CN101618546A - Multi-degree-of-freedom movement mechanism - Google Patents
Multi-degree-of-freedom movement mechanism Download PDFInfo
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- CN101618546A CN101618546A CN200810128451A CN200810128451A CN101618546A CN 101618546 A CN101618546 A CN 101618546A CN 200810128451 A CN200810128451 A CN 200810128451A CN 200810128451 A CN200810128451 A CN 200810128451A CN 101618546 A CN101618546 A CN 101618546A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 230000033001 locomotion Effects 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 5
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- 210000003423 ankle Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
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Abstract
The invention provides a multi-degree-of-freedom motion mechanism, which comprises a first linkage unit, a second linkage unit, a passive unit, a linkage block and a third linkage unit, wherein the first linkage unit is connected with the second linkage unit; the first linkage unit and the second linkage unit are respectively provided with a first arc-shaped protruding section and a second arc-shaped protruding section; the passive rod of the passive unit is respectively movably combined with the first arc-shaped protruding section and the first arc-shaped protruding section; the connecting block has a geometric center point; the connecting block is respectively pivoted with the first pivoting piece of the passive unit and the second pivoting piece of the third linkage unit; the first linkage unit can drive the driven rod to move along the second arc-shaped protruding section, the second linkage unit can drive the driven rod to move along the first arc-shaped protruding section, so that the driven unit can move up, down, left and right relative to a central point, and the third linkage unit can drive the driven rod to rotate; the invention has simple structure, easy assembly and low manufacturing cost, and can flexibly control the up-down, left-right movement and rotation of the passive unit through a few driving mechanisms.
Description
Technical field
The present invention relates to a kind of mechanical joint, relate in particular to a kind of joint with multiple degrees of freedom activity.
Background technology
Multivariant motion, can be applicable to the movable device of the phtographic lens of robot head, but and articulation mechanisms such as applied robot's shoulder, elbow, wrist, stern, knee and ankle, also can be applicable to connect the joint of searchlight, antenna, radar antenna, hub etc. and as the joint of gearbox and the joint of suspension system etc.
The patented technology that some multiple degrees of freedom turning joints are arranged, the articulation mechanism (JOINTS MECHANISM) that discloses of TaiWan, China publication 200626320 for example, the Hindley worm gear that this articulation mechanism utilizes convex surface wheel gear and concave surface wheel gear to constitute is right, the cross frame that cooperates three degree of freedom again and be fixed ratio speed is formed whole articulation mechanism, can reach to have the three degree of freedom space power transmission of shaking, swinging and rotating concurrently.But the structure of above-mentioned Taiwan publication is very complicated, and is difficult to the activity by its joint of driving mechanisms control of minority.In addition, what also have exquisiteness that United States Patent (USP) 6,026,703 discloses cuts apart joint, equator (Dexterous split equator joint), this joint utilizes four semicircle connecting rods to drive an arm and moves in semi-sphere, and the axis of this arm is by the center of sphere.The also very complicated difficult assembling of the structure of above-mentioned United States Patent (USP), the manufacturing cost height, and the action that this arm is rotated, can not satisfy the demand that the relevant logical operation method of mechanical arm gripping object obtains unique solution, and have the situation that unlimited many groups are separated, cause mechanical arm can not independently finish the action of gripping object.
Summary of the invention
In order further to improve known multivariant turning joint the present invention is proposed.
Main purpose of the present invention is to provide a kind of movement mechanism with multiple degrees of freedom, and it is simple in structure, assembling is easy and save manufacturing cost.
Another object of the present invention is to provide a kind of movement mechanism with multiple degrees of freedom, by the driving mechanism of minority can control neatly passive unit about, move left and right and rotation.
Another purpose of the present invention is to provide a kind of movement mechanism with multiple degrees of freedom, and it is incorporated into other objects such as robot, phtographic lens easily, makes other object have controllable flexible joint.
