CN213971196U - Three-degree-of-freedom wrist joint parallel mechanism - Google Patents
Three-degree-of-freedom wrist joint parallel mechanism Download PDFInfo
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- CN213971196U CN213971196U CN202022995344.4U CN202022995344U CN213971196U CN 213971196 U CN213971196 U CN 213971196U CN 202022995344 U CN202022995344 U CN 202022995344U CN 213971196 U CN213971196 U CN 213971196U
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 27
- 210000000707 wrist Anatomy 0.000 claims description 45
- 230000003068 static effect Effects 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a three degree of freedom wrist joint parallel mechanism, including quiet platform, actuating lever, intermediate lever, move platform and drive arrangement, wherein actuating lever, intermediate lever and move the space between the platform independent, do not produce the interference each other, three's axis is compiled in a bit, has complete sphere working space, drive arrangement fixed mounting is on quiet platform, the intermediate lever sliding connection is moving the platform and linking to each other and putting, wherein, in each branch chain, have a revolute pair between quiet platform and the actuating lever, have a revolute pair between actuating lever and the intermediate lever, intermediate lever and moving have a moving pair between the platform, adopt the utility model discloses a three degree of freedom wrist joint parallel mechanism can realize that the axis of rotation intersects in three pivoted degree of freedom motions of a bit, and simple structure symmetry, rigidity and precision are higher, Easy to control.
Description
Technical Field
The utility model relates to a wrist joint robot field, more specifically the theory that says so especially relates to a three degree of freedom wrist joint parallel mechanism.
Background
With the development of society and the progress of science and technology, modern industrial design has become more mature, and in the production process of modern industrialization, because the degree of automation of machines is higher and higher, the phenomenon that machines replace manual work is more and more. The robot belongs to a representative of modern machines, the robot is widely used in various places such as restaurants, markets, enterprises and the like, and in order to meet the requirement that the robot can process products in a multi-direction and high-precision manner, a robot wrist joint parallel mechanism which can be matched with the robot to process products in a multi-direction and high-precision manner and is miniaturized and integrated is needed, wherein the reasonable design of the structure of the wrist joint parallel mechanism is an important basis for improving the working space and the structural rigidity. Although the working space of the wrist joint parallel mechanism on most of the robots at present can reach the real moving angle similar to the wrist joint of a human body, the whole structure is very large, the cost of manufacturing cost is increased, and strict requirements are also provided for the actual working environment. Based on this, the utility model designs a wrist joint parallel mechanism of common centre of rotation, this mechanism adopt the arc pole as the branch chain partly, and the purpose is in order to reduce overall dimension, and can realize that the axis of rotation intersects in the motion of a bit three pivoted degrees of freedom, and simple structure symmetry, rigidity and precision are higher, easily control.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve current robot wrist joint parallel mechanism's size great, manufacturing cost is high, requires high problem to the environment, has provided a three degree of freedom wrist joint parallel mechanism, adopts the arc pole as a branch chain partly, can realize that the axis of rotation intersects in the motion of a bit three pivoted degrees of freedom, and simple structure symmetry, rigidity and precision are higher, easily control.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a three-degree-of-freedom wrist joint parallel mechanism comprises a static platform, a driving rod, a middle rod, a movable platform and a driving device,
the static platform comprises a wrist base and three wrist base connecting pieces, wherein the wrist base connecting pieces are circular, the wrist bases are L-shaped and are provided with three identical structures, the wrist base is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases are fixedly connected with the wrist base connecting pieces, and the wrist bases uniformly surround the wrist base connecting pieces along the circumferential direction; a driving device is fixed on the outer side of the vertical side plate of each wrist base;
the driving rods are provided with three driving rods, and the three driving rods are correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases; the driving rod comprises a vertical driving plate, an inclined bearing connecting plate and a thrust ball bearing, the lower end of the inclined bearing connecting plate is fixedly connected with the upper end of the vertical driving plate, the vertical driving plate is arranged on the inner side of a vertical side plate of the wrist base, a driving end of the driving device penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate, the inclined bearing connecting plate inclines to one side far away from the vertical side plate, and one side face of the thrust ball bearing is installed on the side face, far away from the vertical side plate, of the inclined bearing connecting plate; the other side surface of the thrust ball bearing of each driving rod is connected with an intermediate rod;
the middle rod comprises a cylindrical block, U-shaped frames, cylindrical rollers and roller shafts, one side face of the cylindrical block is fixed on the side face of the thrust ball bearing, the bottom edge of the U-shaped frame is fixed on the other side face of the cylindrical block, two side edges of the U-shaped frame are perpendicular to the side faces of the cylindrical block, the end part of the side face of each U-shaped frame is provided with a roller shaft with the axis parallel to the side face of the cylindrical block, each roller shaft is provided with one cylindrical roller, the two cylindrical rollers are arranged on the inner sides of the side edges of the U-shaped frames, and the axis of the two cylindrical rollers are overlapped;
the movable platform comprises three circular arc track rods, three circular arc connecting pieces, a movable platform connecting piece and a gas claw hand base, each circular arc track rod is provided with a circular arc track groove, two cylindrical rollers on each middle rod are arranged on the circular arc track grooves of one circular arc cabinet guide rod, and two side edges of a U-shaped frame of each middle rod limit the two cylindrical rollers to move along the circular arc track grooves of the circular arc cabinet guide rods; the upper ends of the three arc track rods are fixedly connected with the arc connecting pieces, the three arc track rods are uniformly distributed around the arc connecting pieces along the circumferential direction, and the lower ends of the three arc track rods are fixedly connected to the air claw hand base through the movable platform connecting pieces.
