CN213971197U - Few-degree-of-freedom high-precision wrist joint mechanism - Google Patents
Few-degree-of-freedom high-precision wrist joint mechanism Download PDFInfo
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- CN213971197U CN213971197U CN202022995345.9U CN202022995345U CN213971197U CN 213971197 U CN213971197 U CN 213971197U CN 202022995345 U CN202022995345 U CN 202022995345U CN 213971197 U CN213971197 U CN 213971197U
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 19
- 210000000707 wrist Anatomy 0.000 claims description 44
- 230000003068 static effect Effects 0.000 claims description 10
- 239000000758 substrate Substances 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 238000009776 industrial production Methods 0.000 description 2
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Abstract
The utility model discloses a few degree of freedom high accuracy wrist joint mechanism, its characterized in that includes quiet platform, branch chain, moves the platform, moves platform basement and driving motor, driving motor links firmly on quiet platform, quiet platform is connected to the input of branch chain, and the output is connected and is moved the platform, and the motion secondary axis between the branch chain intersects in a bit, can form complete motion center, move platform basement fixed mounting and move on the platform, the utility model discloses a few degree of freedom high accuracy wrist joint mechanism, structural symmetry designs, and the motion is nimble, the carrying capacity is strong, the precision is high, reasonable in design, has advantages such as good processing and assembly process.
Description
Technical Field
The utility model relates to a parallel robot mechanism field, more specifically the theory that says so especially relates to a few degree of freedom high accuracy wrist joint mechanism.
Background
Along with the continuous enlargement of industrial production scale, the demand of a large amount of assembly line work on operators is greatly increased, the continuous improvement of labor cost restricts the development of enterprises, industrial robots are adopted to replace manual work, the dependence of the enterprises on the manual work is greatly reduced, in the industrial production line, in order to improve the production efficiency, a plurality of objects are generally required to be grabbed and accurately placed at other places for processing in the actual production process, the flexibility and the precision of the tail ends of the industrial robots directly influence the working efficiency and the target, wherein the reasonable design of a wrist joint mechanism is important content for improving the efficiency and the service life of the robots. The existing wrist joint parallel mechanism branched chain applied to the robot adopts a large-size design, although the wrist joint parallel mechanism can obtain a required working space, the problem of surrounding working environment can be influenced due to the overlarge size of the branched chain, and the final moving pair between the 3-RRP wrist joint parallel mechanism rods can deform and slide due to the action of assembly and external force, so that the wrist joint parallel mechanism branched chain is not suitable for the working environment of a high-precision occasion.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems caused by the adoption of large size of the branched chain of the existing wrist joint parallel mechanism, and provides a wrist joint mechanism with less freedom degree and high precision, which adopts a gear rod based on an arc rod as a part of the branched chain, and the gear rod can be intersected with a common rod piece to have more compact structural space due to structural reasons, thereby reducing the size of the whole mechanism; the circle centers of the arc rods and the revolute pairs intersect at a point, so that the motion space of the wrist joint parallel mechanism can intersect at a point, and the flexibility of the whole mechanism is improved; the mechanism adopts gear engagement as a moving pair of the 3-RRP wrist joint parallel mechanism, and the gear engagement has extremely high precision, so that the mechanism has high precision and is suitable for working in a high-precision working environment.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a high-precision wrist joint mechanism with less degrees of freedom comprises a static platform, a branched chain, a movable platform base and a driving motor,
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 motor is fixed on the outer side of the vertical side plate of each wrist base;
the branched chains are provided with three branched chains which are respectively and correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases; the branched chains comprise a driving rod, a thrust ball bearing, a driven rod, a first gear, a second gear, a sleeve and a deep groove ball bearing, the three branched chains are completely the same in composition structure, the driving rod comprises a vertical driving plate and a tilting bearing connecting plate, the upper end of the vertical driving plate is connected with the tilting bearing connecting plate in a welding mode, the vertical driving plate is arranged on the inner side of a vertical side plate of the wrist base, a driving end of a driving motor penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate, the tilting bearing connecting plate tilts towards one side far away from the vertical side plate, one end face of the thrust ball bearing is fixedly connected to the inner side of the tilting bearing connecting plate, the other end face of the thrust ball bearing is connected with the driven rod, the driven rod comprises a cylindrical block, a supporting frame and a