CN212527745U - Two-degree-of-freedom asymmetric parallel rotating mechanism - Google Patents
Two-degree-of-freedom asymmetric parallel rotating mechanism Download PDFInfo
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- CN212527745U CN212527745U CN202021213348.6U CN202021213348U CN212527745U CN 212527745 U CN212527745 U CN 212527745U CN 202021213348 U CN202021213348 U CN 202021213348U CN 212527745 U CN212527745 U CN 212527745U
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Abstract
The utility model discloses an asymmetric parallelly connected rotary mechanism of two degrees of freedom, including first connecting rod, through the second connecting rod that first revolute pair is connected with first connecting rod, through third connecting rod, the spherical hinge that second revolute pair is connected with the second connecting rod vice, with the ball pole of spherical hinge pair connection, connect in the ball pole other end with universal vice, be used for right between the third connecting rod the second connecting rod provides drive power and makes the second connecting rod is relative first connecting rod is around first rotation axis pivoted first drive assembly and is used for right the spherical hinge pair provides drive power and makes the third connecting rod is relative the second connecting rod is around second rotation axis pivoted second drive assembly. The utility model discloses can be applied to and realize two degree of freedom rotary drive in the arm of robot, the utility model discloses a mechanism can be all fixed mounting on leading member or base to the driver part, can alleviate the quality of rearmounted mechanism by a wide margin, reduces leading driver part's power to can make whole arm structure compacter, more nimble.
Description
Technical Field
The utility model relates to a robot field, in particular to asymmetric parallel rotary mechanism of two degrees of freedom.
Background
The kinematic mechanisms can be divided into serial mechanisms and parallel mechanisms according to the number of kinematic chains. The series mechanism is an open-loop mechanism in which a plurality of basic rod pieces with single degree of freedom are sequentially connected, the output motion of each front rod piece is the input of a rear rod piece, and only one motion chain is arranged between a base and an end effector; the parallel mechanism is a closed loop mechanism which is formed by connecting a designated platform (base) and a movable platform (end effector) through at least two independent kinematic chains, has two or more degrees of freedom and is driven in a parallel mode.
The series mechanism and the parallel mechanism have advantages and disadvantages respectively.
The series mechanism has the advantages of large working space, simple structure, mature control algorithm and the like, and is widely applied to the fields of industrial mechanical arms and the like at present. However, each single degree of freedom rod of the tandem mechanism must be provided with a driving member, such as an electric motor, an electric cylinder, a hydraulic cylinder or a hydraulic motor, etc., and the rod closer to the base not only bears the load of the next rod connected thereto, but also the weight from the corresponding driving member. Considering that the mass of the driving components is often larger, they generate a large centrifugal load when the robot works, and as a result, a front driving component with larger power is needed, and more energy is consumed. Moreover, in order to ensure sufficient strength and rigidity, the structure of the serial mechanical arm is often designed to be very robust, and the whole robot is heavy. The parallel mechanism has the following advantages: no accumulated error exists, and the precision is higher; compact structure, high rigidity and large bearing capacity.
Many of the rotary drive mechanisms currently used in robotic arms have the disadvantage of either being very "rugged" due to the use of serial arm configurations or requiring more powerful front drive components due to the mounting of the drive components on the rear mechanism.
A more reliable solution is now needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the not enough among the above-mentioned prior art, provide an asymmetric parallelly connected rotary mechanism of two degrees of freedom.
In order to solve the technical problem, the utility model discloses a technical scheme is: a two-degree-of-freedom asymmetric parallel rotation mechanism comprises a first connecting rod, a second connecting rod connected with the first connecting rod through a first rotation pair, a third connecting rod connected with the second connecting rod through a second rotation pair, a spherical hinge pair, a ball rod connected with the spherical hinge pair, a universal pair connected between the other end of the ball rod and the third connecting rod, a first driving assembly used for providing driving force for the second connecting rod to enable the second connecting rod to rotate around a first rotation axis relative to the first connecting rod, and a second driving assembly used for providing driving force for the spherical hinge pair to enable the third connecting rod to rotate around a second rotation axis relative to the second connecting rod;
the first rotation axis and the second rotation axis are not parallel, so that the third link can perform posture adjustment in both rotation directions.
Preferably, the universal pair is replaced by a spherical hinge pair.
Preferably, the positions of the spherical hinge pair and the universal pair at the two ends of the cue are exchanged.
Preferably, the first rotation pair includes a first rotation shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel.
Preferably, the first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with an input end of the crank and rocker mechanism, and an output end of the crank and rocker mechanism is connected with the second connecting rod.
Preferably, the first motor is fixedly connected to the first connecting rod, the crank and rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
Preferably, the second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with the input end of the double-crank mechanism, and the output end of the double-crank mechanism is connected with the spherical hinge pair.