To achieve these goals, the invention provides a kind of movement mechanism with multiple degrees of freedom, comprising: one first interlock unit is provided with one first arcuation convex section, one first and articulates section and one second pivot joint section; The two ends of this first arcuation convex section connect this first pivot joint section and this second pivot joint section respectively; One first fixed axis articulates this first pivot joint section; One second fixed axis articulates this second pivot joint section; This first fixed axis and this second fixed axis have a common first axle, so that this first arcuation convex section can rotate with respect to this first axle; One second interlock unit is provided with one second arcuation convex section, the 3rd and articulates section and one the 4th pivot joint section; The two ends of this second arcuation convex section connect the 3rd respectively and articulate section and the 4th pivot joint section; This second arcuation convex section places the inboard of this first arcuation convex section; This first arcuation convex section and this second arcuation convex section are staggered; One the 3rd fixed axis articulates the 3rd and articulates section; One the 4th fixed axis articulates the 4th and articulates section; The 3rd fixed axis and the 4th fixed axis have one second common axis, so that this second arcuation convex section can rotate with respect to this second axis; One passive unit is provided with a passive bar and one first articulated part; This passive bar connects this first articulated part; This passive bar is movable respectively in conjunction with this first arcuation convex section and this second arcuation convex section; This first articulated part places the inboard of this second arcuation convex section; This passive bar has one the 3rd axis; One connecting block articulates this first articulated part, and this connecting block has a geometric center point; This central point of the 3rd orientation of its axis; One the 3rd interlock unit is provided with one second articulated part and a conjunction; This second articulated part connects this conjunction; This connecting block articulates this second articulated part; Wherein, this first interlock unit moves and rotates with respect to this first axle along this second arcuation convex section in order to drive this passive bar, this second interlock unit moves and rotates with respect to this second axis along this first arcuation convex section in order to drive this passive bar, so that this passive unit can be with respect to this shift position, central point upper and lower, left and right.
Preferably, this first axle and this second axis are positioned at same plane and orthogonal approximately approximately.
Preferably, this central point is about the intersection point of this first axle and this second axis.
Preferably, this first arcuation convex section and this second arcuation convex section difference semicircular in shape.
Preferably, this first arcuation convex section is provided with one first elongated hole along itself longitudinal extension; This passive bar passes this first elongated hole.
Preferably, this second arcuation convex section is provided with one second elongated hole along itself longitudinal extension; This passive bar passes this second elongated hole.
Preferably, this first pivot joint section connects one first driver element, makes this first arcuation convex section with respect to this first axle rotation to drive this first pivot joint section by this first driver element.
Preferably, the 3rd articulates section connects one second driver element, to drive the 3rd pivot joint section by this second driver element this second arcuation convex section is rotated with respect to this second axis.
Preferably, this conjunction connects one the 3rd driver element, driving this conjunction by the 3rd driver element, and then drives this connecting block and this first articulated part and this passive bar is rotated with respect to the 3rd axis.
Preferably, this first articulated part and this second articulated part are " U " shape respectively; This connecting block is cube; Two opposing end faces of this connecting block articulate this first articulated part by two axles respectively, and described two axles and the 3rd fixed axis and the 4th fixed axis have this common second axis; Two other opposing end faces of this connecting block articulates this second articulated part by two other axle respectively, and described two other has this common first axle with this first fixed axis and this second fixed axis.
Preferably, this first pivot joint section is provided with a first arm that extends to the lateral outer side of this first arcuation convex section; This first driver element is provided with one first power source and one first gear unit; This first gear unit connects this first power source and this first arm respectively, so that this first power source drives this first arm by this first gear unit.
Preferably, this first gear unit is provided with one first transmission arm and one first drive link; One end of this first transmission arm connects this first power source; The two ends of this first drive link articulate this first arm and this first transmission arm respectively.
Preferably, the 3rd pivot joint section is provided with one second arm that extends to the lateral outer side of this second arcuation convex section; This second driver element is provided with one second power source and one second gear unit; This second gear unit connects this second power source and this second arm respectively, so that this second power source drives this first arm by this second gear unit.
Preferably, this second gear unit is provided with one second transmission arm and one second drive link; One end of this second transmission arm connects this second power source; The two ends of this second drive link articulate this second arm and this second transmission arm respectively.
Preferably, the 3rd driver element is provided with one the 3rd power source and one the 3rd gear unit; The 3rd gear unit connects this conjunction respectively; So that the 3rd power source drives the rotation of the 3rd gear unit, and then drive this conjunction rotation.
Preferably, this first power source, this second power source and the 3rd power source difference secure bond one pedestal.
Preferably, this first pivot joint section is " U " shape of the different length of sides and has long outer side edges; This first fixed axis articulates this outer side edges of this first pivot joint section; This first drive link articulates an outer side edges of this first arm.