middle shaft, one end face of the cylindrical block is fixed on the other end face of the thrust ball bearing, and two side edges of the supporting frame are perpendicular to the side face of the cylindrical block, the bottom ends of the supporting frames are embedded into a notch at the bottom end of the cylindrical block, a circular through hole is formed in the end part of the side face of each supporting frame, the middle shaft is inserted into the circular through hole, the central line of the circular through hole is overlapped with the central line of the middle shaft, the modulus and the tooth number of the first gear and the second gear are the same, one side of the first gear is attached to one side edge of the supporting frame, one side of the second gear is attached to the other side edge of the supporting frame, the inner rings of the first gear and the second gear are provided with through holes and are installed on the middle shaft, the outer ring part is connected with the movable platform, the first gear and the second gear are provided with a deep groove ball bearing at equal intervals, the center of the inner ring of the deep groove ball bearing is overlapped with the central line of the middle shaft, the outer ring part is connected with the movable platform, the deep groove ball bearing is respectively connected with the first gear and the second gear through sleeves, and the sleeves are cylindrical through holes, one end of the sleeve is attached to one side of the gear, the other end of the sleeve is attached to the inner ring of the deep groove ball bearing, and the center of the sleeve is overlapped with the center line of the middle shaft;
the movable platform comprises three gear tracks and movable platform connecting pieces, each gear track is provided with a gear and an arc notch, a first gear and a second gear on each branched chain are in gear meshing connection with the gears on the gear tracks, deep groove ball bearings on the branched chains are connected with the arc notches on the gear tracks, the upper ends of the three gear tracks are fixedly connected with the movable platform connecting pieces, the three gear tracks are uniformly distributed around the movable platform connecting pieces along the circumferential direction, and the lower ends of the three gear tracks are fixedly connected with the movable platform base;
the movable platform comprises a movable platform base and a movable platform base, wherein the movable platform base comprises a circular table and a trapezoidal block, the trapezoidal block is fixedly connected with the circular table, a through hole is formed in the center of the circular table, and the upper end face and the lower end face of the circular table are parallel to a movable platform connecting piece on the movable platform.
The driving rod is driven to rotate by a revolute pair between the driving rod and the driving motor when the driving motor is powered on, the driving rod drives the driven rod to rotate around the revolute pair by leaning on the revolute pair, the driven rod is installed on a tilt bearing connecting plate of the driving rod through a thrust ball bearing, the driven rod drives the movable platform to rotate through gear engagement when rotating, a deep groove ball bearing in the middle of a gear moves in an arc-shaped groove on the movable platform under the action of the gear passing through a middle shaft, the force of the gear engagement on the radial direction can be offset by the deep groove ball bearing and the arc-shaped groove, so that the gear on the branched chain cannot break away from the gear on the movable platform, and the radial contact is ensured.
Further, the vertical driving plate and the inclined bearing connecting plate of the driving plate are welded into a whole, and one side surface of the thrust ball bearing is fixed on the inner side of the inclined bearing connecting plate through a bolt.
Furthermore, the space among the active rod, the passive rod, the movable platform and the movable platform substrate is independent and does not interfere with each other.
Furthermore, a first rotating pair exists between the driving motor and the driving rod on each branched chain, a second rotating pair exists between the driving rod and the driven rod, a moving pair exists between the driven rod and the moving platform, and the first rotating pair and the second rotating pair are intersected at one point.
Further, an angle between the vertical driving plate and the inclined bearing connection plate of the driving lever is 140 degrees.
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 motor.
Further, the gear track includes circular arc notch, left gear track, right gear track, middle arc connecting plate, goes up even board, links the board down, left side gear track, right gear track parallel arrangement, middle arc connecting plate fixed connection that uses, left gear track and right gear track upper end are through last even board fixed connection, and left gear track and right gear track lower extreme are through linking board fixed connection down, go up even board and link and set up the circular arc notch down between the board.
Furthermore, the movable platform connecting pieces are provided with two movable platform connecting pieces, the upper ends of three left gear tracks and three right gear tracks of the three gear tracks are fixed on the same movable platform connecting piece, and the lower ends of the three left gear tracks and the three right gear tracks of the three gear tracks are fixed on the other movable platform connecting piece.
Furthermore, the trapezoidal piece is provided with three, and three trapezoidal piece is 120 degrees along circumference and distributes on the round platform.