The utility model discloses a platform, including drive device, intermediate lever, cylindrical roller, thrust ball bearing, drive device, intermediate lever, cylindrical roller and cylindrical roller.
Furthermore, the vertical driving plate and the inclined bearing connecting plate of the driving plate are integrally formed, and one side surface of the thrust ball bearing is fixed on the inclined bearing connecting plate through a bolt.
Furthermore, the drive rod, the intermediate rod and the movable platform are independent in space and do not interfere with each other. The axes of the driving rod, the middle rod and the movable platform are converged at one point, and the spherical working space is complete.
Further, the angle between the vertical drive plate and the tilt bearing connection plate of the drive rod is 135 degrees. The drive rod is provided with a series of small holes for reducing the overall weight.
Furthermore, the driving device is a driving motor, and the driving motor is fixed on the outer side of the vertical side plate of the wrist base through a bolt.
A revolute pair is arranged between the static platform and the driving rod, a revolute pair is arranged between the driving rod and the middle rod, and a revolute pair is arranged between the middle rod and the movable platform.
Furthermore, a plurality of round holes used for reducing weight are arranged on the wrist base connecting piece.
Further, the vertical driving plate of the driving rod is in interference connection with the output end of the driving device.
Furthermore, the central line of the U-shaped frame is superposed with the axis of the cylindrical block, and the two cylindrical rollers rotate around the axis of the cylindrical block when rotating.
Further, the circular arc track rod comprises a first circular arc plate, a second circular arc plate, a first circular arc connecting plate and a second circular arc connecting plate, the first circular arc plate and the second circular arc plate are arranged in parallel, a circular arc track groove is formed between the first circular arc plate and the second circular arc plate, the upper ends of the first circular arc plate and the second circular arc plate are connected through the first circular arc connecting plate, and the lower ends of the first circular arc plate and the second circular arc plate are connected through the second circular arc connecting plate.
Furthermore, the arc connecting pieces are provided with two first arc plates, the upper ends of the three first arc plates of the three arc track rods are fixed on the same arc connecting piece, and the lower ends of the three first arc plates of the three arc track rods are fixed on the other arc connecting piece.
Furthermore, the number of the movable platform connecting pieces is three, the three movable platform connecting pieces are respectively fixed on the inner sides of the three second arc plates of the three arc track rods, and the bottoms of the three movable platform connecting pieces are fixed on the upper end face of the pneumatic claw hand base.
The beneficial effects of the utility model reside in that: the utility model discloses simple structure is compact, and is small, the quality is light, has three axis and intersects in a little rotational degree of freedom, because the utility model discloses the shape of structure is similar to the wrist shape of people, accords with the requirement of robot design, and the joining of arc pole, can improve the rigidity of mechanism for the mechanism has higher stability, satisfies the rationality of robot design.
Drawings
Fig. 1 is a left side view of the wrist joint parallel mechanism of the present invention.
Fig. 2 is a front view of the wrist joint parallel mechanism of the present invention with a common rotation center.
Fig. 3 is a schematic structural diagram of the static platform of the present invention.
