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A Parallel Flexible Wrist Mechanism

A parallel and flexible technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unadjustable stiffness and complex structure of flexible wrists, etc., and achieve the effect of long life

Active Publication Date: 2021-11-09
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The posture adjustment of the flexible wrist to the end effector achieved by this technical method is still passive, and its own stiffness cannot be adjusted.
In addition, the structure of such flexible wrists is complex

Method used

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  • A Parallel Flexible Wrist Mechanism
  • A Parallel Flexible Wrist Mechanism
  • A Parallel Flexible Wrist Mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] Such as figure 1 As shown, it is a wrist mechanism with adjustable stiffness, including a fixed platform, a moving platform 8, and the first branch chain I, the second branch chain II, and the third branch chain III; the three branch chains have the same structure, Both include: spring one 21 and spring two 22, slider 4, intermediate connecting rod 6 and kinematic pairs; the fixed platform includes upper sub-platform 11, lower sub-platform 12 and three sets of guide rails fixed between the two sub-platforms The section of the guide rail can be cylindrical or other square shapes; the upper sub-platform 11 and the lower sub-platform 12 are parallel to each other and their central axes coincide; each set of guide rails includes an inner guide rail one 31 and an outer guide rail two 32; The three groups of guide rails are evenly distributed about the central axis of the upper sub-platform, one end of the guide rail is fixedly connected to the upper sub-platform 11, and the ...

Embodiment 2

[0019] Such as figure 2 As shown, the difference between the present embodiment and the first embodiment is that the cylinder is used as a linear elastic body to replace the first spring 21 and the second spring 22 in the first embodiment. The cylinder block 21 is affixed to the lower surface of the upper sub-platform 11 , and the piston rod 22 is affixed to the slider 4 . There is only one guide rail 3 of the slide block 4, which is a non-revolving member. In this embodiment, the guide rails of the slider are no longer two, but one, so it cannot be a rotating body such as a cylinder. Certainly, the cylinder body 21 may also be fixedly connected to the slider 4 , while the piston rod 22 is fixedly connected to the lower surface of the upper sub-platform 11 . This embodiment can have the ability to adjust the stiffness, and the adjustment of the stiffness of the mechanism can be realized by changing the air pressure on both sides of the piston in the cylinder. If used with ...

Embodiment 3

[0021] Such as image 3 As shown, the difference between this embodiment and Embodiment 1 is that the middle link in Embodiment 1 is replaced by a quadrilateral mechanism; the quadrilateral mechanism includes two equal-length upper short links 61 and lower short links 64 And two equal-length left long connecting rods 62 and right long connecting rods 63; the upper short connecting rod 61 is fixed on the slider 4, and the lower short connecting rod 64 is fixed on the moving platform 8; the upper short connecting rod 61 passes through The spherical pair 51 is connected with the left long connecting rod 62, and is connected with the right long connecting rod 63 through the spherical pair 52; the lower short connecting rod 64 is connected with the left long connecting rod 62 through the spherical pair 71, and is connected with the right long connecting rod 63 through the spherical pair 72 connect. During operation, the end effector can passively generate displacement to compensat...

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Abstract

The invention relates to a parallel flexible wrist mechanism, which includes a fixed platform, a moving platform and three branch chains between the fixed platform and the moving platform; the fixed platform includes an upper sub-platform, a lower sub-platform and a connection between the two sub-platforms. The upper sub-platform and the lower sub-platform are parallel to each other and their central axes coincide; the three sets of guide rails are axisymmetrically distributed about the central axis of the upper sub-platform; the structures of the three branch chains are exactly the same, including linear elastic The body, slider, intermediate rod and kinematic pair are respectively connected with the fixed platform and the moving platform to form a space parallel closed-loop mechanism; the slider is installed on the guide rail between the two sub-fixed platforms and can only move along the guide rail; the linear elastic body It is installed between the slide block and the fixed platform; in the present invention, the three branch chains of the parallel mechanism cooperate with each other to realize the error compensation of the position or angle of the end effector.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a parallel flexible wrist mechanism. Background technique [0002] In the process of using robots for job processing, such as assembly, spraying, grinding and deburring processes, the end effector of the robot is usually required to have a certain degree of flexibility to compensate or eliminate the displacement or angular error of the robot movement process. The use of flexible mechanical wrists is a more commonly used method. The flexible mechanical wrist for robots is a part that connects the mechanical arm and the end effector. It can imitate the human wrist movement and adjust the posture and position of the robot hand in a certain space area. It does not compensate or eliminate errors in one direction. New errors in other directions are introduced. [0003] At present, there are two main technical methods. One is to make the end effector have a certa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/00
CPCB25J9/003B25J17/00
Inventor 彭斌彬王昭坤孙冠群
Owner NANJING UNIV OF SCI & TECH
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