Preferably, the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank with a first end in rotational connection with the front end of the first connecting rod and a second end in rotational connection with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
Preferably, the first drive assembly comprises a first linear actuator rotatably connected to the first link, the output rod of the first linear actuator being rotatably connected to the second link.
Preferably, the second drive assembly comprises a second linear actuator rotatably connected to the first link, a second crank having a first end rotatably connected to the front end of the first link and a second end rotatably connected to the output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
The utility model has the advantages that: the utility model provides an asymmetric parallelly connected rotation driving mechanism of two degrees of freedom can be applied to and realize two degrees of freedom rotation drive in the arm of robot, the utility model discloses a mechanism can be all fixed mounting on leading member or base the drive disk assembly, can alleviate the quality of rearmounted mechanism by a wide margin, reduces leading drive disk assembly's power to can make whole arm structure compacter, more nimble.
Drawings
Fig. 1 is a schematic diagram of a two-degree-of-freedom asymmetric parallel rotating mechanism of the present invention;
fig. 2 is a schematic structural view of a two-degree-of-freedom asymmetric parallel rotation mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic structural view of another angle of the two-degree-of-freedom asymmetric parallel rotation mechanism according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of another angle of the two-degree-of-freedom asymmetric parallel rotation mechanism according to embodiment 1 of the present invention;
fig. 5 is a schematic structural view of a two-degree-of-freedom asymmetric parallel rotation mechanism according to embodiment 2 of the present invention.
Description of reference numerals:
1-a first link; 2-a first revolute pair; 3-a second link; 4-a second revolute pair; 5-a third connecting rod; 6, a spherical hinge pair; 7-a ball arm; 8, a universal pair; 9 — a first drive assembly; 10-a second drive assembly; 60-spherical hinge seat; 61-spherical hinge; 90-crank rocker mechanism; 91 — a first motor; 92-a first crank; 93 — a first rocker; 94-a first linear actuator; 100-a double crank mechanism; 101-a second motor; 102 — rear crank; 103-a second rocker; 104-front crank; 105 — a second linear actuator; 106 — second crank.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1, the two-degree-of-freedom asymmetric parallel rotation mechanism of the present embodiment includes a first link (L)i-1) Through the first rotating pair (R)1) A second link (L) connected with the first linki) Through a second rotary pair (R)2) A third link (L) connected with the second linki+1) A ball and socket joint pair (or spherical pair, S), a ball bar (l) connected to the ball and socket joint pair, a universal joint pair (also called hooke pair, U) connected between the other end of the ball bar and the third link, a first driving assembly for providing a driving force (e.g., moment M in fig. 1) to the second link to rotate the second link relative to the first link about a first rotation axis, and a second driving assembly for providing a driving force (e.g., force F in fig. 1) to the ball and socket joint pair to rotate the third link relative to the second link about a second rotation axis;
wherein the first and second rotation axes are not parallel, and the first rotation pair (R) is driven and controlled by a moment M and a force F respectively1) The rotation angle and the position of the spherical hinge pair (S) can control the connecting rod (L)i+1) The posture adjustment of two spatial rotation angles is realized.
In another embodiment, the universal joint pair can be replaced by a spherical hinge pair, namely, both ends of the club can be spherical hinge pairs.
In another embodiment, the positions of the spherical hinge pair and the universal pair at the two ends of the club are reversed.
The present invention is generally conceived and more specific embodiments thereof are provided below to explain the present invention in further detail.
Example 1
Referring to fig. 2-4, in the present embodiment, the first rotating pair includes a first rotating shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel. In this embodiment, the axes of the first rotating shaft and the second rotating shaft are perpendicular to each other.
The first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with the input end of the crank and rocker mechanism, and the output end of the crank and rocker mechanism is connected with the second connecting rod. Furthermore, the first motor is fixedly connected to the first connecting rod, the crank and rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
The second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with the input end of the double-crank mechanism, and the output end of the double-crank mechanism is connected with the spherical hinge pair. Further, the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank of which a first end is rotationally connected with the front end of the first connecting rod and a second end is rotationally connected with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
In a preferred embodiment, the first motor and the second motor are each provided with a reduction gear.
Referring to fig. 2 and 3, the first motor rotates, and the crank rocker mechanism can drive the second connecting rod to rotate in the pitching direction relative to the first connecting rod; the second motor rotates, the third connecting rod can be driven to rotate relative to the second connecting rod through the transmission of the double-crank mechanism, the spherical hinge pair and the universal joint, and the pitching and rotating angles of the third connecting rod in the space can be controlled by controlling the rotating angles of the two motors.
The utility model discloses mainly be applied to in the arm of robot, realize two degree of freedom rotary drive, two motors can set up on leading member (first connecting rod), also can set up on the base that is used for the first connecting rod of erection joint, through the terminal direction that sets up the position antedisplacement (keeping away from the arm) with the great motor of quality, can alleviate the last quality (the terminal direction who is close to the arm) of rearmounted mechanism by a wide margin, reduce leading drive unit's power, thereby can make whole arm structure compacter, it is more nimble.