Fig. 4 is a schematic structural view of the driving rod of the present invention.
Fig. 5 is a schematic structural view of the intermediate rod of the present invention.
Fig. 6 is a schematic structural diagram of the movable platform of the present invention.
Fig. 7 is a schematic structural view of the arc track rod of the present invention.
In the figure, 1-a static platform, 2-a driving device, 3-a driving rod, 4-a bearing, 5-a wrist base connecting piece, 6-a wrist base, 7-a middle rod, 8-a movable platform, 9-an inclined bearing connecting plate, 10-a roller shaft, 11-a vertical driving plate, 12-a cylindrical block, 13-a U-shaped frame, 14-a cylindrical roller, 15-an arc connecting piece, 16-an arc track rod, 17-a movable platform connecting piece, 18-an air claw hand base, 19-an arc track groove, 20-a first arc plate, 21-a second arc plate, 22-a first arc connecting plate and 23-a second arc connecting plate.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 7, a three-degree-of-freedom wrist joint parallel mechanism is characterized in that: comprises a static platform 1, a driving rod 3, an intermediate rod 7, a movable platform 8 and a driving device 2.
The static platform 1 comprises a wrist base 6 and wrist base connecting pieces 5, the wrist base connecting pieces 5 are circular, the wrist base 6 is L-shaped, the wrist base 6 is provided with three identical structures, the wrist base 6 is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases 6 are fixedly connected with the wrist base connecting pieces 5, and the wrist base 6 uniformly surrounds the wrist base connecting pieces 5 along the circumferential direction; a driving device 2 is fixed to the outside of the vertical side plate of each wrist base 6.
The driving rods 3 are three, and the three driving rods 3 are correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases 6; the driving rod 3 comprises a vertical driving plate 11, an inclined bearing connecting plate 9 and a thrust ball bearing 4, the lower end of the inclined bearing connecting plate 9 is fixedly connected with the upper end of the vertical driving plate 11, the vertical driving plate 11 is arranged on the inner side of a vertical side plate of the wrist base 6, the driving end of the driving device 2 penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate 11, the inclined bearing connecting plate 9 inclines towards one side far away from the vertical side plate, and one side face of the thrust ball bearing 4 is arranged on the side face, far away from the vertical side plate, of the inclined bearing connecting plate 9; the other side of the thrust ball bearing 4 of each drive rod 3 is connected to an intermediate rod 7.
The middle rod 7 comprises a cylindrical block 12, U-shaped frames 13, cylindrical rollers 14 and roller shafts 10, one side face of the cylindrical block 12 is fixed on the side face of the thrust ball bearing 4, the bottom edge of each U-shaped frame 13 is fixed on the other side face of the cylindrical block 12, two side edges of each U-shaped frame 13 are perpendicular to the side faces of the cylindrical block 12, the end portion of the side face of each U-shaped frame 13 is provided with the roller shaft 10, the axis of each roller shaft 10 is parallel to the side face of the cylindrical block 12, one cylindrical roller 14 is installed on each roller shaft 10, the two cylindrical rollers 14 are all arranged on the inner side of the side edge of each U-shaped frame 13, and the axis of the two cylindrical rollers 14 are overlapped.
The movable platform 8 comprises three circular arc track rods 16, three circular arc connecting pieces 15, a movable platform connecting piece 17 and a gas claw hand base 18, each circular arc track rod 16 is provided with a circular arc track groove, two cylindrical rollers 14 on each intermediate rod 7 are arranged on the circular arc track grooves of one circular arc cabinet guide rod, and two side edges of a U-shaped frame 13 of each intermediate rod 7 limit the two cylindrical rollers 14 to move along the circular arc track grooves of the circular arc cabinet guide rods; the upper ends of the three arc track rods 16 are fixedly connected with the arc connecting pieces 15, the three arc track rods 16 are uniformly distributed around the arc connecting pieces 15 along the circumferential direction, and the lower ends of the three arc track rods 16 are fixedly connected to the air gripper base 18 through the movable platform connecting pieces 17.
The vertical driving plate 11 and the inclined bearing connecting plate 9 of the driving plate are integrally formed, and one side surface of the thrust ball bearing 4 is fixed on the inclined bearing connecting plate 9 through a bolt.
The drive rod 3, the intermediate rod 7 and the movable platform 8 are independent in space and do not interfere with each other.
