CN203449323U - Large work space spherical parallel bionic shoulder joint with center spherical pair - Google Patents
Large work space spherical parallel bionic shoulder joint with center spherical pair Download PDFInfo
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- CN203449323U CN203449323U CN201320459647.1U CN201320459647U CN203449323U CN 203449323 U CN203449323 U CN 203449323U CN 201320459647 U CN201320459647 U CN 201320459647U CN 203449323 U CN203449323 U CN 203449323U
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Abstract
The utility model discloses a large work space spherical parallel bionic shoulder joint with a center spherical pair. The parallel bionic shoulder joint can be fixedly connected to a shoulder base of a humanoid robot and comprises a movable platform, a fixed platform, a center branched chain and three moving branched chains, wherein the three moving branched chains are symmetrically arranged between the movable platform and the fixed platform and same in structure. The center branched chain is sequentially composed of a center vertical column, a rotation pair, a multi-lug base and the center spherical pair. The three moving branched chains with the same structure are sequentially composed of annular guide rail moving pairs, driving sliding blocks, first spherical pairs, driven rods and second spherical pairs respectively. Three-dimensional rotational motion of the movable platform can be achieved, the large work space spherical parallel bionic shoulder joint has the advantages of being simple in structure, large in work space and high in bearing capacity, and is same with the shoulder joint of the human body in structure and function and suitable for being used as the shoulder joint of the humanoid robot.
Description
Technical field
The present invention relates to anthropomorphic robot field, particularly parallel connected bionic shoulder joint.
Background technology
As one of most active branch in Robotics field, the research of anthropomorphic robot starts from the sixties in last century, is the important symbol of a national high-tech strength and development level, in human being's production and life, has purposes widely.So far, take and realize the research that class people's generality (motor-driven, operation) function is target and substantially come to an end, from now on a period, the research of anthropomorphic robot will enter into comprehensive bionical new stage, mainly concentrate on bionic structure, function bionics, external feature and intelligent bionic.Mechanism is the basic framework that forms robot, be designer's anthropomorphic robot the most basic with primary work.
Basic machine design is the crucial and basic of anthropomorphic robot exploitation, is directly determining the performance of robot, is restricting the potentiality of future robot control and intelligent expansion.In robot basic machine design, the design in joint is wherein the most important and crucial part.The basic machine of existing each humanoid robot (comprising joint) is almost serial configured, and known by Human physiology: in human body, articulate motion is muscle group parallel drive.Therefore, according to bionic principle and characteristics of human body's requirement, using parallel institution as anthropomorphic robot joint configuration, meet objective reality, likely obtain the effect more reaching unanimity with human characteristic.
Yet up to the present, the application of parallel institution in anthropomorphic robot shoulder joint is also very limited.Existing each humanoid robot shoulder joint mechanism mostly is serial configured, i.e. two or three single revolute pair series connection, two ball pivot series connection etc.Serial configured respectively close internode without coupling, control ratio is easier to, but has the deficiencies such as driving force is low, rigidity is little.And using parallel institution as anthropomorphic robot joint configuration, and from structure constitute and function principle, more meet human body objective reality, be to realize a bionical important and feasible research direction of anthropomorphic robot joint.Therefore, many researchers have turned to Three Degree Of Freedom one-rotation parallel mechanism research center of gravity, as the 3-RRR mechanism that Gosselin proposes, and the 3-RRS mechanism that Kong Xianwen proposes, the three-degree-of-freedom spherical parallel mechanisms such as 3-PCRNS mechanism that Li Qinchuan proposes.Chinese patent literature (200710062552.5) proposes a kind of shoulder joint parallel institution ，Ci mechanism that realizes Three dimensional rotation and forms by revolute pair, and each revolute pair axis meets at a bit, and requirement on machining accuracy is high, cost is large; Chinese utility model patent document (201120068695.9) proposes a kind of three side chain two-freedom shoulder joint mechanisms of anthropomorphic robot, this parallel institution can be realized two-dimensional rotary, and human body shoulder joint be have Three dimensional rotation ball-and-socket type joint ，Ci shoulder joint mechanism actual motion characteristic and not in full conformity with the kinetic characteristic of mankind's shoulder joint.