Example 2
Referring to fig. 5, the present embodiment is different from embodiment 1 mainly in that: change the motor among the drive assembly into linear actuator, specifically do: in this embodiment, the first drive assembly includes a first linear actuator rotatably coupled to the first link, and an output rod of the first linear actuator is rotatably coupled to the second link.
The second driving assembly comprises a second linear actuator which is rotatably connected to the first connecting rod, and a second crank, wherein the first end of the second crank is rotatably connected with the front end of the first connecting rod, and the second end of the second crank is rotatably connected with an output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
The first and second linear actuators can be selected from hydraulic cylinders, pneumatic cylinders, electric cylinders, etc.
The output rod of the first linear actuator stretches and can drive the second connecting rod to rotate in the pitching direction relative to the first connecting rod; the output rod of the second linear actuator stretches out and draws back, and the third connecting rod can be driven to perform rotary motion relative to the second connecting rod through the transmission of the double-crank mechanism, the spherical hinge pair and the universal joint, and the pitching and the rotary angle of the third connecting rod in the space can be controlled by controlling the extension amounts of the two linear actuators.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields where the invention is suitable, and further modifications may readily be made by those skilled in the art, and the invention is therefore not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. A two-degree-of-freedom asymmetric parallel rotation mechanism is characterized by comprising a first connecting rod, a second connecting rod connected with the first connecting rod through a first rotation pair, a third connecting rod connected with the second connecting rod through a second rotation pair, a spherical hinge pair, a ball rod connected with the spherical hinge pair, a universal pair connected between the other end of the ball rod and the third connecting rod, a first driving assembly used for providing driving force for the second connecting rod to enable the second connecting rod to rotate around a first rotation axis relative to the first connecting rod, and a second driving assembly used for providing driving force for the spherical hinge pair to enable the third connecting rod to rotate around a second rotation axis relative to the second connecting rod;
the first rotation axis and the second rotation axis are not parallel, so that the third link can perform posture adjustment in both rotation directions.
2. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 1, wherein the universal pair is replaced with a ball-and-socket hinge pair.
3. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 1, wherein the spherical hinge pair and the universal pair at two ends of the ball rod are exchanged.
4. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 1, wherein the first revolute pair includes a first rotary shaft rotatably connecting the second link to a front end of the first link;
the second rotating pair comprises a second rotating shaft which rotatably connects the third connecting rod to the front end of the second connecting rod;
the axes of the first rotating shaft and the second rotating shaft are not parallel.
5. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 4, wherein the first driving assembly comprises a crank and rocker mechanism arranged on the first connecting rod and a first motor in driving connection with an input end of the crank and rocker mechanism, and an output end of the crank and rocker mechanism is connected with the second connecting rod.
6. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 5, wherein the first motor is fixedly connected to the first connecting rod, the crank-rocker mechanism comprises a first crank in driving connection with an output shaft of the first motor and a first rocker in rotational connection with the first crank, and the other end of the first rocker is in rotational connection with the second connecting rod.
7. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 6, wherein the second driving assembly comprises a double-crank mechanism arranged on the first connecting rod and a second motor in driving connection with an input end of the double-crank mechanism, and an output end of the double-crank mechanism is connected with the spherical hinge pair.
8. The two-degree-of-freedom asymmetric parallel rotation mechanism according to claim 7, wherein the second motor is fixedly connected to the first connecting rod, and the double-crank mechanism comprises a rear crank in driving connection with an output shaft of the second motor, a second rocker in rotational connection with the rear crank, and a front crank with a first end in rotational connection with the front end of the first connecting rod and a second end in rotational connection with the second rocker;
the spherical hinge pair comprises a spherical hinge seat fixedly connected to the second end of the front crank and a spherical hinge connected to the spherical hinge seat;
the universal pair comprises a universal joint for connecting the spherical hinge and the third connecting rod.
9. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 4, wherein the first drive assembly comprises a first linear actuator rotatably connected to the first link, an output rod of the first linear actuator being rotatably connected to the second link.
10. The two-degree-of-freedom asymmetric parallel rotation mechanism of claim 9, wherein the second drive assembly comprises a second linear actuator rotatably connected to the first link, a second crank having a first end rotatably connected to the front end of the first link and a second end rotatably connected to an output rod of the second linear actuator;
the ball rod is connected with the second end of the second crank through the spherical hinge pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021213348.6U CN212527745U (en) | 2020-06-28 | 2020-06-28 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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| CN202021213348.6U CN212527745U (en) | 2020-06-28 | 2020-06-28 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111730583A (en) * | 2020-06-28 | 2020-10-02 | 中国科学院苏州生物医学工程技术研究所 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111730583A (en) * | 2020-06-28 | 2020-10-02 | 中国科学院苏州生物医学工程技术研究所 | Two-degree-of-freedom asymmetric parallel rotating mechanism |
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