Preferably, the 3rd pivot joint section is " U " shape of the different length of sides and has long outer side edges; The 3rd fixed axis articulates this outer side edges of the 3rd pivot joint section; This second drive link articulates an outer side edges of this second arm.
Preferably, this second pivot joint section is " U " shape of the different length of sides and has long outer side edges; This second fixed axis articulates this outer side edges of this second pivot joint section.
Preferably, the 4th pivot joint section is " U " shape of the different length of sides and has long outer side edges; The 4th fixed axis articulates this outer side edges of the 4th pivot joint section.
Compared with prior art, movement mechanism with multiple degrees of freedom of the present invention has the following advantages: it is simple in structure, assembling is easy and save manufacturing cost; By the driving mechanism of minority can control neatly passive unit about, move left and right and rotation; Can be incorporated into other objects such as robot, phtographic lens easily, make other object have controllable flexible joint.
Other purpose of the present invention, effect see also drawings and Examples, are described in detail as follows.
Description of drawings
Fig. 1 is the schematic diagram of movement mechanism with multiple degrees of freedom of the present invention.
Fig. 2 is another schematic diagram of movement mechanism with multiple degrees of freedom of the present invention.
Wherein, description of reference numerals is as follows:
1 movement mechanism with multiple degrees of freedom, 11 first interlock unit
111 first arcuation convex sections, 1,111 first elongated holes
112 first articulate section 1121 the first arms
113 second articulate section 12 second interlock unit
121 second arcuation convex sections, 1,211 second elongated holes
1,221 second arms 122 the 3rd articulate section
123 the 4th articulate section 13 passive units
131 first passive bar 132 first articulated parts
14 connecting blocks
141,142,143,144,163,164,173,174
O central point 15 the 3rd interlock unit
151 second articulated parts, 152 conjunctions
16 first driver elements, 161 first power sources
162 first gear units, 1,621 first transmission arms
1,622 first drive links, 17 second driver elements
171 second power sources, 172 second gear units
1,721 second transmission arms, 1,722 second drive links
18 the 3rd driver elements 181 the 3rd power source
182 the 3rd gear units, 19 pedestals
21 first fixed axis, 22 second fixed axis
23 the 3rd fixed axis 24 the 4th fixed axis
L1, L2, L3 first, second, third axis
The specific embodiment
See also Fig. 1, shown in Figure 2.The embodiment of movement mechanism with multiple degrees of freedom 1 of the present invention comprises the first interlock unit 11, the second interlock unit 12, passive unit 13, connecting block 14, the 3rd interlock unit 15, first driver element 16, second driver element 17, the 3rd driver element 18 and pedestal 19.
The first interlock unit 11 is provided with the first arcuation convex section 111, first and articulates the section 112 and second pivot joint section 113; The first arcuation convex section, 111 semicirculars in shape; The first arcuation convex section 111 is provided with first elongated hole 1111 along itself longitudinal extension; The two ends of the first arcuation convex section 111 connect first respectively and articulate the section 112 and second pivot joint section 113; First articulates the section 112 and second pivot joint section 113 is " U " shape of the different length of sides respectively and has long outer side edges; First articulates section 112 is provided with the first arm 1121 that extends to the lateral outer side of the first arcuation convex section 111.First outer side edges and second outer side edges that articulates section 113 that articulates section 112 is articulated with first fixed axis 21, second fixed axis 22 respectively; First fixed axis 21 and second fixed axis 22 have common first axle L1; The first arcuation convex section 111 can rotate with respect to first axle L1; First fixed axis 21, second fixed axis 22 are respectively in order to other object of secure bond.