The angle between the vertical drive plate 11 and the tilt bearing connection plate 9 of the drive rod 3 is 135 degrees.
The wrist base connecting piece 5 is provided with a plurality of round holes for reducing weight.
The vertical driving plate 11 of the driving rod 3 is in interference connection with the output end of the driving device 2.
The center line of the U-shaped frame 13 coincides with the axis of the cylindrical block 12, and the two cylindrical rollers 14 rotate around the axis of the cylindrical block 12 when rotating.
Circular arc track pole 16 includes first circular arc board 20, second circular arc board 21, first circular arc connecting plate 23 and second circular arc connecting plate 24, first circular arc board 20 and second circular arc board 21 parallel arrangement form circular arc track groove between first circular arc board 20 and the second circular arc board 21, and first circular arc board 20 and the upper end of second circular arc board 21 are connected through first circular arc connecting plate 23, and the lower extreme of first circular arc board 20 and second circular arc board 21 passes through second circular arc connecting plate 24 and connects.
The arc connecting piece 15 is provided with two, and the three first circular arc board 20 upper end of three circular arc track pole 16 is fixed on same arc connecting piece 15, and the three first circular arc board 20 lower extreme of three circular arc track pole 16 is fixed on another circular arc connecting piece 15.
The number of the movable platform connecting pieces 17 is three, the three movable platform connecting pieces 17 are respectively fixed on the inner sides of three second arc plates 21 of the three arc track rods 16, and the bottoms of the three movable platform connecting pieces 17 are fixed on the upper end surface of the air claw hand base 18.
The utility model discloses specific work flow is as follows:
firstly, the static platform 1 is fixedly connected with the ground relatively, when the three driving motors 2 are opened, the tail end of each driving motor 2 transmits force and moment to the driving rod 3, the driving rod 3 can correspondingly rotate, the intermediate rod 7 is matched with the thrust ball bearing 4, therefore, the driving rod 3 transmits the rotation to the intermediate rod 7, the tail end cylindrical roller 14 of the intermediate rod 7 and the movable platform 8 have moving pairs, therefore, the cylindrical roller 14 can move on the arc track rod 16 of the movable platform 8 and can rotate around the roller shaft 10, the centers of all the moving pairs are intersected at one point of the center of the movable platform 8 in the moving process, and finally, under the action of the three intermediate rods 7, the movable platform 8 can realize three-free rotary motion around the centers of three coordinate axes.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (10)
1. A three-degree-of-freedom wrist joint parallel mechanism is characterized in that: comprises a static platform (1), a driving rod (3), a middle rod (7), a movable platform (8) and a driving device (2),
the static platform (1) comprises a wrist base (6) and three wrist base connecting pieces (5), the wrist base connecting pieces (5) are circular, the wrist base (6) is L-shaped, the wrist base (6) is provided with three identical structures, the wrist base (6) is provided with horizontal transverse plates and vertical side plates, the horizontal transverse plates of the three wrist bases (6) are fixedly connected with the wrist base connecting pieces (5), and the wrist bases (6) uniformly surround the wrist base connecting pieces (5) along the circumferential direction; a driving device (2) is fixed on the outer side of the vertical side plate of each wrist base (6);
the three driving rods (3) are arranged, and the three driving rods (3) are correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases (6); the driving rod (3) comprises a vertical driving plate (11), an inclined bearing connecting plate (9) and a thrust ball bearing (4), the lower end of the inclined bearing connecting plate (9) is fixedly connected with the upper end of the vertical driving plate (11), the vertical driving plate (11) is arranged on the inner side of a vertical side plate of the wrist base (6), a driving end of the driving device (2) penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate (11), the inclined bearing connecting plate (9) inclines to one side far away from the vertical side plate, and one side face of the thrust ball bearing (4) is installed on the side face, far away from the vertical side plate, of the inclined bearing connecting plate (9); the other side surface of the thrust ball bearing (4) of each driving rod (3) is connected with an intermediate rod (7);
the middle rod (7) comprises a cylindrical block (12), U-shaped frames (13), cylindrical rollers (14) and roller shafts (10), one side face of the cylindrical block (12) is fixed on the side face of the thrust ball bearing (4), the bottom edge of each U-shaped frame (13) is fixed on the other side face of the cylindrical block (12), two side edges of each U-shaped frame (13) are perpendicular to the side face of the cylindrical block (12), the end part of the side face of each U-shaped frame (13) is provided with the roller shaft (10) with the axial lead parallel to the side face of the cylindrical block (12), each roller shaft (10) is provided with one cylindrical roller (14), the two cylindrical rollers (14) are arranged on the inner side face of the side edge of each U-shaped frame (13), and the axial leads of the two cylindrical rollers (14) are overlapped;
the movable platform (8) comprises three circular arc track rods (16), three circular arc connecting pieces (15), a movable platform connecting piece (17) and a pneumatic claw hand base (18), each circular arc track rod (16) is provided with a circular arc track groove, two cylindrical rollers (14) on each middle rod (7) are arranged on the circular arc track groove of one circular arc cabinet guide rod, and two side edges of a U-shaped frame (13) of each middle rod (7) limit the two cylindrical rollers (14) to move along the circular arc track grooves of the circular arc cabinet guide rods; the upper ends of the three arc track rods (16) are fixedly connected with the arc connecting pieces (15), the three arc track rods (16) are uniformly distributed around the arc connecting pieces (15) along the circumferential direction, and the lower ends of the three arc track rods (16) are fixedly connected to the air claw hand base (18) through the movable platform connecting pieces (17).
2. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: a vertical driving plate (11) and an inclined bearing connecting plate (9) of the driving plate are integrally formed, and one side surface of the thrust ball bearing (4) is fixed on the inclined bearing connecting plate (9) through a bolt.
3. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: the drive rod (3), the intermediate rod (7) and the movable platform (8) are independent in space and do not interfere with each other.
4. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: the angle between the vertical drive plate (11) and the tilt bearing connection plate (9) of the drive rod (3) is 135 degrees.
5. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: the wrist base connecting piece (5) is provided with a plurality of round holes for reducing weight.
6. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: and a vertical driving plate (11) of the driving rod (3) is in interference connection with the output end of the driving device (2).
7. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: the central line of the U-shaped frame (13) is superposed with the axis of the cylindrical block (12), and the two cylindrical rollers (14) rotate around the axis of the cylindrical block (12) when rotating.
8. The three-degree-of-freedom wrist joint parallel mechanism according to claim 1, characterized in that: circular arc track pole (16) include first circular arc board (20), second circular arc board (21), first circular arc connecting plate (23) and second circular arc connecting plate (24), first circular arc board (20) and second circular arc board (21) parallel arrangement form circular arc track groove between first circular arc board (20) and second circular arc board (21), and the upper end of first circular arc board (20) and second circular arc board (21) is connected through first circular arc connecting plate (23), and the lower extreme of first circular arc board (20) and second circular arc board (21) passes through second circular arc connecting plate (24) and connects.
9. The three-degree-of-freedom wrist joint parallel mechanism according to claim 8, wherein: the arc connecting piece (15) is provided with two, the upper ends of three first arc plates (20) of three arc track rods (16) are fixed on the same arc connecting piece (15), and the lower ends of the three first arc plates (20) of the three arc track rods (16) are fixed on the other arc connecting piece (15).
10. The three-degree-of-freedom wrist joint parallel mechanism of claim 9, wherein: the movable platform connecting pieces (17) are three, the three movable platform connecting pieces (17) are respectively fixed on the inner sides of three second arc plates (21) of the three arc track rods (16), and the bottoms of the three movable platform connecting pieces (17) are fixed on the upper end face of the air claw hand base (18).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022995344.4U CN213971196U (en) | 2020-12-14 | 2020-12-14 | Three-degree-of-freedom wrist joint parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022995344.4U CN213971196U (en) | 2020-12-14 | 2020-12-14 | Three-degree-of-freedom wrist joint parallel mechanism |
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| CN213971196U true CN213971196U (en) | 2021-08-17 |
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| CN202022995344.4U Active CN213971196U (en) | 2020-12-14 | 2020-12-14 | Three-degree-of-freedom wrist joint parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605977A (en) * | 2020-12-14 | 2021-04-06 | 浙江工业大学 | Wrist joint parallel mechanism with rotation center |
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2020
- 2020-12-14 CN CN202022995344.4U patent/CN213971196U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605977A (en) * | 2020-12-14 | 2021-04-06 | 浙江工业大学 | Wrist joint parallel mechanism with rotation center |
| CN112605977B (en) * | 2020-12-14 | 2023-12-12 | 浙江工业大学 | Wrist joint parallel mechanism with co-rotation center |
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