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Robot shoulder joint

A technology of robot shoulders and joints, applied in the field of robots, can solve the problems of high manufacturing cost and poor craftsmanship

Inactive Publication Date: 2009-09-30
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the disadvantages of poor manufacturability and high manufacturing cost in the shoulder joint of the existing parallel mechanism, the present invention provides a robot shoulder joint, which has the advantages of simple structure, strong bearing capacity, fast response speed and good manufacturability. Can be applied to the shoulder joint of humanoid robots

Method used

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Embodiment Construction

[0008] figure 1 It is an embodiment disclosed by the present invention. This robot shoulder joint mainly includes a motion platform 1 , a base 3 and three identical motion branch chains 2 and the like. The motion branch chain 2 is composed of a servo motor 8, a driving rod 7 and a driven rod 4, etc., wherein one end of the driving rod 7 is fixedly connected with the rotating shaft of the servo motor 8 through a mounting hole, and the other end of the driving rod 7 is connected through a first rotation. The auxiliary hinge 5 is connected with one end of the driven rod 4, and the other end of the driven rod 4 is connected with the motion platform 1 through the second rotary secondary hinge 6, and the three driven rods 4 correspond to the three third connected with the motion platform 1. The shaft axes of the two rotating joint hinges 6 are respectively perpendicular to each other in space; the servo motors 8 are installed on the base 3 , and the three shaft axes of the three ser...

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Abstract

The invention discloses a robot shoulder joint, which is characterized in that servo-motors (8) are arranged on bases (3); one end of a driving rod (7) is fixedly connected with a rotary shaft of the servo-motor (8) through an installation hole, while through a first rotary side hinge (5), the other end of the driving rod (7) is connected with one end of a driven rod (4), the other end of which is connected with a motion platform (1) through a second rotary side hinge (6); the axial lines of the rotary shafts of the three servo-motors (8) in three motion branch chains (2) are mutually perpendicular spatially; the three driven rods (4) and the axial lines of the rotary shafts of the three second rotary side hinges (6) connected with the motion platform (1) are mutually perpendicular spatially. The motion platform (1) can be connected with a mechanic arm, and the three servo motors(8) drive the corresponding driving rods (7), and thus the three-dimension rotation of the motion platform (1) can be achieved. The invention has the advantages of simple structure, strong loading capacity, rapid response speed and good process performance. Therefore, the invention is suitable for the shoulder joint of a humanoid robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a humanoid robot shoulder joint. Background technique [0002] Humanoid robot is an advanced development stage of robot technology. It comprehensively embodies the research and development level of many aspects such as mechanism, motion and dynamics of advanced robots, and is a very complex comprehensive system. Among them, the robot shoulder joint is one of the difficulties in the design of humanoid robots. Early robot shoulder joints usually adopt a series structure, which has disadvantages such as complex structure and large inertia. In order to overcome these shortcomings, many researchers have turned their attention to three-degree-of-freedom rotating parallel mechanisms, such as the spherical 3-RRR mechanism proposed by Gosselin, the 3-UPU mechanism proposed by Karouia, the Argos mechanism proposed by Vischer, and the Di Gregorio proposed 3-RUU mechanism, 3-UPR mechanism proposed by...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 金振林高峰李研彪
Owner YANSHAN UNIV
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