The utility model discloses an operation as follows: the method comprises the steps that firstly, a static platform is fixed relative to the ground, a driving motor is started, a motion curve or data is input to the driving motor through a control system, the driving motor transfers force, speed, acceleration and the like to a driving rod through rotation between first rotating shafts, the driving rod indirectly transfers force, speed, acceleration and the like to a driven rod through rotation between second rotating shafts, parameters transferred to the driven rod are finally transferred to a moving platform through meshing between outer gears, and the moving platform can rotate around a rotation center in a spherical working space.
The beneficial effects of the utility model reside in that:
1. the utility model discloses structural symmetry, flexible movement, strong, the precision of carrying capacity, reasonable in design have three axis and intersect in a little rotational degree of freedom.
2. Because the utility model discloses the shape of structure is similar to people's wrist shape, accords with the requirement of robot design, and the joining of gear pole, can improve the precision of mechanism for the mechanism is fit for having the operational environment of high accuracy.
3. The utility model discloses the bright design has gear and bearing isotructure, can improve the precision and the rigidity of wrist joint moving platform, satisfies the requirement strict to the end in industrial robot, can improve industrial robot's work efficiency widely, and whole mechanism accords with the requirement of industrial robot design for the rationality that the robot design was satisfied in the mechanism.
Drawings
Fig. 1 is a schematic view of the whole structure of the high-precision wrist joint mechanism with less degrees of freedom of the present invention.
Fig. 2 is a schematic structural diagram of the static platform of the present invention.
Fig. 3 is a schematic structural diagram of the branched chain of the present invention.
Fig. 4 is a schematic structural diagram of the driving rod of the present invention.
Fig. 5 is a schematic structural diagram of the passive 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 diagram of the gear track of the present invention.
Fig. 8 is a schematic structural diagram of the movable platform base of the present invention.
In the figure, 1-a static platform, 11-a wrist base, 12-a wrist base connecting piece, 2-a branched chain, 21-a driving rod, 22-a thrust ball bearing, 23-a driven rod, 24-a first gear, 25-a second gear, 26-a sleeve, 27-a deep groove ball bearing, 211-a vertical driving plate, 212-a inclined bearing connecting plate, 231-a cylindrical block, 232-a supporting frame, 233-a middle shaft, 3-a movable platform, 31-a gear track, 32-a movable platform connecting piece, 311-an arc notch, 312-a left gear track, 313-a right gear track, 314-a middle arc connecting plate, 315-an upper connecting plate, 316-a lower connecting plate, 4-a movable platform base, 41-a circular table and 42-a trapezoidal block.
Detailed Description
The following describes the present invention in further detail with reference to the attached drawings. The specific embodiments described herein are merely illustrative of the present invention and do not limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "side", "one side", "the other side", "bottom", "top", "up and down", "center", and the like, merely represent the orientation of the term in a normal use state, and should not be construed as limiting the term.
In the present invention, the terms "connected," "disposed," "distributed," "secured," and the like are to be construed broadly unless expressly stated or limited otherwise. For example, it may be a mechanical connection; may be a detachable connection; may be directly connected, etc., unless expressly specified otherwise. To those skilled in the art, the meaning of the above terms in the present invention can be understood according to the specific circumstances.
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 8, a high-precision wrist joint mechanism with less degrees of freedom is characterized in that: comprises a static platform 1, a branched chain 2, a movable platform 3, a movable platform substrate 4 and a driving motor 5,
the static platform 1 comprises a wrist base 11 and three wrist base connecting pieces 12, wherein the wrist base connecting pieces 12 are circular, the wrist base 11 is L-shaped, the wrist base 11 is provided with three identical structures, the wrist base 11 is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases 11 are fixedly connected with the wrist base connecting pieces 12, and the wrist base 11 uniformly surrounds the wrist base connecting pieces 12 along the circumferential direction; a driving motor 5 is fixed on the outer side of the vertical side plate of each wrist base 11;
