技术领域technical field
本发明公开了一种仿人手肩关节的新型三自由度并联机器人，涉及机器人设计领域。The invention discloses a novel three-degree-of-freedom parallel robot imitating a human hand and shoulder joint, and relates to the field of robot design.
背景技术Background technique
并联机器人为动平台和定平台通过至少两个独立的运动链相连接，机构具有两个或两个以上自由度，且以并联方式驱动的一种闭环机构主要用于高精度、高速度的装配作业A parallel robot is a closed-loop mechanism driven in parallel with a moving platform and a fixed platform connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is mainly used for high-precision, high-speed assembly. Operation
目前并联机器人多采用连杆机构，各个关节耦合性高、零件加工成本大、造价昂贵，同时各个关节之间的耦合性高也导致了运动控制的复杂性，给并联机器人的推广运用带来了很大的困难。At present, parallel robots mostly use link mechanisms, which have high coupling of each joint, high cost of parts processing, and high cost. At the same time, the high coupling between each joint also leads to the complexity of motion control, which brings great challenges to the popularization and application of parallel robots. great difficulty.
发明内容Contents of the invention
针对现有技术存在的缺陷，本发明的目的在于提供一种新型仿人肩关节三自由度并联机器人，精度高、操作方便、运动灵活迅速、成本低廉。In view of the defects existing in the prior art, the object of the present invention is to provide a novel humanoid shoulder joint three-degree-of-freedom parallel robot, which has high precision, convenient operation, flexible and rapid movement, and low cost.
为达到上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种新型仿人肩关节三自由度并联机器人，包括：中心齿轮基座、电机组件、工作平台、1号旋转销、弧形连杆、2号旋转销、中心旋转轴。其特征在于：所述电机组件与中心旋转轴铰链连接，可绕中心轴旋转，同时电机上的小齿轮与中心齿轮基座配合，所述弧形连杆分别通过1号旋转销和2号旋转销将工作平台与3组电机组件相连并联。A new type of humanoid shoulder joint three-degree-of-freedom parallel robot includes: a central gear base, a motor assembly, a working platform, a No. 1 rotating pin, an arc-shaped connecting rod, a No. 2 rotating pin, and a central rotating shaft. It is characterized in that: the motor assembly is hingedly connected with the central rotating shaft, and can rotate around the central shaft; at the same time, the pinion on the motor cooperates with the base of the central gear, and the arc-shaped connecting rod is rotated through the No. 1 rotating pin and the No. 2 rotating pin respectively. The pin connects the working platform with the 3 sets of motor assemblies in parallel.
所述电机组件包含有一个连杆，连杆一端安装有伺服电机，一端与安装在中心齿轮基座正中心的中心旋转轴铰链连接，小齿轮安装在电机输出轴上，同时小齿轮与中心齿轮基座的大齿轮配合。The motor assembly includes a connecting rod, one end of the connecting rod is installed with a servo motor, and the other end is hingedly connected with the central rotating shaft installed in the center of the center gear base, the pinion is installed on the output shaft of the motor, and the pinion and the central gear The large gear of the base fits.
工作时，安装在传动连杆上的伺服电机输出旋转运动，带动输出轴上的小齿轮旋转，小齿轮与中心齿轮基座啮合运动，实现传动连杆绕中心旋转轴的旋转运动，该传动连杆通过2号旋转销带动弧形连杆运动，弧形连杆通过1号旋转销带动工作平台运动，三套电机组件的并联运动，实现工作平台绕XYZ方向的旋转运动。When working, the servo motor installed on the transmission connecting rod outputs rotary motion, which drives the pinion on the output shaft to rotate, and the pinion gear meshes with the base of the central gear to realize the rotary motion of the transmission connecting rod around the central rotating shaft. The rod drives the arc-shaped connecting rod to move through the No. 2 rotating pin, and the arc-shaped connecting rod drives the working platform to move through the No. 1 rotating pin. The parallel movement of the three sets of motor components realizes the rotating movement of the working platform around the XYZ direction.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
本发明结构简单，成本较低，有利于推广，同时该发明使用更加方便，由简单的零件、简单的控制就可以实现机器人末端的稳定、高速运动，同时该机器人造价低廉、便于推广普及。The invention has simple structure, low cost, and is favorable for popularization. At the same time, the invention is more convenient to use. The stable and high-speed movement of the end of the robot can be realized by simple parts and simple control. At the same time, the robot has low cost and is easy to popularize.
附图说明Description of drawings
图1为本发明的一种仿人手肩关节的新型三自由度并联机器人结构示意图。FIG. 1 is a structural schematic diagram of a new three-degree-of-freedom parallel robot imitating a human hand and shoulder joint according to the present invention.
