic joint and control for starting point, and devise a kind of apery neck joint in parallel of soft drive, its technical scheme adopted is as follows:
Moving platform, frame and connect the two middle pole and 4 materials and the identical flexible side chain of structure; The global shape of each flexible side chain is banded or cylindric, as steel wire rope, pierce tap, fishing line etc., middle pole is from moving platform to frame, successively by Hooke's hinge, back-moving spring is composed in series, one end of Hooke's hinge and the center of moving platform connect firmly, and after the other end of Hooke's hinge is added with back-moving spring, the center with frame connects with the form of cylindrical pair; One end and the moving platform of flexible side chain B1 connect firmly, and its other end, through the pilot hole in frame, is fixed on the wire spool of drive motors, and wire spool rotates elongation and the shortening that can realize flexible side chain B1; The mounting means of flexible side chain B2, flexible side chain B3, flexible side chain B4 is completely with flexible side chain B1, the installation site point relative moving platform circumferentially equal distribution of above-mentioned four flexible side chains on moving platform, the position of the pilot hole of above-mentioned four flexible side chains in frame circumferentially equal distribution in frame, on arbitrary diagonal angle two flexible side chains in space turn round to identical, on this diagonal angle two flexible side chains in space turn round to the turning round to contrary in space of two flexible side chains on another diagonal angle.
Tool of the present invention has the following advantages: this joint medium power transmission is by flexible material, and as steel wire rope, pierce tap, fishing line etc., processing is convenient, be easy to obtain, production cost is lower, simultaneously, each power side chain is all by motor direct-drive, and capacity usage ratio is high, compact conformation.To sum up, this joint can be applicable to, on the neck neck joint of anthropomorphic robot, to have good scientific research value and practicality, good market prospect.
Accompanying drawing illustrates:
Fig. 1 is the utility model overall structure schematic diagram;
Fig. 2 is middle pole B5 structural representation;
Fig. 3 is motor position schematic diagram;
Detailed description of the invention:
As Fig. 1, the flexible side chain (B1, B2, B3, B4) of moving platform (1), frame (6) and connection the two 4 identical materials and middle pole (B5), the global shape of each flexible side chain (B1, B2, B3, B4) is banded or cylindric, as steel wire rope, pierce tap, fishing line etc., middle pole (B5) is from moving platform (1) to frame (6), successively by Hooke's hinge (U51), back-moving spring (S52) is composed in series, one end D1 of Hooke's hinge (U51) and the center of moving platform (1) connect firmly, after the other end of Hooke's hinge (U51) being added with back-moving spring (S52), D2 place connects with the form of cylindrical pair with the center of frame, one end and the moving platform of flexible side chain (B1) connect firmly, and its other end, through the pilot hole in frame, is fixed on the wire spool of drive motors, and wire spool rotates elongation and the shortening that can realize flexible side chain (B1), flexible side chain (B2), flexible side chain (B3), the mounting means of flexible side chain (B4) is completely with flexible side chain (B1), four flexible side chain (B1, B2, B3, B4) the circumferentially equal distribution on moving platform of the installation site point on moving platform (1), the position of the pilot hole of this four side chain in frame circumferentially equal distribution in frame, flexible side chain (B1) on arbitrary diagonal angle turn round to flexible side chain (B3) in space turn round to identical, this turn round to flexible side chain (B2) on another diagonal angle in space turn round to contrary, flexible side chain (B2) in space turn round to flexible side chain (B4) turning round to identical in space.
Claims (2)
1. the apery neck of soft drive joint in parallel, by moving platform (1), frame (6) and the identical flexible side chain (B1 of connection the two 4, B2, B3, B4) and middle pole (B5) composition, it is characterized in that: middle pole (B5) is from moving platform (1) to frame (6), successively by Hooke's hinge (U51), back-moving spring (S52) is composed in series, one end of Hooke's hinge (U51) and the center of moving platform (1) connect firmly, the other end of Hooke's hinge (U51) is added with back-moving spring (S52), center with frame connects with the form of cylindrical pair, one end and the moving platform (1) of flexible side chain (B1) connect firmly, its other end is through the pilot hole in frame (6), be fixed on the wire spool of drive motors (2), wire spool rotates elongation and the shortening that can realize flexible side chain (B1), and four flexible side chain (B1, B2, B3, B4) structures are identical.