Above-mentioned existing shoulder joint parallel institution prototype structure is complicated, manufacturability is poor, bearing capacity is low, also fail effectively to solve the problem that parallel institution working space is relatively little, the real motion needs that can not meet human body shoulder joint, are difficult to directly apply to shoulder joint bionical.
Utility model content
The purpose of this utility model is to overcome many deficiencies that above-mentioned existing parallel institution shoulder joint exists, a kind of large workspace spherical face parallel connected bionic shoulder joint with center spherical pair is provided, this shoulder joint mechanism has the advantages such as simple in structure, working space is large, bearing capacity is strong, and the Three dimensional rotation motion of energy simulating human shoulder joint, the 26S Proteasome Structure and Function of realizing human body shoulder joint is bionical.
The technical scheme that the utility model adopts is: there is the large workspace spherical face parallel connected bionic shoulder joint of center spherical pair, mainly by fixed platform, moving platform and between three movement branched chain He Yitiao center side chains form.Article three, movement branched chain structure is identical, and every movement branched chain forms by ring-shaped guide rail moving sets, active sliding block, the first spherical pair, follower lever and the second spherical pair successively from fixed platform to moving platform; Active sliding block is connected with fixed platform by ring-shaped guide rail moving sets, and the driving that ring-shaped guide rail moving sets is mechanism is secondary; Active sliding block is connected with follower lever by the first spherical pair; Follower lever is connected with moving platform by the second spherical pair; Center side chain is comprised of center stand column, revolute pair, many ears pedestal and spherical pair successively from fixed platform to moving platform.Center stand column and fixed platform are affixed; Center stand column is connected with many ears pedestal by revolute pair, and many ears pedestal is connected with moving platform by center spherical pair; Article three, the centre of sphere that the centre of sphere of the second spherical pair in movement branched chain is evenly distributed on same annulus Shang， center spherical pair is also positioned on this anchor ring; Article three, the centre of sphere of the first spherical pair in movement branched chain is positioned on same annulus; Initial loading timing, the follower lever of every movement branched chain and center stand column spatial intersecting.
Feature of the present utility model is also: many ears pedestal of center side chain along the circumferential direction has some circular grooves uniformly, and its concrete quantity is determined by physical dimension, intensity and the technological requirement of mechanism; Different from traditional bulb ball-and-socket type spherical pair, between many ears pedestal of formation center spherical pair and center stand column, can relatively rotate, therefore under external force, when the ball rod that forms center spherical pair on moving platform touches many ears pedestal upper edge, and interfere unlike traditional spherical pair, but the rotation of many ears pedestal, ball rod is rotated further along circular groove, until bottom portion of groove, and then realize the wider rotation of moving platform.Active sliding block can along ring-shaped guide rail, around fixed platform axis, continuous complete cycle rotates, and moving platform can rotate 360 ° continuously around fixed platform axis.
The beneficial effects of the utility model are: this shoulder joint mechanism structure is symmetrical, compact, bearing capacity is strong, working space is large, is conducive to realize the bionical of anthropomorphic robot shoulder joint 26S Proteasome Structure and Function.
Accompanying drawing explanation
Fig. 1 is the large workspace spherical face parallel connected bionic shoulder joint structural representation with center spherical pair;
Fig. 2 is the large workspace spherical face parallel connected bionic shoulder joint kinesitherapy branched structure schematic diagram with center spherical pair;
Fig. 3 is the large workspace spherical face parallel connected bionic shoulder joint center branched structure schematic diagram with center spherical pair.
The specific embodiment
With the specific embodiment, the utility model is elaborated by reference to the accompanying drawings.
The large workspace spherical face parallel connected bionic shoulder joint with center spherical pair, mainly by fixed platform 1, moving platform 2 and between three movement branched chain He Yige center side chains form.Article three, movement branched chain structure is identical, and every movement branched chain forms by ring-shaped guide rail moving sets 3, active sliding block 4, the first spherical pair 5, follower lever 6 and the second spherical pair 7 successively from fixed platform 1 to moving platform 2; Center side chain is comprised of center stand column 8, revolute pair 9, many ears pedestal 10He center spherical pair 11 successively from fixed platform 1 to moving platform 2.