图2为本发明的一种仿人手肩关节的新型三自由度并联机器人的电机组件结构示意图。FIG. 2 is a structural schematic diagram of a motor assembly of a novel three-degree-of-freedom parallel robot imitating a human hand and shoulder joint according to the present invention.
具体实施方式detailed description
下面结合附图对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings.
如图1所示，一种新型仿人肩关节三自由度并联机器人，包括：中心齿轮基座001、电机组件002、工作平台003、1号旋转销004、弧形连杆005、2号旋转销006、中心旋转轴007。其特征在于：所述电机组件002与中心旋转轴007铰链连接，可绕中心轴007旋转，同时电机002上的小齿轮009与中心齿轮基座001配合，所述弧形连杆005分别通过1号旋转销004和2号旋转销006将工作平台003与3组电机组件002相连并联。As shown in Figure 1, a new type of humanoid shoulder joint three-degree-of-freedom parallel robot includes: central gear base 001, motor assembly 002, working platform 003, No. 1 rotating pin 004, arc-shaped connecting rod 005, and No. 2 rotating pin Pin 006, central rotating shaft 007. It is characterized in that: the motor assembly 002 is hingedly connected with the central rotating shaft 007, and can rotate around the central shaft 007; at the same time, the pinion 009 on the motor 002 cooperates with the central gear base 001, and the arc-shaped connecting rod 005 respectively passes through 1 No. rotation pin 004 and No. 2 rotation pin 006 connect working platform 003 with 3 groups of motor assemblies 002 in parallel.
如图2所示，所述电机组件002包含有一个传动连杆008，传动连杆008一端安装有伺服电机010，一端与安装在中心齿轮基座001正中心的中心旋转轴007铰链连接，小齿轮009安装在伺服电机010输出轴上，同时小齿轮009与中心齿轮基座001的大齿轮啮合。As shown in Figure 2, the motor assembly 002 includes a transmission link 008, one end of the transmission link 008 is equipped with a servo motor 010, and the other end is hingedly connected with the central rotating shaft 007 installed in the center of the central gear base 001, small The gear 009 is installed on the output shaft of the servo motor 010, and the pinion 009 meshes with the large gear of the central gear base 001.
本实施例装置的工作过程如下：The working process of the present embodiment device is as follows:
电机组件002中安装在传动连杆上008的伺服电机010输出旋转运动，带动输出轴上的小齿轮009旋转，小齿轮009与中心齿轮基座001啮合运动，实现传动连杆008绕中心旋转轴007的旋转运动，该传动连杆008通过2号旋转销006带动弧形连杆005运动，弧形连杆005通过1号旋转销004带动工作平台003运动，三套电机组件002的并联运动，实现工作平台003绕XYZ方向的旋转运动。The servo motor 010 installed on the transmission link 008 in the motor assembly 002 outputs rotational motion, which drives the pinion 009 on the output shaft to rotate, and the pinion 009 meshes with the center gear base 001 to realize the transmission link 008 around the central rotation axis 007, the transmission link 008 drives the arc connecting rod 005 to move through the No. 2 rotating pin 006, the arc connecting rod 005 drives the working platform 003 to move through the No. 1 rotating pin 004, and the parallel movement of the three sets of motor components 002, Realize the rotation movement of the working platform 003 around the XYZ direction.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689381.2ACN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689381.2ACN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
| Publication Number | Publication Date |
|---|---|
| CN107486837Atrue CN107486837A (en) | 2017-12-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710689381.2APendingCN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
| Country | Link |
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| CN (1) | CN107486837A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111803872A (en)* | 2020-07-08 | 2020-10-23 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| CN112427975A (en)* | 2020-11-18 | 2021-03-02 | 崔江涛 | Three-dimensional multi-angle integrated multi-shaft machining center mechanism |
| CN116103995A (en)* | 2022-12-08 | 2023-05-12 | 九江精密测试技术研究所 | A four-degree-of-freedom trestle device based on a three-degree-of-freedom spherical mechanism |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111803872A (en)* | 2020-07-08 | 2020-10-23 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| WO2022007652A1 (en)* | 2020-07-08 | 2022-01-13 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| CN112427975A (en)* | 2020-11-18 | 2021-03-02 | 崔江涛 | Three-dimensional multi-angle integrated multi-shaft machining center mechanism |
| CN116103995A (en)* | 2022-12-08 | 2023-05-12 | 九江精密测试技术研究所 | A four-degree-of-freedom trestle device based on a three-degree-of-freedom spherical mechanism |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20171219 | |
| WD01 | Invention patent application deemed withdrawn after publication |