Four-degree-of-freedom parallel mechanism and robot
By designing a four-degree of freedom parallel mechanism, multiple degrees of freedom rotation are achieved using ball hinge connections, the problem of insufficient joint freedom of the robot is solved, and its motion flexibility and environmental understanding ability are improved.
Patent Information
- Application Number
- CN202421684755.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-17
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-07-17
AI Technical Summary
The joints with fewer degrees of freedom make the robot lack the understanding and responsiveness of the surrounding environment, making it difficult to adapt to complex motion requirements.
A four-degree-of-freedom parallel mechanism is designed, including a top plate, a bottom plate, a telescopic drive member and a passive member. Multi-degree-of-freedom rotation is achieved through ball hinge connection, enhancing the movement flexibility of the robot head.
Four degrees of freedom movement have been achieved, which improves the robot's understanding and response ability to the surrounding environment and adapts to complex motion requirements.
Smart Images
Figure CN222932754U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of humanoid robots, and particularly relates to a four-degree-of-freedom parallel mechanism and a robot. Background Art
[0002] As an intelligent robot with broad application prospects, the design and performance of the joint structure of a humanoid robot are crucial for realizing human-robot collaboration, flexible movement, and high load capacity. Human neck translation has various uses and importance in daily life. It allows humans to move their heads without moving their bodies to observe the surrounding environment, which is beneficial for discovering potential dangers, searching for targets, or obtaining more information, thus realizing the function of improving the visual field range. The relative movement (translation) of the human waist driving the upper part of the chest and the lower body affects the posture of the head, helps maintain balance and support, is beneficial for maintaining the correct head and neck relationship, and reducing the burden on the lumbar spine. The degree of freedom of the waist is also crucial for the flexibility of the human body and plays an important role in movement, breathing, and posture adjustment.
[0003] Taking the neck as an example, cameras, sound sensors, etc. are usually installed on the robot's head for multi-modal perception. The neck joint with fewer degrees of freedom makes the robot's ability to understand and respond to the surrounding environment insufficient, and its posture adjustment ability and movement flexibility are restricted, making it difficult to adapt to complex movement requirements, such as moving in a narrow space or performing delicate work. Summary of the Utility Model
[0004] In order to solve the problem that the robot's insufficient understanding and response ability to the surrounding environment due to joints with fewer degrees of freedom, the utility model provides a four-degree-of-freedom parallel mechanism and a robot.
[0005] The technical solution of the utility model lies in:
[0006] The utility model provides a four-degree-of-freedom parallel mechanism, including: a top plate, a bottom plate, a plurality of telescopic driving members, and a passive member. One end of each of the plurality of telescopic driving members and one end of the passive member are rotatably connected to the top plate, and the other end of each of the plurality of telescopic driving members and the other end of the passive member are rotatably connected to the bottom plate, and the passive member is located in the middle of the plurality of telescopic driving members. The telescopic driving members and the passive member both include spherical hinges, and the spherical hinges are arranged at both ends of the telescopic driving members and both ends of the passive member.
[0007] Further, the spherical hinge includes a spherical portion and a concave portion. The spherical portion is fixed at both ends of the telescopic driving member and both ends of the passive member, and the concave portion is fixed on the top plate and the bottom plate.
[0008] Furthermore, the telescopic driving member further includes a telescopic rod and a driver, the driver is drivingly connected to the telescopic rod, and the spherical portions are fixed to both ends of the telescopic rod.
[0009] Furthermore, the passive member further includes a rod body, and the spherical portions are fixed to both ends of the rod body.
[0010] Furthermore, when both the top plate and the bottom plate are polygons, the telescopic driving members are distributed at the inner angles of the polygon.
[0011] Preferably, when both the top plate and the bottom plate are trapezoids, the upper bottom lines of the top plate and the bottom plate are shorter than their lower bottom lines, the top plate and the bottom plate are arranged in parallel, and the upper bottom line of the top plate is oppositely arranged to the lower bottom line of the bottom plate.
[0012] Furthermore, when both the top plate and the bottom plate are circular, there are at least three telescopic driving members, the telescopic driving members are evenly distributed on the edge of the circular plane, and the passive member is located at the center of the circle.
[0013] Furthermore, both the top plate and the bottom plate are provided with receiving grooves, and the concave portions are fixed in the receiving grooves.
