CN204954857U - Three degree of freedom underactuated robot arm ball the hinge mechanism - Google Patents
Three degree of freedom underactuated robot arm ball the hinge mechanism Download PDFInfo
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- CN204954857U CN204954857U CN201520705048.2U CN201520705048U CN204954857U CN 204954857 U CN204954857 U CN 204954857U CN 201520705048 U CN201520705048 U CN 201520705048U CN 204954857 U CN204954857 U CN 204954857U
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- rope
- connecting rod
- lead ring
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- extension spring
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Abstract
The utility model discloses a three degree of freedom underactuated robot arm ball the hinge mechanism, include: terminal connecting rod, box, an extension spring, first rope, first lead ring, the 2nd extension spring, second rope, second lead ring and ball auxiliary seat, terminal connecting rod is located the top of box. In this way, the utility model discloses can provide a three degree of freedom underactuated robot arm ball the hinge mechanism, this power supply input is a rope, and just the institute has constituted single power supply, the output is inserting the box with the terminal connecting rod of spherical hinge, be equipped with an under -actuated system who comprises rope, lead ring, spring etc. In the box, wherein, terminal connecting rod is connected through this under -actuated system to the rope, the linear motion of input rope passes through the back of under -actuated system, drives terminal connecting rod and makes three freedoms motion, and the design is structurally fairly simple most likely, and the better control of precision, has good practicality.
Description
Technical field
The utility model relates to a kind of lack of driven robot, particularly relates to a kind of three-degree of freedom under-actuated robot wrist spherical hinge mechanism.
Background technology
By analyzing the carpal kinetic characteristic of the mankind, known wrist joint has three degree of freedom, and wrist joint completes hand labour to the mankind and has very important effect.Due to the important indicator that flexibility is robot performance, when it refers to the reference point (normally the initial point of wrist coordinate system) of robot end certain is some in working space, the number of the attitude that end-of-arm tooling may obtain.And the frame for movement of wrist determines the flexibility ratio of wrist, the type of drive of Three Degree Of Freedom wrist all adopted three drive sources to drive in the past, and therefore mechanism is complicated, and flexibility is poor.
Utility model content
The technical problem that the utility model mainly solves is: how to provide this power source input a kind of to be a rope, and the single power source that constitutes; Output is with the tail end connecting rod of spherical hinge access casing; At the under-actuated systems that casing is made up of rope, lead ring, spring etc. built with, wherein, rope connects tail end connecting rod by this under-actuated systems; The rectilinear motion of input rope is after under-actuated systems, and drive tail end connecting rod to make three-degree-of-freedom motion, this design is structurally fairly simple, and precision better controls, and has the lack of driven robot of good Practical Performance.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of three-degree of freedom under-actuated robot wrist spherical hinge mechanism, comprise: tail end connecting rod, casing, the first extension spring, the first rope, the first lead ring, the second extension spring, the second rope, the second lead ring and ball counter-base, described tail end connecting rod is positioned at the top of casing, and described first extension spring, the first rope, the first lead ring, the second extension spring, the second rope, the second lead ring and ball counter-base are all positioned at the space that described casing is formed.
In the utility model preferred embodiment, the first extension spring and the second extension spring are located along the same line.
In the utility model preferred embodiment, described first rope parallels with the second rope, the first lead ring parallels with the second lead ring.
The beneficial effects of the utility model are: this power source input is a rope, and the single power source that constitutes; Output is with the tail end connecting rod of spherical hinge access casing; At the under-actuated systems that casing is made up of rope, lead ring, spring etc. built with, wherein, rope connects tail end connecting rod by this under-actuated systems; The rectilinear motion of input rope is after under-actuated systems, and drive tail end connecting rod to make three-degree-of-freedom motion, this design is structurally fairly simple, and precision better controls, and has good Practical Performance.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a kind of three-degree of freedom under-actuated robot wrist spherical hinge mechanism one of the present utility model preferred embodiment.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the utility model embodiment below, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making other embodiments all obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The utility model embodiment provides following technical scheme.
A kind of three-degree of freedom under-actuated robot wrist spherical hinge mechanism is provided in the present embodiment, described three-degree of freedom under-actuated robot wrist spherical hinge mechanism comprises: tail end connecting rod 1, casing 2, first extension spring 3, first rope 4, first lead ring 5, second extension spring 6, second rope 7, second lead ring 8 and ball counter-base 9, described tail end connecting rod 1 is positioned at the top of casing 2, and described first extension spring 3, first rope 4, first lead ring 5, second extension spring 6, second rope 7, second lead ring 8 and ball counter-base 9 are all positioned at the space that described casing 2 is formed.First extension spring 3 and the second extension spring 6 are located along the same line.Described first rope 4 parallels with the second rope 7, the first lead ring 5 parallels with the second lead ring 8.
The beneficial effects of the utility model are: this power source input is a rope, and the single power source that constitutes; Output is access casing 2 with the tail end connecting rod 1 of spherical hinge; At the under-actuated systems that casing 2 is made up of rope, lead ring, spring etc. built with, wherein, rope connects tail end connecting rod 1 by this under-actuated systems; The rectilinear motion of input rope is after under-actuated systems, and drive tail end connecting rod 1 to make three-degree-of-freedom motion, this design is structurally fairly simple, and precision better controls, and has good Practical Performance.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model description to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present utility model.
Claims (3)
1. a three-degree of freedom under-actuated robot wrist spherical hinge mechanism, it is characterized in that, comprise: tail end connecting rod (1), casing (2), the first extension spring (3), the first rope (4), the first lead ring (5), the second extension spring (6), the second rope (7), the second lead ring (8) and ball counter-base (9), described tail end connecting rod is positioned at the top of casing, and described first extension spring, the first rope, the first lead ring, the second extension spring, the second rope, the second lead ring and ball counter-base are all positioned at the space that described casing is formed.
2. three-degree of freedom under-actuated robot wrist spherical hinge mechanism according to claim 1, is characterized in that, the first extension spring and the second extension spring are located along the same line.
3. three-degree of freedom under-actuated robot wrist spherical hinge mechanism according to claim 1, is characterized in that, described first rope parallels with the second rope, the first lead ring parallels with the second lead ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520705048.2U CN204954857U (en) | 2015-09-14 | 2015-09-14 | Three degree of freedom underactuated robot arm ball the hinge mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520705048.2U CN204954857U (en) | 2015-09-14 | 2015-09-14 | Three degree of freedom underactuated robot arm ball the hinge mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204954857U true CN204954857U (en) | 2016-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520705048.2U Active CN204954857U (en) | 2015-09-14 | 2015-09-14 | Three degree of freedom underactuated robot arm ball the hinge mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204954857U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058415A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist spherical hinge mechanism of three-degree-of-freedom underactuated robot |
-
2015
- 2015-09-14 CN CN201520705048.2U patent/CN204954857U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058415A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist spherical hinge mechanism of three-degree-of-freedom underactuated robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190916 Address after: 215200 No. 551 Jiangxing East Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee after: SUZHOU JIUFU AGRICULTURAL MACHINERY CO., LTD. Address before: 215000, room 666, 7001 Xiangcheng Avenue, Xiangcheng District, Suzhou, Jiangsu Patentee before: SUZHOU DALIKE AUTOMATION TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right |