the branched chain 2 is provided with three branched chains 2, and the three branched chains 2 are respectively and correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases 11; the branched chain 2 comprises a driving rod 21, a thrust ball bearing 22, a driven rod 23, a first gear 24, a second gear 25, a sleeve 26 and a deep groove ball bearing 27, the composition structures of the three branched chains are completely the same, the driving rod 21 comprises a vertical driving plate 211 and a tilting bearing connecting plate 212, the upper end of the vertical driving plate 211 is connected with the tilting bearing connecting plate 212 in a welding manner, the vertical driving plate 211 is arranged on the inner side of a vertical side plate of the wrist base 11, the driving end of a driving motor 5 penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate 211, the tilting bearing connecting plate 212 tilts towards the side far away from the vertical side plate, one end face of the thrust ball bearing 22 is fixedly connected with the inner side of the tilting bearing connecting plate 212, the other end face of the thrust ball bearing 22 is connected with the driven rod 23, the driven rod 23 comprises a cylindrical block 231, a supporting frame 232 and a middle shaft 233, one end face of the cylindrical block 231 is fixed on the other end face of the thrust ball bearing 22, two side edges of the support frame 232 are perpendicular to the side surface of the cylindrical block 231, the bottom end of the support frame 232 is embedded into a notch at the bottom end of the cylindrical block 231, a circular through hole is arranged at the end part of the side surface of each support frame 232, the intermediate shaft 233 is inserted into the circular through hole, the central line of the circular through hole is overlapped with the central line of the intermediate shaft 233, the modulus and the tooth number of the first gear 24 and the second gear 25 are the same, one side of the first gear 24 is attached to one side edge of the support frame 232, one side of the second gear 25 is attached to the other side edge of the support frame 232, the inner rings of the first gear 24 and the second gear 25 are provided with through holes and are arranged on the intermediate shaft 233, the outer ring part is connected with the movable platform, a deep groove ball bearing 27 is arranged between the first gear 24 and the second gear 25 at equal distance, the center of the inner ring of the deep groove ball bearing 27 is overlapped with the central line of the intermediate shaft 233, the outer ring part is connected with the movable platform, the deep groove ball bearing 27 is connected with the first gear 24 and the second gear 25 through sleeves 26 respectively, the sleeves 26 are cylindrical through holes, one end of each sleeve 26 is attached to one side of the gear, the other end of each sleeve 26 is attached to the inner ring of the deep groove ball bearing 27, and the center of each sleeve 26 is overlapped with the center line of the middle shaft 233;
the movable platform 3 comprises gear tracks 31 and movable platform connecting pieces 32, the number of the gear tracks 31 is three, each gear track 31 is provided with a gear and an arc notch 311, a first gear 24 and a second gear 25 on each branched chain 2 are in gear meshing connection with the gears on the gear tracks 31, deep groove ball bearings 27 on the branched chains 2 are connected with the arc notches 311 on the gear tracks 31, the upper ends of the three gear tracks 31 are fixedly connected with the movable platform connecting pieces 32, the three gear tracks 31 are uniformly distributed around the movable platform connecting pieces 32 along the circumferential direction, and the lower ends of the three gear tracks 31 are fixedly connected with the movable platform substrate 4;
the movable platform base 4 comprises a circular truncated cone 41 and a trapezoidal block 42, the trapezoidal block 42 is fixedly connected with the circular truncated cone 41, a through hole is formed in the center of the circular truncated cone 41, and the upper end face and the lower end face of the circular truncated cone 41 are parallel to the movable platform connecting piece 32 on the movable platform 3.
The vertical driving plate 211 of the driving plate and the inclined bearing connecting plate 212 are welded into a whole, and one side surface of the thrust ball bearing 22 is fixed to the inner side of the inclined bearing connecting plate 212 by a bolt.
The space among the active rod 21, the passive rod 23, the movable platform 3 and the movable platform base 4 is independent and does not interfere with each other.
A first revolute pair exists between the driving motor 5 and the driving rod 21 on each branched chain, a second revolute pair exists between the driving rod 21 and the driven rod 23, a moving pair exists between the driven rod 23 and the moving platform 3, and the first revolute pair and the second revolute pair are intersected at one point.
The angle between the vertical driving plate 211 and the inclined bearing connection plate 212 of the driving lever 21 is 140 degrees.
The wrist base connector 12 is provided with a plurality of round holes for reducing weight.
The vertical driving plate 211 of the driving rod 21 is in interference connection with the output end of the driving motor 5.
The gear track 31 comprises an arc notch 311, a left gear track 312, a right gear track 313, a middle arc connecting plate 314, an upper connecting plate 315 and a lower connecting plate 316, the left gear track 312 and the right gear track 313 are arranged in parallel, the middle part of the left gear track 312 and the right gear track 313 are fixedly connected with each other through the middle arc connecting plate 314, the upper ends of the left gear track 312 and the right gear track 313 are fixedly connected with each other through the upper connecting plate 315, the lower ends of the left gear track 312 and the right gear track 313 are fixedly connected with each other through the lower connecting plate 316, and the arc notch 311 is arranged between the upper connecting plate 315 and the lower connecting plate 316.