The second interlock unit 12 and the first interlock unit 11 are of similar shape structure; The second interlock unit 12 is provided with the second arcuation convex section the 121, the 3rd and articulates section the 122 and the 4th pivot joint section 123; The second arcuation convex section, 121 semicirculars in shape; The second arcuation convex section 121 is provided with second elongated hole 1211 along itself longitudinal extension; The two ends of the second arcuation convex section 121 connect the 3rd respectively and articulate section the 122 and the 4th pivot joint section 123; The 3rd pivot joint section the 122 and the 4th articulates section 123 and is " U " shape of the different length of sides respectively and has an outer side edges than length, and the 3rd articulates section 122 is provided with second arms 1221 that extend to the lateral outer side of the second arcuation convex section 121; The outer side edges that the 3rd outer side edges and the 4th that articulates section 122 articulates section 123 articulates with the 3rd fixed axis 23, the 4th fixed axis 24 respectively; The 3rd fixed axis 23 and the 4th fixed axis 24 have the second common axis L2; The second arcuation convex section 121 can rotate with respect to the second axis L2; The first axle L1 and the second axis L2 are on same plane and orthogonal; The 3rd fixed axis 23, the 4th fixed axis 24 are respectively in order to other object of secure bond.The second arcuation convex section 121 places the inboard of the first arcuation convex section 111.
Connecting block 14 is cube, and its upper and lower two opposing end faces articulate first articulated part 132 by two axles 141,142 respectively, makes the passive unit 13 can be with respect to connecting block 14 left and right moving.The geometric center point O of connecting block 14 is the intersection point of the first axle L1 and the second axis L2, and two axles 141,142 and the 3rd fixed axis 23 and the 4th fixed axis 24 have the second common axis L2.
The 3rd interlock unit 15 is provided with second articulated part 151 and conjunction 152; Second articulated part 151 is " U " shape, its bottom johning knot component 152; Left and right two opposing end faces of connecting block 14 articulate second articulated part 151 by two axles 143,144 respectively, make connecting block 14 and the passive unit 13 can be with respect to the 3rd interlock unit 15 upper and lower moving.Therefore passive unit 13 can move with respect to 15 upper and lower, left and right, the 3rd interlock unit, but passive unit 13 also can rotate synchronously when the 3rd interlock unit 15 rotates.Two axles 143,144 and first fixed axis 21 and second fixed axis 22 have common first axle L1.
The 3rd driver element 18 is provided with one the 3rd power source 181 and the 3rd gear unit 182; The 3rd gear unit 182 connects the conjunction 152 of the 3rd interlock unit 15 respectively, makes conjunction 152 connect the 3rd driver element 18.The 3rd power source 181 can drive 182 rotations of the 3rd gear unit, and then drives 15 rotations of the 3rd moving cell, thereby makes the 3rd moving cell 15 drive connecting block 14 and passive unit 13 rotations; Therefore the 3rd driver element 18 can drive this conjunction 152 rotations, and then drives connecting block 14 and first articulated part 132 and passive bar 131 is rotated with respect to the 3rd axis L3.The 3rd axis L3 also by the central point O of connecting block 14, makes first axle L1, the second axis L2 and the 3rd axis L3 be three concentric states.
The first interlock unit 11 of the present invention and the second interlock unit 12 and first driver element 16 and second driver element 17 are disconnected from each other, help to carry out flexible mechanism design, distance between the first interlock unit 11 and the second interlock unit 12 and first driver element 16 and second driver element 17, utilize the length of first drive link 1622, second drive link 1722, can adjust with the demand of space and mechanism's center of gravity configuration; And utilize the first arm 1121, second arm 1221 respectively with first transmission arm 1621, second transmission arm 1721 between different length relation save time or the labour-saving purpose to reach; For example the first arm 1121, second arm 1221 can reach the labour-saving purpose than first transmission arm 1621, second transmission arm 1721 when long respectively, and the first arm 1121, second arm 1221 can reach the timesaving purpose in short-term than first transmission arm 1621, second transmission arm 1721 respectively.
The present invention can drive the first interlock unit 11, the second interlock unit 12 and the 3rd interlock unit 15 respectively by first driver element 16, second driver element 17 and the 3rd driver element 18, thereby makes the first interlock unit 11, the second interlock unit 12 and the 3rd interlock unit 15 drive passive unit shift position, 13 upper and lower, left and right and rotation.Therefore movement mechanism with multiple degrees of freedom 1 of the present invention has the concentric movable function of three degree of freedom and movable axis and rotating shaft, the movable function of similar mechanical arm gripping object, the calculating that can meet logical algorithm obtains single demand of separating, and makes mechanical arm can independently finish the action of gripping object.
Movement mechanism with multiple degrees of freedom of the present invention, can be applicable to the movable device of the phtographic lens of robot head, and can be applicable to the articulation mechanisms such as shoulder, elbow, wrist, stern, knee and ankle of robot, also can be applicable to connect the joint of searchlight, antenna, radar antenna, hub etc. and as the joint of gearbox and the joint of suspension system etc.