2. the apery neck of a kind of soft drive according to claim 1 joint in parallel, it is characterized in that: the installation site point of four flexible side chains (B1, B2, B3, B4) on moving platform is circumferentially uniform on moving platform, and the position of the pilot hole of these four flexible side chains (B1, B2, B3, B4) in frame (6) is circumferentially uniform in frame (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520388228.2U CN204772587U (en) | 2015-06-08 | 2015-06-08 | Parallelly connected joint of imitative people's nape of flexible driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520388228.2U CN204772587U (en) | 2015-06-08 | 2015-06-08 | Parallelly connected joint of imitative people's nape of flexible driven |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204772587U true CN204772587U (en) | 2015-11-18 |
Family
ID=54512712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520388228.2U Expired - Fee Related CN204772587U (en) | 2015-06-08 | 2015-06-08 | Parallelly connected joint of imitative people's nape of flexible driven |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204772587U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965491A (en) * | 2016-06-23 | 2016-09-28 | 佛山市业鹏机械有限公司 | Method and smoothening mechanism for driving movement of simulation machine peacock head and neck part |
| CN108500969A (en) * | 2018-03-05 | 2018-09-07 | 东南大学 | A kind of self-insulating robotic arm system of multiple degrees of freedom |
| CN108908297A (en) * | 2018-07-17 | 2018-11-30 | 江南大学 | A kind of anthropomorphic arm based on rope driving |
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN111618613A (en) * | 2020-06-10 | 2020-09-04 | 苏州慧导昱控自动化科技有限公司 | Processing platform |
| CN112483502A (en) * | 2020-12-15 | 2021-03-12 | 郑州煤矿机械集团股份有限公司 | Self-resilience multi-medium environment-friendly flexible hydraulic cylinder |
| CN112847309A (en) * | 2021-01-06 | 2021-05-28 | 北方工业大学 | Reconfigurable active flexible soft mechanical arm |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
-
2015
- 2015-06-08 CN CN201520388228.2U patent/CN204772587U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965491A (en) * | 2016-06-23 | 2016-09-28 | 佛山市业鹏机械有限公司 | Method and smoothening mechanism for driving movement of simulation machine peacock head and neck part |
| CN105965491B (en) * | 2016-06-23 | 2019-01-15 | 佛山市业鹏机械有限公司 | Drive the method and compliant mechanism of emulation machine peacock incidence movement |
| CN108500969B (en) * | 2018-03-05 | 2021-04-30 | 东南大学溧阳研究院 | Multi-degree-of-freedom self-insulation robot arm system |
| CN108500969A (en) * | 2018-03-05 | 2018-09-07 | 东南大学 | A kind of self-insulating robotic arm system of multiple degrees of freedom |
| CN108908297A (en) * | 2018-07-17 | 2018-11-30 | 江南大学 | A kind of anthropomorphic arm based on rope driving |
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN111618613A (en) * | 2020-06-10 | 2020-09-04 | 苏州慧导昱控自动化科技有限公司 | Processing platform |
| CN111618613B (en) * | 2020-06-10 | 2021-01-15 | 浙江古弓工贸有限公司 | Processing platform |
| CN112483502A (en) * | 2020-12-15 | 2021-03-12 | 郑州煤矿机械集团股份有限公司 | Self-resilience multi-medium environment-friendly flexible hydraulic cylinder |
| CN112483502B (en) * | 2020-12-15 | 2022-07-08 | 郑州煤矿机械集团股份有限公司 | Self-resilience multi-medium environment-friendly flexible hydraulic cylinder |
| CN112847309A (en) * | 2021-01-06 | 2021-05-28 | 北方工业大学 | Reconfigurable active flexible soft mechanical arm |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20160608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |