Multi-degree-of-freedom control device of five-connecting-rod structure
By using a five-bar linkage multi-degree-of-freedom control device, the problem of synchronous belt materials being easily affected by the environment is solved, achieving a control effect with high flexibility and high rigidity, adapting to complex path planning and dynamic adjustment, and improving the stability and load capacity of the control device.
Patent Information
- Application Number
- CN202520112545.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-01-17
AI Technical Summary
In existing degree-of-freedom control devices, the synchronous belt material is easily affected by the environment, leading to changes in performance. The tension needs to be precisely adjusted, as being too loose or too tight will affect the transmission accuracy and lifespan. Furthermore, existing hybrid mechanisms are complex in design and difficult to control.
The multi-degree-of-freedom control device adopts a five-bar linkage configuration, including a central slide, a five-bar linkage, a three-axis rocker mechanism, and a horizontal slide. It achieves a simple design and high flexibility through encoder motors and rotary motors, and improves mechanical rigidity and load capacity by adopting a closed-loop structure. It combines gyroscope sensors and displays for real-time monitoring and operation.
It achieves high flexibility and high mechanical rigidity with simple and convenient operation, enabling complex path planning and dynamic adjustment to adapt to different application needs. It has high load capacity and transmission accuracy, improving the stability and safety of the control device.
Smart Images
Figure CN223876994U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to multi -freedom degree control technical field especially relates to a five connecting rod configuration's multi -freedom degree control device. BACKGROUND
[0002] The existing degree of freedom control device mainly adopts three forms, one is series mechanism (such as mechanical arm) has high flexibility and greater workspace, but its control complexity is higher, cumulative error is bigger, and stability and rigidity are relatively lower, the second is parallel mechanism (such as stewart platform) has higher rigidity and bearing capacity, and positioning accuracy is higher, but its workspace is relatively smaller, and structure is complex, and manufacturing and control cost are higher, the third is hybrid mechanism: hybrid mechanism combines the advantages of series and parallel mechanism, aims at improving the overall performance of system. However, the design and implementation of hybrid mechanism also face the problems of high complexity and difficult control, in the prior art, there is a scheme of driving control through synchronous belt in plane position measurement.
[0003] But in the prior art, the synchronous belt material is susceptible to environmental influences, which can cause performance changes, and the tension of the synchronous belt needs to be accurately adjusted, and too loose or too tight will affect the transmission accuracy and service life. UTILITY MODEL CONTENTS
[0004] The utility model discloses a five connecting rod configuration's multi -freedom degree control device, solve the synchronous belt material in prior art susceptible to environmental influences, which can cause performance changes, and the tension of the synchronous belt needs to be accurately adjusted, and too loose or too tight will affect the transmission accuracy and service life problem.
[0005] To realize above-mentioned purpose, the utility model provides a five connecting rod configuration's multi -freedom degree control device, including control switch, display screen, bearing plate, a plurality of fixed blocks, two horizontal aluminum profile supports, two first vertical aluminum profile supports, second vertical aluminum profile support, center sliding table, five connecting rod mechanism, three -axis rocker mechanism and two horizontal sliding tables, a plurality of fixed blocks are set up respectively in corresponding first vertical aluminum profile support's upper end, two horizontal aluminum profile supports are set up respectively on corresponding fixed blocks, two horizontal sliding tables are respectively with corresponding horizontal aluminum profile support sliding adaptation, second vertical aluminum profile support is fixedly connected with the upper end of two horizontal sliding tables, center sliding table is with second vertical aluminum profile support sliding adaptation, bearing plate is fixedly connected with the upper end of two horizontal aluminum profile supports, five connecting rod mechanism is set up in center sliding table, three -axis rocker mechanism is set up in the upper end of center sliding table, control switch is set up in the upper end of bearing plate, display screen is set up in the upper end of bearing plate.
[0006] The center sliding table comprises two first mounting plates, a plurality of first rotating shafts and a plurality of first bearings, the plurality of first rotating shafts are respectively rotationally connected with the two first mounting plates, the plurality of first bearings are respectively arranged on the corresponding first rotating shafts, and the plurality of first bearings are respectively rotationally adapted with the second vertical aluminum profile supports.
[0007] The five-bar linkage mechanism comprises an encoding motor, a positioning plate, two driving rods, two driven rods, two flange bearings and a plug bolt, the plug bolt penetrates one end of the two driven rods and is adapted with the corresponding first mounting plate, the other end of the two driven rods is respectively rotationally connected with the corresponding flange bearing, one end of the two driving rods is respectively rotationally connected with the corresponding flange bearing, the other end of the two driving rods is respectively fixedly connected with the output end of the encoding motor, the encoding motor is arranged at the lower end of the positioning plate, and the positioning plate is located at the upper end of the two horizontal aluminum profile supports.
[0008] The three-axis rocker mechanism comprises a hand support base, an analog button, a handle, a gyroscope sensor, a first rotating motor, a fixed base, a second rotating motor, a clamping ring, a clamping rocker arm, a support pipe and a support frame, the fixed base is fixedly connected with the upper end of the corresponding first mounting plate, the first rotating motor is fixedly connected with the upper end of the fixed base, the output end of the first rotating motor is fixedly connected with the lower end of the support frame, the second rotating motor is fixedly connected with the upper end of the support frame, the output end of the second rotating motor is fixedly connected with the clamping ring, the clamping rocker arm is arranged on the clamping ring, the support pipe is arranged on the clamping rocker arm, the hand support base is fixedly connected with the lower end of the clamping rocker arm, the handle is fixedly connected with the upper end of the hand support base, the analog button is arranged on the handle, and the gyroscope sensor is arranged at the lower end of the hand support base.
[0009] Each horizontal sliding table comprises a second mounting plate, a plurality of second rotating shafts and a plurality of second bearings, the plurality of second rotating shafts are respectively rotationally connected with the lower end of the second mounting plate, the plurality of second bearings are respectively arranged on the corresponding second rotating shafts, and the plurality of second bearings are respectively rotationally adapted with the corresponding horizontal aluminum profile supports.
[0010] The utility model discloses a kind of multi-degree-of-freedom control devices of five connecting rod configuration, the center sliding table is slid on the second vertical aluminum profile support, two horizontal sliding tables are slid on the corresponding transverse aluminum profile support, and cooperate with the five connecting rod mechanism, further big bar adjusts the effect of three-axis rocker mechanism position, and simple and convenient operation, each mechanism can be controlled by the control switch, the display screen is convenient for user operation, compared with complex synchronous belt scheme, the five connecting rod configuration structure of the device is simple, design and manufacturing cost are lower, simultaneously, improved five connecting rod design has higher flexibility, can realize complex path planning and dynamic adjustment, adapt to different application requirements, since adopting the closed loop structure of five connecting rods, with higher mechanical stiffness and load capacity, can withstand larger operating force and load. BRIEF DESCRIPTION OF DRAWINGS
[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows.
[0012] Fig. 1 It is the overall structure schematic view of the utility model.
[0013] Fig. 2 It is the overall bottom view of the utility model.
[0014] Fig. 3 It is the local structure schematic view of the utility model.
[0015] 1-control switch, 2-display screen, 3-bearing plate, 4-fixed block, 5-transverse aluminum profile support, 6-first vertical aluminum profile support, 7-second vertical aluminum profile support, 8-first mounting plate, 9-first rotating shaft, 10-first bearing, 11-coding motor, 12-positioning plate, 13-driving rod, 14-driven rod, 15-flange bearing, 16-bolt, 17-hand holding base, 18-analog button, 19-handle, 20-gyroscope sensor, 21-first rotary motor, 22-fixed base, 23-second rotary motor, 24-hugging ring, 25-hugging rocker arm, 26-support pipe, 27-support frame, 28-second mounting plate, 29-second rotating shaft, 30-second bearing. DETAILED DESCRIPTION
[0016] The embodiments of the utility model will be described in detail below, the examples of the embodiments are shown in the drawings, the embodiments described below by referring to the drawings are exemplary, and are intended to explain the utility model, and cannot be understood as the limitation of the utility model.
[0017] Please refer to Figs. 1 to 3 Wherein, Fig. 1It is the overall structure schematic view of the utility model, Fig. 2 It is the overall bottom view of the utility model, Fig. 3 It is the local structure schematic view of the utility model.
[0018] The utility model provides a kind of multi-freedom degree control device of five connecting rod configuration, including control switch 1, display screen 2, bearing plate 3, multiple fixed blocks 4, two horizontal aluminum profile supports 5, two first vertical aluminum profile supports 6, second vertical aluminum profile support 7, center sliding table, five connecting rod mechanism, three-axis rocker mechanism and two horizontal sliding tables, multiple the fixed block 4 is respectively set in the upper end of corresponding first vertical aluminum profile support 6, two horizontal aluminum profile supports 5 are respectively set on corresponding fixed block 4, two horizontal sliding tables are respectively with corresponding horizontal aluminum profile support 5 Sliding adaptation, the upper end of second vertical aluminum profile support 7 and two horizontal sliding tables are fixedly connected, the center sliding table and second vertical aluminum profile support 7 Sliding adaptation, the upper end of bearing plate 3 and two horizontal aluminum profile supports 5 are fixedly connected, five connecting rod mechanism is set on the center sliding table, three-axis rocker mechanism is set on the upper end of the center sliding table, control switch 1 is set on the upper end of bearing plate 3, display screen 2 is set on the upper end of bearing plate 3.
[0019] In the embodiment, by the center sliding table on the second vertical aluminum profile support 7 sliding, by two horizontal sliding tables on corresponding horizontal aluminum profile support 5 sliding, and with five connecting rod mechanism cooperation, further large bar adjusts the effect of three-axis rocker mechanism position, and simple and convenient operation, by control switch 1 can control each mechanism, by display screen 2 is convenient for user operation, compared with complex synchronous belt scheme, the five connecting rod configuration of the device is simple, and design and manufacturing cost are lower, simultaneously, improved five connecting rod design has higher flexibility, can realize complex path planning and dynamic adjustment, adapts to different application needs, since adopting the closed loop structure of five connecting rods, it has higher mechanical rigidity and load capacity, can withstand larger operating force and load.
[0020] Further, the center sliding table includes two first mounting plates 8, multiple first rotating shafts 9 and multiple first bearings 10, multiple first rotating shafts 9 are respectively connected with two first mounting plates 8 rotationally, multiple first bearings 10 are respectively set on corresponding first rotating shafts 9, and multiple first bearings 10 are respectively adapted to rotate with second vertical aluminum profile support 7.
[0021] In the embodiment, by multiple first bearings 10 and second vertical aluminum profile support 7 rotationally cooperate, further drive three-axis rocker mechanism to move.
[0022] Further, the five-bar linkage mechanism comprises an encoding motor 11, a positioning plate 12, two driving rods 13, two driven rods 14, two flange bearings 15 and a plug bolt 16, the plug bolt 16 penetrates one end of the two driven rods 14 and is matched with the corresponding first mounting plate 8, the other end of the two driven rods 14 is respectively rotationally connected with the corresponding flange bearing 15, one end of the two driving rods 13 is respectively rotationally connected with the corresponding flange bearing 15, the other end of the two driving rods 13 is respectively fixedly connected with the output end of the encoding motor 11, the encoding motor 11 is arranged at the lower end of the positioning plate 12, and the positioning plate 12 is located at the upper end of the two transverse aluminum profile supports 5.
[0023] In the embodiment, the user holds the three-axis rocker mechanism by hand, and then drives the two driving rods 13 to rotate, and then drives the two flange bearings 15 and the two driven rods 14 to rotate, and cooperates with the corresponding first mounting plate 8, so that the two driven rods 14 drive the second vertical aluminum profile support 7 to move, the second vertical aluminum profile support 7 moves along the transverse aluminum profile support 5 under the cooperation of the two horizontal sliding tables, and then drives the center sliding table to move horizontally, and then mobilizes the three-axis rocker mechanism to move horizontally.
[0024] Further, the three-axis rocker mechanism comprises a hand support base 17, an analog button 18, a handle 19, a gyroscope sensor 20, a first rotary motor 21, a fixed base 22, a second rotary motor 23, a clamping ring 24, a clamping rocker arm 25, a support pipe 26 and a support frame 27, the fixed base 22 is fixedly connected with the upper end of the corresponding first mounting plate 8, the first rotary motor 21 is fixedly connected with the upper end of the fixed base 22, the output end of the first rotary motor 21 is fixedly connected with the lower end of the support frame 27, the second rotary motor 23 is fixedly connected with the upper end of the support frame 27, the output end of the second rotary motor 23 is fixedly connected with the clamping ring 24, the clamping rocker arm 25 is arranged on the clamping ring 24, the support pipe 26 is arranged on the clamping rocker arm 25, the hand support base 17 is fixedly connected with the lower end of the clamping rocker arm 25, the handle 19 is fixedly connected with the upper end of the hand support base 17, the analog button 18 is arranged on the handle 19, and the gyroscope sensor 20 is arranged at the lower end of the hand support base 17.
[0025] In the embodiment, the support frame 27 is driven to rotate by the output end of the first rotary motor 21, and in turn drives the embracing ring 24, the embracing rocker arm 25 and the support pipe 26 to rotate. The embracing ring 24 is driven to rotate by the output end of the second rotary motor 23, and in turn drives the embracing rocker arm 25 and the handle 19 to rotate again. A user can hold the handle 19, and then drive the three-axis rocker mechanism to adjust the position under the cooperation of the five-link mechanism.
[0026] Further, each horizontal sliding table comprises a second mounting plate 28, a plurality of second rotating shafts 29 and a plurality of second bearings 30. The plurality of second rotating shafts 29 are respectively connected with the lower end of the second mounting plate 28 in a rotating manner. The plurality of second bearings 30 are respectively arranged on the corresponding second rotating shafts 29. The plurality of second bearings 30 are respectively connected with the corresponding horizontal aluminum profile supports 5 in a rotating manner.
[0027] In the embodiment, when the second vertical aluminum profile support 7 moves horizontally, the second vertical aluminum profile support 7 is driven to move by the plurality of second bearings 30 and the corresponding horizontal aluminum profile supports 5, and in turn drives the three-axis rocker mechanism to move.
[0028] In the use of the five-link mechanism multi-degree-of-freedom control device, the angle change of the driving rod 13 can be monitored in real time through the encoder motor 11, and the mathematical relationship between the five-link mechanism and the driving link angle can be obtained through kinematic calculation. When the operator holds the handle 19 to move the position, the horizontal xy coordinate of the end position can be calculated through the angle of the encoder motor 11, and the effect of self-defined control logic can be achieved by setting different coordinate corresponding control signals. In addition, the encoder motor 11 used in the utility model is not a complete encoder, which means that the five-link mechanism can be reversely driven. Since the kinematic relationship of the five-link mechanism is obtained, the actual value of each angle of the link can be calculated. The horizontal output torque of the end position required for reverse driving can be converted into the output torque of the first motor and the second motor through the Jacobian matrix of the five-link mechanism, and the effect of active movement of the end position can be realized through the PID controller. In the field of robot interaction, force feedback control can enable the operator to perceive the force state of the robot in real time, and the torque control of the device can achieve this effect. The operator can realize the free rotation of the yaw, pitch and roll three-axis by holding the handle 19, and the three-dimensional attitude of the handle 19 in space can be monitored in real time through the gyro sensor 20, so that the attitude can be synchronized to the controlled robot or equipment in real time to realize the function of synchronous reality. At the same time, the rotation of the 3-axis rocker can also be reversely driven through the first motor and the second motor, and the torque feedback control effect can also be realized, greatly improving the operation experience of the operator and the safety in the process of robot control. Software design: STM32 and ESP32 two single-chip microcomputers and the display screen 2 are carried under the control switch 1. The STM32 single-chip microcomputer mainly undertakes motion calculation and control through the running FreeRTOS system, obtains the first motor data and drives the first motor through CAN communication, obtains the data of the gyro sensor 20 through the serial port, and performs kinematic calculation in the STM32 single-chip microcomputer. The calculation information is sent to the ESP32 single-chip microcomputer through the serial port, and is forwarded to the serial port screen to display the calculation information in real time. At the same time, the ESP32 can send data information to the upper computer through Bluetooth or serial port simulation keyboard and mouse or to the upper computer, and the controlled object can be controlled by the upper computer.
[0029] The above disclosure is only one or more preferred embodiments of the application, and cannot limit the scope of the application. Those skilled in the art can understand that the above-mentioned embodiments can be implemented in whole or in part, and equivalent changes made according to the claims of the application still fall within the scope of the application.
Claims
1. A multi-freedom manipulator of five-bar linkage configuration, characterized in that, it comprises a control switch, a display screen, a bearing plate, a plurality of fixed blocks, two transverse aluminum profile supports, two first vertical aluminum profile supports, a second vertical aluminum profile support, a central sliding table, a five-bar linkage mechanism, a three-axis rocker mechanism and two horizontal sliding tables; the plurality of fixed blocks are respectively arranged at the upper ends of the corresponding first vertical aluminum profile supports, the two transverse aluminum profile supports are respectively arranged on the corresponding fixed blocks, the two horizontal sliding tables are respectively slidably connected with the corresponding transverse aluminum profile supports, the second vertical aluminum profile support is fixedly connected with the upper ends of the two horizontal sliding tables, the central sliding table is slidably connected with the second vertical aluminum profile support, the bearing plate is fixedly connected with the upper ends of the two transverse aluminum profile supports, the five-bar linkage mechanism is arranged on the central sliding table, the three-axis rocker mechanism is arranged at the upper end of the central sliding table, the control switch is arranged at the upper end of the bearing plate, and the display screen is arranged at the upper end of the bearing plate.
2. The multi-freedom manipulator of five-bar linkage configuration according to claim 1, characterized in that, the central sliding table comprises two first mounting plates, a plurality of first rotating shafts and a plurality of first bearings, the plurality of first rotating shafts are respectively rotatably connected with the two first mounting plates, and the plurality of first bearings are respectively arranged on the corresponding first rotating shafts and rotatably connected with the second vertical aluminum profile support.
3. The multi-freedom manipulator of five-bar linkage configuration according to claim 2, characterized in that, the five-bar linkage mechanism comprises an encoding motor, a positioning plate, two driving rods, two driven rods, two flange bearings and a jam bolt, the jam bolt penetrates one end of the two driven rods and is adapted with the corresponding first mounting plate, the other end of the two driven rods is respectively rotatably connected with the corresponding flange bearing, one end of the two driving rods is respectively rotatably connected with the corresponding flange bearing, the other end of the two driving rods is respectively fixedly connected with the output end of the encoding motor, the encoding motor is arranged at the lower end of the positioning plate, and the positioning plate is located at the upper end of the two transverse aluminum profile supports.
4. The multi-freedom manipulator of five-bar linkage configuration according to claim 3, characterized in that, The three-axis rocker mechanism comprises a hand support base, an analog button, a handle, a gyroscope sensor, a first rotary motor, a fixed base, a second rotary motor, a holding ring, a holding rocker, a support pipe and a support frame, the fixed base is fixedly connected with the upper end of the corresponding first mounting plate, the first rotary motor is fixedly connected with the upper end of the fixed base, the output end of the first rotary motor is fixedly connected with the lower end of the support frame, the second rotary motor is fixedly connected with the upper end of the support frame, the output end of the second rotary motor is fixedly connected with the holding ring, the holding rocker is arranged on the holding ring, the support pipe is arranged on the holding rocker, the hand support base is fixedly connected with the lower end of the holding rocker, the handle is fixedly connected with the upper end of the hand support base, the analog button is arranged on the handle, and the gyroscope sensor is arranged on the lower end of the hand support base.
5. The multi-degree-of-freedom manipulation device of the five-bar linkage configuration according to claim 4, wherein, Each of the horizontal sliding tables comprises a second mounting plate, a plurality of second rotating shafts and a plurality of second bearings, the plurality of second rotating shafts are respectively rotationally connected with the lower end of the second mounting plate, the plurality of second bearings are respectively arranged on the corresponding second rotating shafts, and the plurality of second bearings are respectively rotationally adapted with the corresponding transverse aluminum profile supports.