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Series-parallel connection active equivalent ball-joint mechanism

An active and effective ball technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited driving torque, unfavorable installation and use, and bulky mechanism, and achieve small output torque, easy installation and use, and large working space Effect

Inactive Publication Date: 2006-11-15
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

However, for the equivalent spherical joint mechanism composed of a simple series method, each of its degrees of freedom adopts a direct drive method, so its driving torque is limited; if a large driving torque is to be achieved, a reduction gear with a large reduction ratio is required. Inverter or high-power driver, resulting in bulky mechanism and a sharp increase in weight, which is not conducive to installation and use

Method used

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  • Series-parallel connection active equivalent ball-joint mechanism
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  • Series-parallel connection active equivalent ball-joint mechanism

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Embodiment Construction

[0018] The present invention will be further described in detail below with reference to the accompanying drawings.

[0019] Referring to FIG. 1 and FIG. 1A, the present invention is a series-parallel active equivalent spherical hinge mechanism, which is composed of a support assembly 1, a connecting assembly 2 and a driving assembly 3. The coupling A 209, the cross universal joint B 210 and the cross universal joint C 211) connect the drive plate 212 and the front connecting plate 101 of the support assembly 1 to realize the connection between the drive plate 212 and the front connecting plate 101. two mutually perpendicular rotational degrees of freedom; a rotational degree of freedom is connected in series between the front connecting plate 101 and the rear connecting plate 102, and the rotation axis of this degree of freedom is perpendicular to the first two rotational degrees of freedom and intersects at a point, thereby realizing a space around the Equivalent spherical j...

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Abstract

A serial-parallel mechanism equivalent to an active ball joint is composed of supporter module, connection module and drive module, and is a posture regulating mechanism able to actively and individually rotate around three coordinate axis's X, Y and Z. Its parallel drive mechanism for rotating around X or Y axis consists of two sets of leading screw-nut drive unit, front connection plate, U-shaped base and 3 cross-type universal axle couplings. A serial mechanism for rotating around Z axis is composed of motor, back connection plate, connection axle and U-shaped base.

Description

technical field [0001] The invention relates to a series-parallel active equivalent spherical hinge mechanism, which is an attitude adjustment mechanism capable of realizing active rotation around a three-coordinate axis in space. Background technique [0002] Because the active equivalent spherical hinge mechanism can realize the rotation around the three-coordinate axis of space, it has a wide range of applications in the fields of robots, automatic docking devices, and medical equipment. At present, the existing active equivalent spherical hinge mechanism is generally composed of three independent rotating mechanisms in series, which is characterized in that the rotation of each axis is decoupled from each other, and the control is simple. However, for the equivalent spherical hinge mechanism composed of a pure series connection, each degree of freedom is directly driven, so its driving torque is limited; if a large driving torque is to be achieved, a large reduction rati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 宗光华王巍邓志诚
Owner BEIHANG UNIV
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