In movement branched chain, active sliding block 4 is connected with fixed platform 1 by ring-shaped guide rail moving sets 3, and the driving that ring-shaped guide rail moving sets 3 is mechanism is secondary; Active sliding block 4 is connected with follower lever 6 by the first spherical pair 5, and follower lever 6 is connected with moving platform 2 by the second spherical pair 7.In the side chain of center, center stand column 8 is affixed with fixed platform 1, and center stand column 8 is connected with many ears pedestal 10 by revolute pair 9, and many ears pedestal 10 is connected with moving platform 2 by center spherical pair 11.Fixed platform 1 is embedded with round circular orbit, and the centre of sphere that the centre of sphere of the second spherical pair 7 in three movement branched chain is evenly distributed on same annulus Shang， center spherical pair 11 is also positioned on this anchor ring; Article three, the centre of sphere of the first spherical pair 5 in movement branched chain is positioned on same annulus; Initial loading timing, follower lever 6 and center stand column 8 spatial intersectings of every movement branched chain.
Fixed platform 1 can be connected with the shoulder pedestal of anthropomorphic robot, moving platform 2 can be connected with the large arm of anthropomorphic robot, by three drive motors, drive respectively three active sliding block 4, can realize the Three dimensional rotation of moving platform 2, and then the Three dimensional rotation of simulation anthropomorphic robot shoulder joint, the 26S Proteasome Structure and Function of realizing human body shoulder joint is bionical.
Claims (1)
1. the large workspace spherical face parallel connected bionic shoulder joint with center spherical pair, by fixed platform (1), moving platform (2) and between three movement branched chain He Yitiao center side chains form.It is characterized in that: fixed platform (1) is embedded with round circular orbit; Article three, movement branched chain structure is identical, and every movement branched chain forms by ring-shaped guide rail moving sets (3), active sliding block (4), the first spherical pair (5), follower lever (6) and the second spherical pair (7) successively from fixed platform (1) to moving platform (2); Active sliding block (4) is connected with fixed platform (1) by ring-shaped guide rail moving sets (3), the driving that ring-shaped guide rail moving sets (3) is mechanism is secondary, active sliding block (4) is connected with follower lever (6) by the first spherical pair (5), and follower lever (6) is connected with moving platform (2) by the second spherical pair (7); Center side chain is comprised of center stand column (8), revolute pair (9), many ears pedestal (10) and center spherical pair (11) successively from fixed platform (1) to moving platform (2); Center stand column (8) is affixed with fixed platform (1); Many ears pedestal (10) along the circumferential direction has circular groove uniformly; Center stand column (8) is connected with many ears pedestal (10) by revolute pair (9), and many ears pedestal (10) is connected with moving platform (2) by center spherical pair (11); Article three, the centre of sphere that the centre of sphere of the second spherical pair (7) in movement branched chain is evenly distributed on same annulus Shang， center spherical pair (11) is also positioned on this anchor ring; Article three, the centre of sphere of the first spherical pair (5) in movement branched chain is positioned on same annulus; Initial loading timing, the follower lever of every movement branched chain (6) and center stand column (8) spatial intersecting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320459647.1U CN203449323U (en) | 2013-07-29 | 2013-07-29 | Large work space spherical parallel bionic shoulder joint with center spherical pair |
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| CN201320459647.1U CN203449323U (en) | 2013-07-29 | 2013-07-29 | Large work space spherical parallel bionic shoulder joint with center spherical pair |
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| CN203449323U true CN203449323U (en) | 2014-02-26 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN104999472A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade |
| CN107643019A (en) * | 2017-10-23 | 2018-01-30 | 燕山大学 | A kind of transmitting tube parallel drive unit |
| CN114274196A (en) * | 2021-12-14 | 2022-04-05 | 刘庆龙 | Cutting device for production and processing of melt-blown fabric |
-
2013
- 2013-07-29 CN CN201320459647.1U patent/CN203449323U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104325457B (en) * | 2014-10-24 | 2016-05-04 | 天津大学 | A kind of symmetric form three one-rotation parallel mechanisms |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN104827462B (en) * | 2015-05-07 | 2016-05-25 | 上海交通大学 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
| CN104999472A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade |
| CN107643019A (en) * | 2017-10-23 | 2018-01-30 | 燕山大学 | A kind of transmitting tube parallel drive unit |
| CN114274196A (en) * | 2021-12-14 | 2022-04-05 | 刘庆龙 | Cutting device for production and processing of melt-blown fabric |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140226 Termination date: 20150729 |
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| EXPY | Termination of patent right or utility model |