[0014] Furthermore, the driver is one of a linear motor, an electric push rod, and a hydraulic cylinder.
[0015] The present utility model also discloses a robot, including the above four-degree-of-freedom parallel mechanism.
[0016] The beneficial effects of the present utility model are as follows:
[0017] It can achieve four-degree-of-freedom motion. Under the drive of the telescopic driving member and the drive of the spherical hinge, when the telescopic driving members all extend leftward or rightward, the translational degree of freedom on the Y-axis is achieved; when the telescopic driving members all extend forward or backward, the translational degree of freedom on the X-axis is achieved; when the telescopic driving members extend one by one in one direction, the rotational degree of freedom about the Z-axis is achieved; when the telescopic driving members extend and contract one by one, the rotational degrees of freedom about the X-axis and the Y-axis can be achieved, solving the problem that the robot has insufficient understanding and response capabilities for the surrounding environment due to joints with fewer degrees of freedom. Description of the Drawings
[0018] Figure 1 is a schematic exploded view of the four-degree-of-freedom parallel mechanism of the present utility model;
[0019] Figure 2 is a schematic overall structure diagram of the four-degree-of-freedom parallel mechanism of the present utility model Figure 1 ;
[0020] Figure 3Schematic diagram of the overall structure of the four-degree-of-freedom parallel mechanism of the present utility model Figure 2 ;
[0021] Figure 4 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the left translation of the robot head;
[0022] Figure 5 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck and realizes the right translation of the robot head;
[0023] Figure 6 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the forward movement of the robot head's neck;
[0024] Figure 7 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the backward movement of the robot head's neck;
[0025] Figure 8 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the forward nodding of the robot head;
[0026] Figure 9 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the backward nodding of the robot head;
[0027] Figure 10 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the left tilting of the robot head;
[0028] Figure 11 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the right tilting of the robot head;
[0029] Figure 12 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the left swinging of the robot head;
[0030] Figure 13 Schematic diagram of the structure of the four-degree-of-freedom parallel mechanism of the present utility model when it serves as the neck joint and realizes the right swinging of the robot head;
[0031] Reference numerals: 1, top plate; 2, bottom plate; 3, telescopic driving member; 301, first telescopic driving member; 302, second telescopic driving member; 303, third telescopic driving member; 304, fourth telescopic driving member; 31, telescopic rod; 32, driver; 4, passive member; 41, rod body; 5, ball joint; 51, spherical part; 52, concave part; 6, receiving groove. Detailed implementation manners
[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model more clear and understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.
[0033] It should be understood that in the description of the present utility model, the meaning of "at least two" is two or more, unless otherwise specifically defined.
[0034] In addition, the orientation or positional relationship indicated by terms such as "both sides", "middle", "upper", "two ends", "parallel to each other", "perpendicular to each other", "inside", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.
[0035] It should be noted that the terms "first", "second", "third", "fourth", "fifth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", "fourth", "fifth", etc. may explicitly or implicitly include one or more of such features.
[0036] Embodiment 1
[0037] Please refer to Figures 1-3 , the present utility model provides a four-degree-of-freedom parallel mechanism, including:
[0038] A top plate 1, a bottom plate 2, four telescopic driving members 3 and a passive member 4. The top plate 1 is a movable plate, the bottom plate 2 is a fixed plate. One end of each of the four telescopic driving members 3 and one end of the passive member 4 are rotatably connected to the top plate 1, and the other ends of the four telescopic driving members 3 and the other end of the passive member 4 are rotatably connected to the bottom plate 2. And the passive member 4 is located in the middle of the four telescopic driving members 3. Both the telescopic driving member 3 and the passive member 4 include spherical hinges 5. The spherical hinges 5 are provided at both ends of the telescopic driving member 3 and both ends of the passive member 4. The spherical hinge 5 is a multi-degree-of-freedom rotary connector, which allows the telescopic driving member 3 and the passive member 4 to rotate relative to each other in multiple axial directions, and can bear a large load; realizing four degrees of freedom, it can improve the vision range and flexibility of the robot, and the parallel structure is compact, making the size fit the human body structure.
[0039] The ball joint 5 includes a spherical portion 51 and a concave portion 52. The spherical portion 51 is fixed to both ends of the telescopic driving member 3 and both ends of the passive member 4, and the concave portion 52 is fixed to the top plate 1 and the bottom plate 2. In another embodiment, the concave portion 52 is fixed to both ends of the telescopic driving member 3 and both ends of the passive member 4, and the spherical portion 51 is fixed to the top plate 1 and the bottom plate 2.
[0040] The telescopic driving member 3 further includes a telescopic rod 31 and a driver 32. The driver 32 is drivingly connected to the telescopic rod 31. The spherical portion 51 is fixed to both ends of the telescopic rod 31. The driver 32 is an electric push rod, so that the telescopic rod 31 can extend toward the top plate 1 or shorten toward the bottom plate 2.
[0041] The passive member 4 further includes a rod body 41. The spherical portion 51 is fixed to both ends of the rod body 41. The passive member 4 has two functions. First, it can move or swing together with the telescopic driving rod, making the movement of the entire joint structure smoother. Second, when it does not move, it can limit the movement range of the telescopic driving member 3 and set a reasonable movement space.
[0042] When both the top plate 1 and the bottom plate 2 are polygons, the telescopic driving members 3 are distributed at the interior angles of the polygon. In this embodiment, it is preferred that both the top plate 1 and the bottom plate 2 are trapezoids. The upper bottom lines of the top plate 1 and the bottom plate 2 are shorter than their lower bottom lines. The top plate 1 and the bottom plate 2 are arranged in parallel, and the upper bottom line of the top plate 1 and the lower bottom line of the bottom plate 2 are oppositely arranged. Such a design is to enable the telescopic driving member 3 to have more motion states. If the upper bottom line of the top plate 1 and the upper bottom line of the bottom plate 2 are oppositely arranged, then the four telescopic driving members 3 are also arranged in parallel, limiting the telescopic driving member 3 to only be driven synchronously.
[0043] Furthermore, both the top plate 1 and the bottom plate 2 are provided with receiving grooves 6, and the concave portion 52 is fixed in the receiving grooves 6.
[0044] It should be noted that the driver 32 can also be a linear motor or a hydraulic cylinder.
[0045] Embodiment 2
[0046] The present utility model provides another four-degree-of-freedom parallel mechanism, which is different from Embodiment 1 in that:
[0047] When both the top plate 1 and the bottom plate 2 are circular, there are at least three telescopic driving members 3. The telescopic driving members 3 are evenly distributed on the edge of the circular plane, and the passive member 4 is located at the center of the circle.
[0048] The present utility model also discloses a robot, which includes the above-mentioned four-degree-of-freedom parallel mechanism. When the above-mentioned four-degree-of-freedom parallel mechanism serves as the neck joint, driven by the telescopic driving member 3 and driven by the ball hinge 5, through the control of the telescopic lengths of the four telescopic driving members 3, the top plate 1 and the bottom plate 2 follow translation or tilting, realizing four-degree-of-freedom motion.
[0049] Referring to Figure 4 and Figure 5 For the first degree of freedom: When the first telescopic driving member 301 and the third telescopic driving member 303 are a set of push rods, and the second telescopic driving member 302 and the fourth telescopic driving member 304 are a set of push rods, one set contracts and the other set extends, and when the contraction and extension amounts are equal, the top plate 1 and the bottom plate 2 can be controlled to be parallel and translate left and right on the y-axis, and the passive member 4 will move accordingly, realizing the left or right translation of the robot's head.
[0050] For the second degree of freedom: Referring to Figures 6-7 When the first telescopic driving member 301 and the second telescopic driving member 302 are a set of push rods, and the third telescopic driving member 303 and the fourth telescopic driving member 304 are a set of push rods, one set contracts and the other set extends, and when the contraction and extension amounts are equal, the top plate 1 and the bottom plate 2 can be controlled to be parallel and translate forward and backward on the x-axis, and the passive member 4 will move accordingly, realizing the forward or backward translation of the robot's head, that is, moving the neck forward and backward; referring to Figures 12-13 When the first telescopic driving member 301 and the second telescopic driving member 302 are a set of push rods, and the third telescopic driving member 303 and the fourth telescopic driving member 304 are a set of push rods, one set contracts and the other set extends, the top plate 1 and the bottom plate 2 can be controlled to rotate around the Z-axis, and the passive member 4 will move accordingly, realizing the left or right swing of the robot's head, that is, shaking the head left and right.
[0051] Referring to Figure 8 and Figure 9 For the third degree of freedom: When the first telescopic driving member 301 and the second telescopic driving member 302 are a set of push rods, and the third telescopic driving member 303 and the fourth telescopic driving member 304 are a set of push rods, one set contracts and the other set extends, the top plate 1 and the bottom plate 2 can be controlled to rotate around the Y-axis, and the passive member 4 will move accordingly, realizing the forward or backward rotation of the robot's head, that is, nodding forward and backward.
[0052] Referring to Figure 10 and Figure 11 For the fourth degree of freedom: When the first telescopic driving member 301 and the third telescopic driving member 303 are a set of push rods, and the second telescopic driving member 302 and the fourth telescopic driving member 304 are a set of push rods, one set contracts and the other set extends, the top plate 1 and the bottom plate 2 can be controlled to rotate around the X-axis, and the passive member 4 will move accordingly, realizing the left or right rotation of the robot's head, that is, tilting the head left and right.
[0053] It should be noted that this four-degree-of-freedom parallel mechanism can also be used as the waist or ankle joint of a robot; it perfectly mimics the human neck joint, waist and ankle joint, improving the realism and naturalness of the robot's movement.
[0054] The above-described embodiments merely represent several implementation manners of the present utility model, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.
Claims
1. A four-degree-of-freedom parallel mechanism, characterized in that: include: A top plate (1), a bottom plate (2), a plurality of telescopic driving members (3) and a passive member (4), one end of the plurality of telescopic driving members (3) and one end of the passive member (4) are both rotatably connected to the top plate (1), the other ends of the plurality of telescopic driving members (3) and the other ends of the passive member (4) are both rotatably connected to the bottom plate (2), and the passive member (4) is located in the middle of the plurality of telescopic driving members (3), and the telescopic driving member (3) and the passive member (4) both comprise ball joints (5), and the ball joints (5) are provided at both ends of the telescopic driving member (3) and at both ends of the passive member (4).
2. The four-degree-of-freedom parallel mechanism according to claim 1, characterized in that: The ball joint (5) comprises a spherical portion (51) and a concave portion (52), wherein the spherical portion (51) is fixed to two ends of the telescopic driving component (3) and two ends of the passive component (4), and the concave portion (52) is fixed to the top plate (1) and the bottom plate (2).
3. The four-degree-of-freedom parallel mechanism according to claim 2, characterized in that: The telescopic driving member (3) further comprises a telescopic rod (31) and a driver (32), wherein the driver (32) is connected to the telescopic rod (31) by driving, and the spherical portion (51) is fixed to both ends of the telescopic rod (31).
4. The four-degree-of-freedom parallel mechanism according to claim 3, characterized in that: The passive component (4) further comprises a rod shaft (41), and the spherical portion (51) is fixed to both ends of the rod shaft (41).
5. The four-degree-of-freedom parallel mechanism according to claim 4, characterized in that: When the top plate (1) and the bottom plate (2) are both polygonal, the telescopic driving members (3) are distributed on the inner corners of the polygon.
6. The four-degree-of-freedom parallel mechanism according to claim 5, characterized in that: When the top plate (1) and the bottom plate (2) are both trapezoidal, the upper bottom lines of the top plate (1) and the bottom plate (2) are both shorter than their lower bottom lines, and the top plate (1) and the bottom plate (2) are arranged in parallel, wherein the upper bottom line of the top plate (1) and the lower bottom line of the bottom plate (2) are arranged opposite to each other.
7. The four-degree-of-freedom parallel mechanism according to claim 4, characterized in that: When the top plate (1) and the bottom plate (2) are both circular, there are at least three telescopic driving members (3), the telescopic driving members (3) are evenly distributed on the edge of the circular plane, and the passive member (4) is located at the center of the circle.
8. The four-degree-of-freedom parallel mechanism according to claim 2, characterized in that: The top plate (1) and the bottom plate (2) are both provided with a receiving groove (6), and the concave portion (52) is fixed in the receiving groove (6).
9. The four-degree-of-freedom parallel mechanism according to claim 3, characterized in that: The driver (32) is one of a linear motor, an electric push rod and a hydraulic cylinder.
10. A robot, characterized in that: The four-degree-of-freedom parallel mechanism according to any one of claims 1 to 9.