The further known multivariant turning joint of improvement of the present invention, make simple in structure, the assembling of movement mechanism with multiple degrees of freedom save manufacturing cost easily, by the driving mechanism of minority can control flexibly passive unit about, move left and right and rotation, be incorporated into other objects such as robot, phtographic lens easily, make other object have controllable flexible joint.
The above record, only for utilizing the embodiment of the technology of the present invention content, modification, variation that those skilled in the art use the present invention to do all belong in the interest field that the present invention asks for protection, and are not limited to the content that embodiment discloses.
Claims (20)
1. movement mechanism with multiple degrees of freedom comprises:
One first interlock unit is provided with one first arcuation convex section, one first and articulates section and one second pivot joint section; The two ends of this first arcuation convex section connect this first pivot joint section and this second pivot joint section respectively;
One first fixed axis articulates this first pivot joint section;
One second fixed axis articulates this second pivot joint section; This first fixed axis and this second fixed axis have a common first axle, so that this first arcuation convex section can rotate with respect to this first axle;
One second interlock unit is provided with one second arcuation convex section, the 3rd and articulates section and one the 4th pivot joint section; The two ends of this second arcuation convex section connect the 3rd respectively and articulate section and the 4th pivot joint section; This second arcuation convex section places the inboard of this first arcuation convex section; This first arcuation convex section and this second arcuation convex section are staggered;
One the 3rd fixed axis articulates the 3rd and articulates section;
One the 4th fixed axis articulates the 4th and articulates section; The 3rd fixed axis and the 4th fixed axis have one second common axis, so that this second arcuation convex section can rotate with respect to this second axis;
One passive unit is provided with a passive bar and one first articulated part; This passive bar connects this first articulated part; This passive bar is movable respectively in conjunction with this first arcuation convex section and this second arcuation convex section; This first articulated part places the inboard of this second arcuation convex section; This passive bar has one the 3rd axis;
One connecting block articulates this first articulated part, and this connecting block has a geometric center point; This central point of the 3rd orientation of its axis;
One the 3rd interlock unit is provided with one second articulated part and a conjunction; This second articulated part connects this conjunction; This connecting block articulates this second articulated part;
Wherein, this first interlock unit moves and rotates with respect to this first axle along this second arcuation convex section in order to drive this passive bar, this second interlock unit moves and rotates with respect to this second axis along this first arcuation convex section in order to drive this passive bar, so that this passive unit can be with respect to this shift position, central point upper and lower, left and right.
2. movement mechanism with multiple degrees of freedom as claimed in claim 1, wherein this first axle and this second axis are positioned at same plane and orthogonal approximately approximately.
3. movement mechanism with multiple degrees of freedom as claimed in claim 2, wherein this central point is about the intersection point of this first axle and this second axis.
4. movement mechanism with multiple degrees of freedom as claimed in claim 3, wherein this first arcuation convex section and this second arcuation convex section difference semicircular in shape.
5. movement mechanism with multiple degrees of freedom as claimed in claim 4, wherein this first arcuation convex section is provided with one first elongated hole along itself longitudinal extension; This passive bar passes this first elongated hole.
6. movement mechanism with multiple degrees of freedom as claimed in claim 5, wherein this second arcuation convex section is provided with one second elongated hole along itself longitudinal extension; This passive bar passes this second elongated hole.
7. as claim 1,2,3,4,5 or 6 described movement mechanism with multiple degrees of freedom, wherein this first pivot joint section connects one first driver element, makes this first arcuation convex section with respect to this first axle rotation to drive this first pivot joint section by this first driver element.
8. movement mechanism with multiple degrees of freedom as claimed in claim 7 wherein the 3rd articulates section connection one second driver element, to drive the 3rd pivot joint section by this second driver element this second arcuation convex section is rotated with respect to this second axis.
9. movement mechanism with multiple degrees of freedom as claimed in claim 8, wherein this conjunction connects one the 3rd driver element, driving this conjunction, and then drive this connecting block and this first articulated part and this passive bar is rotated with respect to the 3rd axis by the 3rd driver element.