The movable platform connecting piece 32 is provided with two movable platform connecting pieces, the upper ends of three left gear tracks 312 and three right gear tracks 313 of the three gear tracks 31 are fixed on the same movable platform connecting piece 32, and the lower ends of the three left gear tracks 312 and the three right gear tracks 313 of the three gear tracks 31 are fixed on the other movable platform connecting piece 32.
The trapezoidal blocks 42 are three, and the three trapezoidal blocks 42 are distributed on the circular truncated cone 41 at an angle of 120 degrees along the circumferential direction.
The utility model discloses an operation as follows:
firstly, the static platform 1 is fixed relative to the ground, the driving motor 5 is turned on, a motion curve or data is input to the driving motor 5 through the control system, the driving motor 5 transfers force, speed, acceleration and the like to the driving rod 21 through the rotation between the first rotating shafts, the driving rod 21 indirectly transfers the force, the speed, the acceleration and the like to the driven rod 23 through the rotation between the second rotating shafts, finally parameters transferred to the driven rod 23 are transferred to the moving platform 3 through the meshing between the gears, and the moving platform 3 can rotate around the rotation center in a spherical working space.
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 few-degree-of-freedom high-precision wrist joint mechanism is characterized in that: comprises a static platform (1), a branched chain (2), a movable platform (3), a movable platform substrate (4) and a driving motor (5),
the static platform (1) comprises a wrist base (11) and three wrist base connecting pieces (12), wherein the wrist base connecting pieces (12) are circular, the wrist base (11) is L-shaped, the wrist base (11) is provided with three identical structures, the wrist base (11) is provided with horizontal transverse plates and vertical side plates, the horizontal transverse plates of the three wrist bases (11) are fixedly connected with the wrist base connecting pieces (12), and the wrist base (11) uniformly surrounds the wrist base connecting pieces (12) along the circumferential direction; a driving motor (5) is fixed on the outer side of the vertical side plate of each wrist base (11);
the branched chains (2) are provided with three branched chains (2), and the three branched chains (2) are respectively and correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases (11); the branched chain (2) comprises a driving rod (21), a thrust ball bearing (22), a driven rod (23), a first gear (24), a second gear (25), a sleeve (26) and a deep groove ball bearing (27), the three branched chains are completely identical in structure, the driving rod (21) comprises a vertical driving plate (211) and a inclined bearing connecting plate (212), the upper end of the vertical driving plate (211) is connected with the inclined bearing connecting plate (212) in a welding mode, the vertical driving plate (211) is arranged on the inner side of a vertical side plate of the wrist base (11), a driving end of a driving motor (5) penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate (211), the inclined bearing connecting plate (212) inclines towards one side far away from the vertical side plate, one end face of the thrust ball bearing (22) is fixedly connected to the inner side of the inclined bearing connecting plate (212), and the other end face of the thrust ball bearing (22) is connected with the driven rod (23), the passive rod (23) comprises a cylindrical block (231), a support frame (232) and an intermediate shaft (233), one end face of the cylindrical block (231) is fixed on the other end face of the thrust ball bearing (22), two side edges of the support frame (232) are perpendicular to the side faces of the cylindrical block (231), the bottom end of the support frame (232) is embedded into a notch at the bottom end of the cylindrical block (231), a circular through hole is formed in the end portion of the side face of each support frame (232), the intermediate shaft (233) is inserted into the circular through hole, the center line of the circular through hole is overlapped with the center line of the intermediate shaft (233), the modulus and the tooth number of the first gear (24) and the second gear (25) are identical, one side of the first gear (24) is attached to one side edge of the support frame (232), one side of the second gear (25) is attached to the other side edge of the support frame (232), and through holes are formed in the inner rings of the first gear (24) and the second gear (, the outer ring parts of the first gear (24) and the second gear (25) are connected with the movable platform, deep groove ball bearings (27) are arranged between the first gear (24) and the second gear (25) at equal intervals, the centers of the inner rings of the deep groove ball bearings (27) are overlapped with the central line of the intermediate shaft (233), the outer ring parts of the deep groove ball bearings (27) are connected with the movable platform, the deep groove ball bearings (27) are connected with the first gear (24) and the second gear (25) through sleeves (26) respectively, each sleeve (26) is a cylindrical through hole, one end of each sleeve (26) is attached to one side of each gear, the other end of each sleeve is attached to the inner ring of each deep groove ball bearing (27), and the centers of the sleeves (26) are overlapped with the central line of the intermediate shaft (233);
the movable platform (3) comprises gear tracks (31) and movable platform connecting pieces (32), the number of the gear tracks (31) is three, each gear track (31) is provided with a gear and an arc notch (311), a first gear (24) and a second gear (25) on each branched chain (2) are in gear meshing connection with the gears on the gear tracks (31), deep groove ball bearings (27) on the branched chains (2) are connected with the arc notches (311) on the gear tracks (31), the upper ends of the three gear tracks (31) are fixedly connected with the movable platform connecting pieces (32), the three gear tracks (31) are uniformly distributed around the movable platform connecting pieces (32) along the circumferential direction, and the lower ends of the three gear tracks (31) are fixedly connected with the movable platform substrate (4);
the movable platform is characterized in that the movable platform base (4) comprises a circular table (41) and a trapezoidal block (42), the trapezoidal block (42) is fixedly connected with the circular table (41), a through hole is formed in the center of the circular table (41), and the upper end face and the lower end face of the circular table (41) are parallel to the movable platform connecting piece (32) on the movable platform (3).
2. The mechanism of claim 1, wherein the mechanism comprises: a vertical driving plate (211) and an inclined bearing connecting plate (212) of the driving plate are welded into a whole, and one side surface of the thrust ball bearing (22) is fixed on the inner side of the inclined bearing connecting plate (212) through a bolt.
3. The mechanism of claim 1, wherein the mechanism comprises: the space among the active rod (21), the passive rod (23), the movable platform (3) and the movable platform substrate (4) is independent and does not interfere with each other.
4. The mechanism of claim 1, wherein the mechanism comprises: a first rotating pair exists between the driving motor (5) and the driving rod (21) on each branched chain, a second rotating pair exists between the driving rod (21) and the driven rod (23), a moving pair exists between the driven rod (23) and the movable platform (3), and the first rotating pair and the second rotating pair are intersected at one point.
5. The mechanism of claim 1, wherein the mechanism comprises: an angle between a vertical driving plate (211) and an inclined bearing connection plate (212) of the driving lever (21) is 140 degrees.
6. The mechanism of claim 1, wherein the mechanism comprises: the wrist base connecting piece (12) is provided with a plurality of round holes for reducing weight.
7. The mechanism of claim 1, wherein the mechanism comprises: and the vertical driving plate (211) of the driving rod (21) is in interference connection with the output end of the driving motor (5).
8. The mechanism of claim 1, wherein the mechanism comprises: gear track (31) include circular arc notch (311), left gear track (312), right gear track (313), middle arc connecting plate (314), go up even board (315), link board (316) down, left side gear track (312), right gear track (313) parallel arrangement, middle arc connecting plate (314) fixed connection of using, left gear track (312) and right gear track (313) upper end are through going up even board (315) fixed connection, and left gear track (312) and right gear track (313) lower extreme are through linking board (316) fixed connection down, go up even board (315) and link down and set up circular arc notch (311) between board (316).
9. The mechanism of claim 1, wherein the mechanism comprises: the movable platform connecting piece (32) is provided with two, the upper ends of three left gear tracks (312) and three right gear tracks (313) of the three gear tracks (31) are fixed on the same movable platform connecting piece (32), and the lower ends of the three left gear tracks (312) and the three right gear tracks (313) of the three gear tracks (31) are fixed on the other movable platform connecting piece (32).
10. The mechanism of claim 1, wherein the mechanism comprises: the three trapezoidal blocks (42) are arranged, and the three trapezoidal blocks (42) are distributed on the circular truncated cone (41) along the circumferential direction at an angle of 120 degrees.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022995345.9U CN213971197U (en) | 2020-12-14 | 2020-12-14 | Few-degree-of-freedom high-precision wrist joint mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022995345.9U CN213971197U (en) | 2020-12-14 | 2020-12-14 | Few-degree-of-freedom high-precision wrist joint mechanism |
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| CN213971197U true CN213971197U (en) | 2021-08-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606036A (en) * | 2020-12-14 | 2021-04-06 | 浙江工业大学 | Gear type wrist joint mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606036A (en) * | 2020-12-14 | 2021-04-06 | 浙江工业大学 | Gear type wrist joint mechanism |
| CN112606036B (en) * | 2020-12-14 | 2023-12-12 | 浙江工业大学 | Gear type wrist joint mechanism |
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