10. movement mechanism with multiple degrees of freedom as claimed in claim 9, wherein this first articulated part and this second articulated part are " U " shape respectively; This connecting block is cube; Two opposing end faces of this connecting block articulate this first articulated part by two axles respectively, and described two axles and the 3rd fixed axis and the 4th fixed axis have this common second axis; Two other opposing end faces of this connecting block articulates this second articulated part by two other axle respectively, and described two other has this common first axle with this first fixed axis and this second fixed axis.
11. movement mechanism with multiple degrees of freedom as claimed in claim 10, wherein this first pivot joint section is provided with a first arm that extends to the lateral outer side of this first arcuation convex section; This first driver element is provided with one first power source and one first gear unit; This first gear unit connects this first power source and this first arm respectively, so that this first power source drives this first arm by this first gear unit.
12. movement mechanism with multiple degrees of freedom as claimed in claim 11, wherein this first gear unit is provided with one first transmission arm and one first drive link; One end of this first transmission arm connects this first power source; The two ends of this first drive link articulate this first arm and this first transmission arm respectively.
13. movement mechanism with multiple degrees of freedom as claimed in claim 12, wherein the 3rd pivot joint section is provided with one second arm that extends to the lateral outer side of this second arcuation convex section; This second driver element is provided with one second power source and one second gear unit; This second gear unit connects this second power source and this second arm respectively, so that this second power source drives this first arm by this second gear unit.
14. movement mechanism with multiple degrees of freedom as claimed in claim 13, wherein this second gear unit is provided with one second transmission arm and one second drive link; One end of this second transmission arm connects this second power source; The two ends of this second drive link articulate this second arm and this second transmission arm respectively.
15. movement mechanism with multiple degrees of freedom as claimed in claim 14, wherein the 3rd driver element is provided with one the 3rd power source and one the 3rd gear unit; The 3rd gear unit connects this conjunction respectively; So that the 3rd power source drives the rotation of the 3rd gear unit, and then drive this conjunction rotation.
16. movement mechanism with multiple degrees of freedom as claimed in claim 15, wherein this first power source, this second power source and the 3rd power source difference secure bond one pedestal.
17. movement mechanism with multiple degrees of freedom as claimed in claim 16, wherein this first pivot joint section is " U " shape of the different length of sides and has long outer side edges; This first fixed axis articulates this outer side edges of this first pivot joint section; This first drive link articulates an outer side edges of this first arm.
18. movement mechanism with multiple degrees of freedom as claimed in claim 17, wherein the 3rd pivot joint section is " U " shape of the different length of sides and has long outer side edges; The 3rd fixed axis articulates this outer side edges of the 3rd pivot joint section; This second drive link articulates an outer side edges of this second arm.
19. movement mechanism with multiple degrees of freedom as claimed in claim 18, wherein this second pivot joint section is " U " shape of the different length of sides and has long outer side edges; This second fixed axis articulates this outer side edges of this second pivot joint section.
20. movement mechanism with multiple degrees of freedom as claimed in claim 19, wherein the 4th pivot joint section is " U " shape of the different length of sides and has long outer side edges; The 4th fixed axis articulates this outer side edges of the 4th pivot joint section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810128451A CN101618546A (en) | 2008-07-01 | 2008-07-01 | Multi-degree-of-freedom movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810128451A CN101618546A (en) | 2008-07-01 | 2008-07-01 | Multi-degree-of-freedom movement mechanism |
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| Publication Number | Publication Date |
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| CN101618546A true CN101618546A (en) | 2010-01-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810128451A Pending CN101618546A (en) | 2008-07-01 | 2008-07-01 | Multi-degree-of-freedom movement mechanism |
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| CN (1) | CN101618546A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862166A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot wrist joint steering engine |
| CN109514595A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
| CN109514597A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of freedom degree parallel connection articulation mechanism |
-
2008
- 2008-07-01 CN CN200810128451A patent/CN101618546A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862166A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot wrist joint steering engine |
| CN109514595A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
| CN109514597A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of freedom degree parallel connection articulation mechanism |
| CN109514597B (en) * | 2018-12-28 | 2025-04-18 | 清华大学 | A three-degree-of-freedom parallel joint mechanism |
| CN109514595B (en) * | 2018-12-28 | 2025-11-18 | 清华大学 | A two-degree-of-freedom parallel joint mechanism |
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